CN101576620A - Large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device - Google Patents
Large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device Download PDFInfo
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- CN101576620A CN101576620A CNA2009100861921A CN200910086192A CN101576620A CN 101576620 A CN101576620 A CN 101576620A CN A2009100861921 A CNA2009100861921 A CN A2009100861921A CN 200910086192 A CN200910086192 A CN 200910086192A CN 101576620 A CN101576620 A CN 101576620A
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Abstract
A large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device comprises an orientation scanning mechanism, a pitch scanning machine and a beam translation mechanism; the orientation scanning mechanism is arranged above a receiving telescope of the laser radar; an inlet port optical axis and the receiving telescope optical axis are coaxial; furthermore, the two optical axes are coaxial to the rotation axis of the orientation scanning mechanism. The inlet port of the pitch scanning mechanism is connected with the outlet port of an orientation rotation box, the two ports of which have the same calibers; the inlet optical axis of the pitch scanning mechanism and the outlet optical axis of the orientation scanning mechanism are coaxial and the two optical axes thereof are coaxial to the rotation axis of the pitch scanning mechanism. The beam translation box is arranged above the pitch scanning mechanism; the lower panel of the beam translation box is connected with the outlet port of the pitch scanning mechanism; and the inlet optical axis of the beam translation box and the outlet optical axis of the pitch scanning mechanism are coaxial. The device leads the laser radar to realize the three-dimensional space scanning measurement with a large distance range without increasing the clear aperture of the periscopic three-dimensional scanning system and the receiving telescope and the laser light source do not need to be rotated during the measurement process.
Description
Technical field
The invention belongs to the laser radar technique field in the optical engineering, relate to a kind of three-dimensional scanner of non-coaxial laser radar.
Background technology
Laser radar technique is the research contents of generally paying attention to both at home and abroad at present, has significant application value in atmospheric parameter and air pollution detecting.Laser radar is used for atmospheric parameter and air pollution detecting, has that investigative range is big, precision is high, real-time is good, can obtain advantages such as three-dimensional spatial distribution data, has irreplaceable superiority in actual applications.
At present, adopt laser radar that atmospheric parameter and atmospheric pollution three-dimensional spatial distribution are surveyed, generally adopt following dual mode:
Scanning survey method described in first kind of mode such as the document " prototype design of AML-1 vehicular air monitoring laser radar, optics journal, 2004 24 volume the 8th phase 1025-1031 pages or leaves ".In this method, laser radar is installed in vehicular or the fixing laboratory except that the periscopic 3 D scanning system more, and it is to realize by the periscopic 3 D scanning system that its atmospheric parameter and atmospheric pollution three-dimensional spatial distribution are surveyed.But in this method, the distance of the emission of lasering beam of laser radar and receiving telescope optical axis is less than the radius of receiving telescope, the emission of lasering beam of laser radar causes the maximum range of laser radar less in very near distance will enter the reception visual field of laser radar receiving telescope like this.This is because the echoed signal and the square distance of laser radar are inversely proportional to.For example, when omitting the influencing of atmospheric attenuation and radar system structure, to identical atmospheric condition, the echoed signal at 30000 meters will be littler by 1.4 * 10 than the echoed signal at 80 meters
5Doubly.Big echoed signal intensity difference like this, to bring very high technical difficulty to the radar system signal receive section, under the prior art condition, adopt a photodetector and signal picker can't realize high precision, high range resolution and high reliability detection.This is because when dynamic range of signals was so big, acquisition of signal partly was difficult to keep its linearity, and under the high-speed data acquisition situation, the analog-to-digital high precision of its signal also is difficult to realize.
Be difficult to carry out the problem that big distance range is surveyed for above-mentioned laser radar, can adopt and increase periscopic 3-D scanning mechanism clear aperture, and the distance that makes laser radar emission of lasering beam and receiving telescope optical axis is overcome greater than the way of receiving telescope radius, but increase periscopic 3-D scanning mechanism clear aperture the manufacturing cost of laser radar and volume is increased greatly.
Scanning survey method described in the second way such as the document " small-sized Mie scattering laser radar system design, Xi'an University of Technology's journal, 2007 23 volume the 1st phase 1-5 pages or leaves ".In this method, the LASER Light Source of laser radar and receiving telescope generally directly are connected and fixed, or all are fixed on the platform.It is directly to make LASER Light Source and receiving telescope carry out 3-D scanning together by three-dimensional revolving gear to rotate and realize that its atmospheric parameter and atmospheric pollution three-dimensional spatial distribution are surveyed, when carrying out on a large scale three-dimensional scanning measurement, LASER Light Source and receiving telescope must place outdoor.Because it is inappropriate that the LASER Light Source of some high environmental requirements and receiving telescope use in rugged surroundings, the application of laser radar will be subjected to environmental restraint like this.In addition, because LASER Light Source and receiving telescope need carry out Three dimensional rotation together, the laser radar system that this surveys for big distance range also is not suitable for, because big distance range detecting laser radar system needs the receiving telescope and the more powerful laser instrument of larger caliber, and how very big the weight and volume of more powerful laser instrument and heavy caliber receiving telescope is, there is very big load-bearing capacity in this Three dimensional rotation system that will directly require to realize LASER Light Source and the scanning of receiving telescope high precision, and have very high orientation and pitching scanning accuracy, thereby its manufacturing expense will improve greatly, and the operation stability of high power laser also be cannot say for sure card in the rotation process.
Summary of the invention
The technical problem to be solved in the present invention is the limitation that overcomes existing atmospheric parameter and atmospheric pollution three-dimensional spatial distribution detecting laser radar three-dimensional scanner, and a kind of large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device is provided.This device is under the situation that does not increase periscopic 3 D scanning system clear aperture, can make laser radar realize the three dimensions scanning survey of big distance range, and the receiving telescope of laser radar and LASER Light Source all can be installed in the laboratory, do not need Three dimensional rotation when measuring.This device can be widely used in the atmospheric exploration three dimensions scanning laser radar system, especially some is scanned in the demanding laser radar system.
A kind of large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device comprises azimuth scan mechanism, pitching scanning mechanism, and light beam translation mechanism, wherein:
1) azimuth scan mechanism realizes the scanning of laser radar directional bearing
Azimuth scan mechanism comprises a plane mirror and orientation rotating box, plane mirror places rotating box middle part, orientation, the incident port of orientation rotating box and exit ports are the incident port and the exit ports of azimuth scan mechanism, and the incident port incident light axis with azimuth scan mechanism is vertical with emergent light axis respectively with exit ports; The incident port optical axis of orientation rotating box is vertical with the exit ports optical axis, and the angle of they and plane mirror all is 45 °, and all passes through the central point of plane mirror reflecting surface; Plane mirror is to diameter projected's equal and opposite in direction of orientation rotating box incident port and exit ports, and less than the incident port and the exit ports bore of azimuth scan mechanism;
2) the pitching scanning mechanism is realized laser radar detection pitching scanning
The pitching scanning machine comprises a plane mirror and pitching rotating box, plane mirror places pitching rotating box middle part, the incident port of pitching rotating box and exit ports are the incident port and the exit ports of pitching scanning mechanism, and the incident port incident light axis with the pitching scanning mechanism is vertical with emergent light axis respectively with exit ports; The incident port optical axis of pitching scanning mechanism is vertical with the exit ports optical axis, and the angle of they and plane mirror all is 45 °, and all passes through the central point of plane mirror reflecting surface; Plane mirror is to diameter projected's equal and opposite in direction of pitching rotating box incident port and exit ports, and less than the incident port and the exit ports bore of pitching rotating box.
3) light beam translation mechanism is the mechanism of emission light beam realization translation
Light beam translation mechanism comprises two plane mirrors and light beam translation box, and two plane mirrors are installed in the rear and front end of light beam translation box respectively relatively, and the catoptron of front end is the incident light catoptron, and the catoptron of rear end is the emergent light catoptron; The reflecting surface of two plane mirrors is a parallel relation, and with the line of centres of two plane mirrors angle all at 45; The lower panel of light beam translation box is parallel with the line of centres of two plane mirrors with top panel; The front end of light beam translation box lower panel has a light beam translation box to go into perforation at the projected position of incident light catoptron, and the physical dimension in this hole is identical with the projection size of incident light catoptron; The right-hand member of light beam translation box top panel has a light beam translation box perforation hole at the projected position of emergent light catoptron, and the physical dimension in this hole is identical with the projection size of emergent light catoptron; The incident light axis of light beam translation box and incidence reflection mirror angle at 45, and the central point of going into perforation by the central point and the light beam translation box of incidence reflection mirror reflection face; The emergent light axis of light beam translation mechanism and outgoing catoptron angle at 45, and by the central point of outgoing mirror reflection surface and the central point of light beam translation box perforation hole;
Described azimuth scan mechanism is installed in the top of laser radar receiving telescope, and its clear aperture requires greater than laser radar receiving telescope bore, incident port optical axis and receiving telescope light shaft coaxle, and coaxial with the rotation axis of azimuth scan mechanism;
The incident port of described pitching scanning mechanism links to each other with the exit ports of orientation rotating box, and the bore of two ports equates; The incident light axis of pitching scanning mechanism is coaxial with the emergent light axis of azimuth scan mechanism, and coaxial with the rotation axis of pitching scanning mechanism; The pitching scanning mechanism rotates with the rotation of azimuth scan mechanism, and the pitching scanning mechanism can also carry out pitch rotation with respect to azimuth scan mechanism.
Described light beam translation mechanism is installed in pitching scanning mechanism top, and the lower panel of the light beam translation box in the light beam translation mechanism links to each other with the exit ports of pitching scanning mechanism, and the incident light axis of light beam translation box is coaxial with pitching scanning mechanism emergent light axis; The required distance of the incidence reflection mirror of light beam translation mechanism and the outgoing catoptron of light beam translation mechanism is greater than the radius of pitching scanning mechanism exit ports bore, promptly, the projection of emergent light catoptron must be in the outside of pitching scanning mechanism, and light beam translation mechanism rotates with the rotation of pitching scanning mechanism.
In apparatus of the present invention, azimuth scan mechanism and pitching scanning mechanism constitute coaxial 3 D scanning system together.By after the light beam translation mechanism, laser beam will be moved to outside the clear aperature of coaxial 3 D scanning system, thereby make coaxial 3 D scanning system be transformed into non-coaxial 3 D scanning system from coaxial 3 D scanning system emitting laser bundle.Like this, this device is applied to laser radar system, make coaxial atmospheric exploration laser radar system convert non-coaxial 3-D scanning atmospheric exploration laser radar system to, it is the three dimensions scanning survey that laser radar can be realized big distance range, and the receiving telescope of laser radar and LASER Light Source all can be installed in the laboratory, do not need Three dimensional rotation when measuring.
Beneficial effect
The present invention contrasts prior art and has following remarkable advantage:
1) this device is used for the coaxial laser radar system, can make laser radar system realize the three dimensions scanning survey, and under the situation that does not increase periscopic 3 D scanning system clear aperture, can make coaxial laser radar be transformed into non-coaxial laser radar, thereby increase the detection dynamic range of laser radar greatly, promptly, can make detection blind area less again realizing big distance range three dimensions scanning survey simultaneously.
2) adopt the 3-D scanning non-coaxial laser radar system of this device, its receiving telescope and LASER Light Source all can be installed in the laboratory, do not need Three dimensional rotation when measuring.
Description of drawings
Fig. 1 is that the structure of apparatus of the present invention is formed and the light path synoptic diagram, and the view angle is a section.
Wherein: 1-azimuth scan mechanism, 2-pitching scanning mechanism, 3-light beam translation mechanism, 4-laser radar laboratory, 5-laser radar outgoing laser beam, 6-laser radar receiving telescope, 7-laser radar receiving telescope optical axis, 8-orientation rotating box, the incident port of 9-azimuth scan mechanism, the exit ports of 10-azimuth scan mechanism, 11-aximuthpiston catoptron, the incident light axis of 12-azimuth scan mechanism, the emergent light axis of 13-azimuth scan mechanism, 14-pitching rotating box, the incident port of 15-pitching scanning mechanism, the exit ports of 16 pitching scanning mechanisms, 17-pitching plane mirror, the incident light axis of 18-pitching scanning mechanism, the emergent light axis of 19-pitching scanning mechanism, 20-light beam translation box, 21-light beam translation box is gone into perforation, 22-light beam translation box perforation hole, the incident light catoptron of 23-light beam translation mechanism, the emergent light catoptron of 24-light beam translation mechanism, the incident light axis of 25-light beam translation mechanism, the emergent light axis of 26-light beam translation mechanism, the long axis of symmetry of 27-light beam translation box, the 28-emission of lasering beam, 29-laser radar echo flashlight, the rotation axis of 30-pitching scanning mechanism, the rotation axis of 31-azimuth scan mechanism.
Embodiment
Below in conjunction with accompanying drawing and the invention will be further described.
As shown in Figure 1, a kind of large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device of the present invention, by azimuth scan mechanism 1, pitching scanning mechanism 2 and light beam translation mechanism 3 three parts are formed.Wherein, azimuth scan mechanism 1 comprises an aximuthpiston catoptron 11 and orientation rotating box 8; Pitching scanning mechanism 2 comprises a pitching plane mirror 17 and pitching rotating box 14; Light beam translation mechanism 3 comprises two plane mirrors 23,24 and light beam translation box 20.
Described orientation rotating box 8 is cube casing of a 520mm * 520mm * 520mm, and the middle part of its base plate and right plate respectively has the circular hole of 430mm diameter, respectively as the incident port 9 and the exit ports 10 of azimuth scan mechanism 1.Aximuthpiston catoptron 11 is installed in the middle part of orientation rotating box 8, all is 45 ° with the angle of base plate and right plate.The reflecting surface of aximuthpiston catoptron 11 is an ellipse, and major and minor axis is about 594mm and 420mm respectively.The reflecting surface of aximuthpiston catoptron 11 all is the circle of 420mm for diameter to the base plate of orientation rotating box 8 and the projection of right plate, and all concentric with the incident port 9 and the exit ports 10 of azimuth scan mechanism 1.The line at the center of the incident port 9 of azimuth scan mechanism 1 and aximuthpiston catoptron 11 reflecting surface centers, the incident light axis 12 of formation azimuth scan mechanism 1.Incident light axis 12 is coaxial with laser radar receiving telescope optical axis 7.The line at the center of the exit ports 10 of azimuth scan mechanism 1 and aximuthpiston catoptron 11 reflecting surface centers constitutes the emergent light axis 13 of azimuth scan mechanism 1.
Described pitching rotating box 14 is cube casing of a 520mm * 520mm * 520mm, and the middle part of its left plate and top panel all has the circular hole of 430mm diameter, respectively as the incident port one 5 and the exit ports 16 of pitching scanning mechanism 2.Pitching plane mirror 17 is installed in the middle part of pitching rotating box 14, all is 45 ° with the angle of left plate and top panel.The reflecting surface of pitching plane mirror 17 is an ellipse, and its major and minor axis is about 594mm and 420mm respectively.The reflecting surface of pitching plane mirror 17 all is the circle of 420mm for diameter to the left plate of pitching rotating box 14 and the projection of top panel, and all concentric with the incident port one 5 and the exit ports 16 of pitching scanning mechanism 2.The line at the center of the incident port one 5 of pitching scanning mechanism 2 and pitching plane mirror 17 reflecting surface centers, the incident light axis 18 of formation pitching scanning mechanism 2; The line at the center of pitching scanning mechanism 2 exit ports 16 and pitching plane mirror 17 reflecting surface centers, the emergent light axis 19 of formation pitching scanning mechanism 2.
Obviously, the emergent light axis 13 of azimuth scan mechanism is on the same straight line with the incident light axis 18 of pitching scanning mechanism.
Described light beam translation box 20 is the rectangular parallelepiped box of a 380mm (length) * 45mm (wide) * 45mm (height), its lower panel left end and top panel right-hand member all have the circular hole that diameter is 30mm, wherein, the lower panel circular hole is called the light beam translation box and goes into perforation 21, and top panel right-hand member circular hole is called light beam translation box perforation hole 22.The reflecting surface of the incident light catoptron 23 of light beam translation mechanism 3, the emergent light catoptron 24 of light beam translation mechanism 3 is ellipse, major and minor axis is about 42.4mm and 30mm respectively, relatively, incident light catoptron 23 is installed in the left end of light beam translation box, and emergent light catoptron 24 is installed in the right-hand member of light beam translation box 20.Centre distance is 290mm between the reflecting surface of incident light catoptron 23, emergent light catoptron 24.The long axis of symmetry 27 of two plane mirrors and light beam translation box angle all at 45.Wherein, 23 pairs of lower panels of incident light catoptron be projected as the circle that a diameter is 30mm, this circle is gone into perforation 21 with the light beam translation box and is overlapped; The projection of 24 pairs of top panels of emergent light catoptron also is that a diameter is the circle of 30mm, and this circle overlaps with light beam translation box perforation hole 22.Central point that the central point of incidence reflection mirror 23 reflectings surface of light beam translation mechanism 3 and light beam translation box are gone into perforation 21 constitutes incident light axis 25, and with incident light catoptron 23 angles at 45.The emergent light axis 26 and emergent light catoptron 24 angles at 45 of light beam translation mechanism 3, and by the central point of emergent light catoptron 24 reflectings surface and the central point of light beam translation box perforation hole 22.Wherein, the projection of emergent light catoptron 24 must be in the outside of pitching scanning mechanism 2 right hand edges, as shown in Figure 1.The line of centres of 20 liang of plane mirrors of the long axis of symmetry 27 of light beam translation box and light beam translation box overlaps.
Described azimuth scan mechanism 1 can carry out azimuth scan and rotate, and slewing area is-180 °～+ 180 °, angular velocity＞5 °/second, and scanning accuracy is 0.08 °.The rotation axis 31 of azimuth scan mechanism is coaxial with the incident light axis 12 of azimuth scan mechanism.
Described pitching scanning mechanism 2 can carry out pitching scanning and rotate, its slewing area is-90 °～+ 90 °, angular velocity＞5 °/second, and scanning accuracy is 0.08 °, wherein, described 0 ° of direction is meant the direction when pitching plane mirror 17 and aximuthpiston catoptron 11 are parallel.The rotation axis 30 of pitching scanning mechanism is coaxial with the incident light axis 18 of pitching scanning mechanism.
The course of work of apparatus of the present invention is as follows:
When a kind of large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device of the present invention uses, the function of its azimuth scan mechanism 1 is to realize azimuth scan, the function of pitching scanning mechanism 2 is to realize pitching scanning, and the function of light beam translation mechanism 3 is to realize the emission of lasering beam translation.
Large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device is installed in the end face top in laser radar laboratory 4.Laser radar system is installed in inside, laser radar laboratory, and laser radar system is launched laser beam 5, and its spot diameter is that 10mm, the angle of divergence are 1.0mrad.The bore of laser radar receiving telescope 6 is 400mm, and the reception visual field is 1.2mrad.
Laser radar outgoing laser beam 5 is along laser radar receiving telescope optical axis 7, and the incident port 9 of the azimuth scan mechanism 1 by orientation rotating box 8 enters in the azimuth scan mechanism 1, and from exit ports 10 outgoing of azimuth scan mechanism 1.Wherein, the laser beam of transmission is carried out 90 ° of reflections by aximuthpiston catoptron 11 in azimuth scan mechanism 1, laser beam before 11 reflections of aximuthpiston catoptron is coaxial with the incident light axis 12 of azimuth scan mechanism 1, and the laser beam after 11 reflections of aximuthpiston catoptron is coaxial with the emergent light axis 13 of azimuth scan mechanism 1.From the exit ports 10 emitting laser bundles of azimuth scan mechanism 1, the pitching scanning mechanism incident port one 5 by pitching rotating box 14 enters pitching scanning mechanism 2, and from exit ports 16 outgoing of pitching scanning mechanism 2.Wherein, the laser beam of transmission is carried out 90 ° of reflections by pitching plane mirror 17 in pitching scanning mechanism 2, laser beam before 17 reflections of pitching plane mirror is coaxial with the incident light axis 18 of pitching scanning mechanism 2, and the laser beam after 17 reflections of pitching plane mirror is coaxial with the emergent light axis 19 of pitching scanning mechanism 2.From pitching scanning mechanism exit ports 16 emitting laser bundles, go into perforation 21 by the light beam translation box of light beam translation box 20 and enter light beam translation mechanism 3, and from 22 outgoing of light beam translation box perforation hole.Wherein, the laser beam of transmission is carried out 90 ° of reflections by the incident light catoptron 23 of light beam translation mechanism and emergent light catoptron 24 respectively in light beam translation mechanism 3, laser beam before 23 reflections of incident light catoptron is coaxial with the incident light axis 25 of light beam translation mechanism, laser beam after 24 reflections of emergent light catoptron is coaxial with the emergent light axis 26 of light beam translation mechanism, and the laser beam of transmission is coaxial with the long axis of symmetry 27 of light beam translation box between incident light catoptron 23 and emergent light catoptron 24.From light beam translation box perforation hole 22 emitting laser bundles promptly is that the laser radar laser beam is by the emission of lasering beam 28 after apparatus of the present invention.Emission of lasering beam is coaxial with the emergent light axis 26 of light beam translation mechanism, this laser beam directive atmosphere, and will be by the atmospheric scattering on the beam path, to scattered light 29 will through the exit ports 16 of pitching scanning mechanism enter pitching scanning mechanism thereafter, arrive the receiving telescope 6 of laser radar then through the reflection of the aximuthpiston catoptron 11 of the pitching plane mirror 17 of pitching scanning mechanism and azimuth scan mechanism, and received by laser radar.
Light beam translation mechanism 3 is installed on the pitching scanning mechanism 2, rotates with the rotation of pitching scanning mechanism 2.Pitching scanning mechanism 2 links to each other with azimuth scan mechanism 1, rotates with the rotation of azimuth scan mechanism 1.Pitching scanning mechanism 2 can carry out pitch rotation with respect to azimuth scan mechanism 1.When pitching scanning mechanism 2 when pitching scanning mechanism rotation axis 30 rotates an angle of pitch, the laser radar outgoing laser beam is as above-mentioned description, through azimuth scan mechanism 1, pitching scanning mechanism 2 and the tested atmosphere of light beam translation mechanism 3 back directives, but also will rotate same luffing angle by the exit direction of the emission of lasering beam behind the large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device 28 this moment with pitching scanning mechanism 2.When azimuth scan mechanism 1 rotates a position angle around azimuth scan mechanism rotation axis 31, the laser radar outgoing laser beam is as above-mentioned description, through azimuth scan mechanism 1, pitching scanning mechanism 2 and the tested atmosphere of light beam translation mechanism 3 back directives, and also will rotate same orientation angles by the exit direction of the emission of lasering beam behind the large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device 28 this moment with azimuth scan mechanism 1.Azimuth scan mechanism 1 can carry out-180 °～+ 180 ° scopes around azimuth scan mechanism rotation axis and rotate, pitching scanning mechanism 2 can carry out-90 °～+ 90 ° scopes around pitching scanning mechanism rotation axis and rotate, thereby the laser radar system of using this device can carry out the scanning probe of atmospheric parameter and atmospheric pollution three-dimensional spatial distribution.Simultaneously, after laser radar system is used this device, the spacing of the laser beam optical axis of the tested atmosphere of directive and the emergent light axis 19 of pitching scanning mechanism 2 is 290mm, be that emission of lasering beam and laser radar receive the radius of the distance of visual field optical axis greater than the reception clear aperture of laser radar, thereby the laser radar of this moment become the non-coaxial laser radar system.Hence one can see that, utilize this device after, laser radar can be realized the non-coaxial optics three-dimensional scanning measurement of atmospheric parameter and atmospheric pollution.
Obviously, those skilled in the art and researchist can carry out various changes and modification to large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device of the present invention and not break away from the spirit and scope of the present invention.Like this, still if of the present invention these are revised and modification belongs within claim of the present invention and the equivalent technologies scope thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (3)
1, a kind of large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device is characterized in that comprising azimuth scan mechanism, pitching scanning mechanism, and light beam translation mechanism, wherein:
1) azimuth scan mechanism realizes the scanning of laser radar directional bearing
Azimuth scan mechanism comprises a plane mirror and orientation rotating box, plane mirror places rotating box middle part, orientation, the incident port of orientation rotating box and exit ports are the incident port and the exit ports of azimuth scan mechanism, and the incident port incident light axis with azimuth scan mechanism is vertical with emergent light axis respectively with exit ports; The incident port optical axis of orientation rotating box is vertical with the exit ports optical axis, and the angle of they and plane mirror all is 45 °, and all passes through the central point of plane mirror reflecting surface; Plane mirror is to diameter projected's equal and opposite in direction of orientation rotating box incident port and exit ports, and less than the incident port and the exit ports bore of azimuth scan mechanism;
2) the pitching scanning mechanism is realized laser radar detection pitching scanning
The pitching scanning machine comprises a plane mirror and pitching rotating box, plane mirror places pitching rotating box middle part, the incident port of pitching rotating box and exit ports are the incident port and the exit ports of pitching scanning mechanism, and the incident port incident light axis with the pitching scanning mechanism is vertical with emergent light axis respectively with exit ports; The incident port optical axis of pitching scanning mechanism is vertical with the exit ports optical axis, and the angle of they and plane mirror all is 45 °, and all passes through the central point of plane mirror reflecting surface; Plane mirror is to diameter projected's equal and opposite in direction of pitching rotating box incident port and exit ports, and less than the incident port and the exit ports bore of pitching rotating box;
3) light beam translation mechanism is the mechanism of emission light beam realization translation
Light beam translation mechanism comprises two plane mirrors and light beam translation box, and two plane mirrors are installed in the rear and front end of light beam translation box respectively relatively, and the catoptron of front end is the incident light catoptron, and the catoptron of rear end is the emergent light catoptron; The reflecting surface of two plane mirrors is a parallel relation, and with the line of centres of two plane mirrors angle all at 45; The lower panel of light beam translation box is parallel with the line of centres of two plane mirrors with top panel; The front end of light beam translation box lower panel has a light beam translation box to go into perforation at the projected position of incident light catoptron, and the physical dimension in this hole is identical with the projection size of incident light catoptron; The right-hand member of light beam translation box top panel has a light beam translation box perforation hole at the projected position of emergent light catoptron, and the physical dimension in this hole is identical with the projection size of emergent light catoptron; The incident light axis of light beam translation box and incidence reflection mirror angle at 45, and the central point of going into perforation by the central point and the light beam translation box of incidence reflection mirror reflection face; The emergent light axis of light beam translation mechanism and outgoing catoptron angle at 45, and by the central point of outgoing mirror reflection surface and the central point of light beam translation box perforation hole;
Described azimuth scan mechanism is installed in the top of laser radar receiving telescope, and its clear aperture requires greater than laser radar receiving telescope bore, incident port optical axis and receiving telescope light shaft coaxle, and coaxial with the rotation axis of azimuth scan mechanism;
The incident port of described pitching scanning mechanism links to each other with the exit ports of orientation rotating box, and the bore of two ports equates; The incident light axis of pitching scanning mechanism is coaxial with the emergent light axis of azimuth scan mechanism, and coaxial with the rotation axis of pitching scanning mechanism; The pitching scanning mechanism rotates with the rotation of azimuth scan mechanism, and the pitching scanning mechanism can also carry out pitch rotation with respect to azimuth scan mechanism;
Described light beam translation box is installed in pitching scanning mechanism top, and the lower panel of light beam translation box links to each other with the exit ports of pitching scanning mechanism, and the incident light axis of light beam translation box is coaxial with pitching scanning mechanism emergent light axis; The required distance of light beam translation box incidence reflection mirror and light beam translation box outgoing catoptron is greater than the radius of pitching scanning mechanism exit ports bore, promptly, being projected in of emergent light catoptron must be in the outside of pitching scanning mechanism, and light beam translation mechanism rotates with the rotation of pitching scanning mechanism.
2, a kind of large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device as claimed in claim 1, it is characterized in that, described azimuth scan mechanism can rotate as rotation axis with the incident light axis of azimuth scan mechanism, slewing area is-180 °～+ 180 °, angular velocity＞5 °/second.
3, a kind of large-caliber optical periscopic non-coaxial laser radar three-dimensional scanning device as claimed in claim 1, it is characterized in that, described pitching scanning mechanism can rotate as rotation axis with the incident light axis of pitching scanning mechanism, its slewing area is-90 °～+ 90 °, angular velocity＞5 °/second, wherein, described 0 ° of direction is meant the direction when the pitching plane mirror is parallel with the aximuthpiston catoptron.
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