CN104536134B - One kind detection parallel light scanning device - Google Patents
One kind detection parallel light scanning device Download PDFInfo
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- CN104536134B CN104536134B CN201410842306.1A CN201410842306A CN104536134B CN 104536134 B CN104536134 B CN 104536134B CN 201410842306 A CN201410842306 A CN 201410842306A CN 104536134 B CN104536134 B CN 104536134B
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Abstract
Parallel light scanning device is detected the embodiments of the invention provide one kind：First speculum, the second speculum, the first rotatable platform, the second rotatable platform and driving equipment；First speculum is fixedly mounted on the first rotatable platform, and the second speculum is fixedly mounted on the second rotatable platform；Detection light is incident to the first speculum, first speculum reflexes to the second speculum by light is detected, second speculum reflexes to search coverage by light is detected, remain the first speculum and the second mirror parallel, first speculum and the second speculum are synchronous, in the same direction and rotate at the same speed, constantly change the position of detection light irradiation search coverage, realization is scanned detection to search coverage.The scanning device that the embodiment of the present invention is provided, it is ensured that detection light is when search coverage diverse location is incident, and level, realizes parallel sweep of the light sheets to the detection sample of different search coverages, improve detection accuracy each other.
Description
Technical field
The present invention relates to optical technical field, more particularly to a kind of detection parallel light scanning device.
Background technology
In field of optical detection, optical scanner detection is one of current research focus.Optical scanner detection is a kind of dynamic
Optical detector technology, incident light changes the position in the detected region irradiated with speed according to a certain direction, so as to realize
The detection sample of diverse location to being detected region is detected.
In order to realize the optical scanner detection to the detection sample of diverse location in search coverage, there are two kinds of technical schemes.
It is constant that a kind of scheme is to maintain detection optical position, mobile search coverage.It is constant that also a kind of scheme is to maintain search coverage, mobile
Detect light.Under normal circumstances, it is easily to realize, more have the side of actual application value that mobile detection light, which carrys out surface sweeping search coverage,
Case.
At present, it is main that scanning is realized using galvanometer when moving sheet light realizes optical scanner detection, it is still, anti-by galvanometer
The detection light of search coverage diverse location is incident upon, not parallel each other when incident, i.e., the detection sample of different search coverages is to incidence
The reflectivity of light is different, causes very big error, influences detection accuracy.
The content of the invention
Present invention solves the technical problem that being to provide a kind of detection parallel light scanning device, prior art detection is solved
Light is not substantially parallel with each other problem when the diverse location of search coverage is incident.
Therefore, the technical scheme that the present invention solves technical problem is：
One kind detection parallel light scanning device, the equipment includes：
First speculum, the second speculum, the first rotatable platform, the second rotatable platform and driving equipment；
First speculum is fixedly mounted on first rotatable platform, and second speculum is fixedly mounted on institute
State on the second rotatable platform；
The driving equipment drives first rotatable platform around the first central axis of first speculum, to cause
First speculum drives second rotatable platform anti-around described second around first central axis, the driving equipment
The second central axis of mirror is penetrated, to cause second speculum around second central axis, the first rotatable platform and second
Rotatable platform is synchronous, in the same direction and rotates at the same speed, remains first speculum and second mirror parallel, described
First axis is the line at first speculum, two long side midpoint, and second axis is that second speculum is two long
The line at side midpoint；
The midpoint of first axis is the first axle center, and the midpoint of second axis is the second axle center, the first axle
The heart and the line in second axle center are perpendicular to detection light plane of incidence；
Detection light is incident to first speculum, and the detection light is reflexed to second reflection by the first speculum
The detection light is reflexed to search coverage by mirror, second speculum, and the driving equipment drives first rotatable platform
Around first central axis, and the driving equipment drives second rotatable platform around second central axis, begins
First speculum and second mirror parallel are kept eventually, constantly change the position of the detection light irradiation search coverage
Put, detection is scanned to search coverage.
Optionally, the driving equipment includes：
First motor and the second motor；
First motor drives first rotatable platform around first central axis；
Second motor drives second rotatable platform around second central axis；
First motor and second motor perform synchronous driving, drive first speculum and institute
The direction for stating the rotation of the second speculum is identical with angular speed, remains that first speculum is put down with second speculum
OK.
Optionally, the equipment also includes：
Non-resilient connection equipment；
Described non-resilient connection equipment one end is fixedly connected with first rotatable platform, and the other end is rotated with described second
Platform is fixedly connected, line of the non-resilient connection equipment parallel to first axle center and second axle center；
The non-resilient connection equipment drives first rotatable platform and described the under the driving of the driving equipment
Two rotatable platforms in the same direction, are rotated simultaneously with same angular speed, remain first speculum and described second anti-
Penetrate mirror parallel.
Optionally,
The non-resilient connection equipment includes the first non-resilient connecting rod and the second non-resilient connecting rod；
One end of the first non-resilient connecting rod is fixedly connected with first rotatable platform close to one end of search coverage,
The other end is fixedly connected with second rotatable platform close to one end of search coverage；
One end of the second non-resilient connecting rod is fixedly connected with the described one end of first rotatable platform away from search coverage,
The other end is fixedly connected with the described one end of second rotatable platform away from search coverage；
The driving equipment drives the described first non-resilient connecting rod and the second non-resilient connecting rod simultaneously, and described first is non-
Elastic link and the second non-resilient connecting rod drive first rotatable platform and second rotatable platform in the same direction,
Rotated simultaneously with same angular speed, remain first speculum and second mirror parallel.
Optionally, the driving equipment includes：
3rd motor, the 3rd motor is used to driving described first non-in the non-resilient connection equipment
Elastic link and the second non-resilient connecting rod, to cause the non-resilient connection equipment to drive first plummer and described
Second plummer in the same direction, is rotated simultaneously with same angular speed.
Optionally,
The detection light is that sheet detects light, and the sheet detection light for irradiating the diverse location of search coverage is parallel to each other, right
Search coverage carries out 3-D scanning irradiation.
Optionally,
During using the reflecting surface of the first speculum and incident detection light angle as 135 °, the first speculum and the second speculum
Position be used as reference position；
The anglec of rotation of first speculum and the second speculum on reference positionFor 0, the spy that the detection light is irradiated
The position for surveying region is scan origin；
After first speculum and the second speculum rotate counterclockwise, the first speculum and the angle of the reference position
ForIt is negative, the second speculum and the angle of the reference position areIt is negative, scanning distance Z is negative；
After first speculum and the second speculum rotate counterclockwise, the first speculum and the angle of the reference position
ForFor just, the second speculum and the angle of the reference position areFor just, scanning distance Z is just；
Ultimate range Z, distance of shaft centers d and the anglec of rotation then scannedRelation be：
The distance of shaft centers d is the distance between first axle center and second axle center.
Optionally,
The anglec of rotation of the long edge lengths 2R of second speculum, distance of shaft centers d, the first speculum and the second speculumIt
Between relation be：
Optionally,
The distance of shaft centers in first axle center and second axle center is 1m.
Optionally,
The long edge lengths 2R of second speculum is 0.7m, and distance of shaft centers is 1m；
The angular range that then the first speculum and the second speculum can rotate is 14.45 °, and the detection light can irradiate
Search coverage scanning range be 0.5m.
According to the above-mentioned technical solution, the method have the advantages that：
Parallel light scanning device is detected the embodiments of the invention provide one kind, the equipment includes：First speculum, second
Speculum, the first rotatable platform, the second rotatable platform and driving equipment；First speculum is fixedly mounted on described first
On rotatable platform, second speculum is fixedly mounted on second rotatable platform；Driving equipment driving described the
One rotatable platform around first speculum the first central axis, with cause first speculum around first axis turn
Dynamic, the driving equipment drives second rotatable platform around the second central axis of second speculum, described to cause
Second speculum remains first speculum and second mirror parallel around second central axis, described
First axis is the line at first speculum, two long side midpoint, and second axis is that second speculum is two long
The line at side midpoint；The midpoint of first axis is the first axle center, and the midpoint of second axis is the second axle center, described the
The line in one axle center and second axle center is perpendicular to detection light plane of incidence；Detection light is incident to first speculum, the
The detection light is reflexed to second speculum by one speculum, and the detection light is reflexed to detection by second speculum
Region, the driving equipment drives first rotatable platform around the first central axis of first speculum, and described
Driving equipment drives second rotatable platform around the second central axis of second speculum, remains that described first is anti-
Mirror and second mirror parallel are penetrated, constantly changes the position of the detection light irradiation search coverage, search coverage is carried out
Scanning probe.The scanning device that the embodiment of the present invention is provided, it is ensured that detection light is when search coverage diverse location is incident, each other
Level, realizes parallel sweep of the light sheets to different search coverages, improves detection accuracy.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this area
For those of ordinary skill, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is detection parallel light scanning device structural representation provided in an embodiment of the present invention；
Fig. 2 is another detection parallel light scanning device structural representation provided in an embodiment of the present invention；
Fig. 3 is another detection parallel light scanning device structural representation provided in an embodiment of the present invention；
Fig. 4 is the index path that scanning device of the embodiment of the present invention realizes scanning probe；
Fig. 5 is speculum radius of embodiment of the present invention R with rotational angleChange schematic diagram.
Embodiment
Parallel light scanning device is detected the embodiments of the invention provide one kind, the first speculum and the second speculum be synchronous,
Rotate in the same direction and at the same speed, remain first speculum and second mirror parallel, it is ensured that detection light is in detection
When region diverse location is incident, level, realizes that the detection sample of different search coverages is identical to the reflectivity of incident light, carries each other
The precision of high result of detection.
The specific embodiment of the invention is described in detail below in conjunction with the accompanying drawings.
Fig. 1 is detection parallel light scanning device structural representation provided in an embodiment of the present invention, and the equipment includes：
First speculum 101, the second speculum 102, the first rotatable platform 103, the second rotatable platform 104 and driving are set
Standby 105.
First speculum 101 is fixedly mounted on first rotatable platform 103, and second speculum 102 is consolidated
Dingan County is on second rotatable platform 104.
In actual applications, first speculum 101 and second speculum 102 are set to rectangle.By first
Speculum 101 is fixedly mounted on the first rotatable platform 103, and the second speculum 102 is fixedly mounted on into the second rotatable platform 104
On, the first rotatable platform 103 and the second rotatable platform 104 are mainly for the guarantee speculum of the first speculum 101 and second
102 stabilization, prevents the first speculum 101 and second speculum 102 to be damaged.Generally, the first rotatable platform
103 is more slightly bigger than the size of first speculum 101, and the second rotatable platform 104 is than second speculum 102
Size is slightly bigger.First rotatable platform 103 and second rotatable platform 104 are very big without setting, can
On the premise of ensureing the first speculum 101 and the second speculum 102 stabilization and safety, size is as small as possible, and chooses as far as possible
The material of light weight.The making material of first rotatable platform 103 and second rotatable platform 104 can be：Plastics, gold
Category or timber.
The driving equipment 105 drives first rotatable platform 103 around the first axis of first speculum 101
106 rotate, to cause first speculum 101 to be rotated around first axis 106, and the driving equipment 105 drives described
Second rotatable platform 104 is rotated around the second axis 107 of second speculum 102, with cause second speculum 102 around
Second axis 107 is rotated, and the first rotatable platform 103 and the second rotatable platform 104 are synchronous, in the same direction and rotate at the same speed, begin
Keep first speculum 101 parallel with second speculum 102 eventually, first axis 106 is the described first reflection
The line at the 101 two long side midpoint of mirror, second axis 107 is the line at second speculum, 102 two long side midpoint.
The line at two midpoints on the long side of first speculum 101 be the first axis 106, the first rotatable platform 103 around
First axis 106 is rotated, to cause first speculum 101 to be rotated around first axis 106.Second reflection
The line at two midpoints on the long side of mirror 102 is the second axis 106, and the second rotatable platform 104 is around 107 turns of second axis
It is dynamic, to cause second speculum 102 to be rotated around second axis 107.
The driving equipment 105 drive first rotatable platform 103 and second rotatable platform 104 rotation when,
At least two kinds possible structures：
The first possible structure, the driving equipment 105 includes：
First motor and the second motor；
First motor drives first rotatable platform around first central axis；
Second motor drives second rotatable platform around second central axis；
First motor and second motor perform synchronous driving, drive first speculum and institute
The direction for stating the rotation of the second speculum is identical with angular speed, remains that first speculum is put down with second speculum
OK.
The driving equipment 105 includes the first motor and the second motor, the first motor driving described the
One rotatable platform 103 is rotated around the first axis 106, and the second motor drives second rotatable platform around second axis
107 rotate, and the first motor and the second motor synchronously drive, it is ensured that the first rotatable platform 103 and the second rotatable platform
104 is synchronous, in the same direction and rotate at the same speed, remains that first speculum 101 is parallel with second speculum 102.
As shown in Fig. 2 equipment also includes：
Non-resilient connection equipment 201.
Described non-resilient connection one end of equipment 201 is fixedly connected with first rotatable platform 103, the other end and described the
Two rotatable platforms 104 are fixedly connected, and the non-resilient connection equipment 201 is parallel to first axle center and second axle center
Line.
The non-resilient connection equipment 201 drives first rotatable platform under the driving of the driving equipment 105
103 and second rotatable platform 104 in the same direction, rotated simultaneously with same angular speed, remain it is described first reflection
Mirror and second mirror parallel.
Non-resilient connection equipment 201 one end connects the first rotatable platform 103, and the other end connects the second rotatable platform 104.Institute
Stating driving equipment 105 drives the non-resilient connection equipment 201 to rotate, and when the non-resilient connection equipment 201 is rotated, drives institute
State the first rotatable platform 103 and second rotatable platform 104 in the same direction, rotated, protected all the time simultaneously with same angular speed
Hold first speculum 101 parallel with second speculum 102.When being rotated due to the non-resilient connection equipment 201, energy
It is enough to drive connected first rotatable platform 103 and second rotatable platform 104 to rotate simultaneously.Described first rotates
Platform 103 and the synchronous axial system of the second rotatable platform 104, and the direction rotated is identical with angular speed, so that described first
Speculum 101 and second speculum 102 are realized synchronous, in the same direction and rotated at the same speed, remain first speculum
101 is parallel with second speculum 102.
In one embodiment, the non-resilient connection equipment 201 can be one parallel to first axle center and institute
The non-resilient connecting rod of the line in the second axle center is stated, one end is connected with the first rotatable platform 103, the other end and the second rotatable platform
104 are connected.The non-resilient connecting rod can be the connecting rod that the materials such as metal or timber make.
In another embodiment, as shown in figure 3, the non-resilient connection equipment 201 includes the first non-resilient connecting rod 301
And the second non-resilient connecting rod 302.
One end of the first non-resilient connecting rod 301 is consolidated with first rotatable platform 103 close to one end of search coverage
Fixed connection, the other end is fixedly connected with second rotatable platform 104 close to one end of search coverage.
One end of the second non-resilient connecting rod 302 is consolidated with the described one end of first rotatable platform 103 away from search coverage
Fixed connection, the other end is fixedly connected with the described one end of second rotatable platform 104 away from search coverage.
The driving equipment 105 drives the described first non-resilient connecting rod 301 and the second non-resilient connecting rod 302 simultaneously,
The first non-resilient connecting rod 301 and the second non-resilient connecting rod 302 drive first rotatable platform 103 and described second
Rotatable platform 104 in the same direction, is rotated simultaneously with same angular speed, remains first speculum and described second anti-
Penetrate mirror parallel.
The non-resilient connection equipment 201 includes the first non-resilient connecting rod 302 of non-resilient connecting rod 301 and second, the
The two ends of one rotatable platform 103 and the second rotatable platform 104 are respectively mounted a non-resilient connecting rod, non-resilient mainly for ensureing
Equipment 201 is connected when driving the first rotatable platform 103 and the rotation of the second rotatable platform 104, the first rotatable platform 103 and second
Rotatable platform 104 keeps balance, to cause the first speculum 101 to remain parallel with the second speculum 102, so as to ensure the
The detection light that two-mirror 102 is reflexed on search coverage diverse location is parallel to each other.
When non-resilient connection equipment 201 includes first non-resilient connecting rod and the second non-resilient connecting rod, the driving equipment
105 second of possible structure include：
3rd motor, the 3rd motor is used to driving shown first non-in the non-resilient connection equipment
Elastic link and the second non-resilient connecting rod, to cause the non-resilient connection equipment to drive first rotatable platform and the
Two rotatable platforms in the same direction, are rotated simultaneously with same angular speed.
Because the first rotatable platform 103 and the second rotatable platform 104 are driven by the non-resilient connection equipment 201, carry out
It is synchronous, in the same direction and rotate at the same speed, then rotated only with the non-resilient connection equipment 201 of the 3rd motor driving.It is described
3rd motor drives the first non-resilient connecting rod and the second non-resilient company in the non-resilient connection equipment 201 simultaneously
Bar, realize driving the first rotatable platform 103 and the second rotatable platform 104 synchronize, in the same direction and rotate at the same speed.With using two
Individual motor is compared, it is easier to realize that the synchronous driving rotatable platform 104 of the first rotatable platform 103 and second is rotated, from
And realize first speculum 101 and the synchronous axial system of the second speculum 102.
The midpoint of first axis is the first axle center, and the midpoint of second axis is the second axle center, the first axle
The heart and the line in second axle center are perpendicular to detection light plane of incidence.
As shown in figure 1, line of the detection light plane of incidence perpendicular to first axle center and second axle center.When described
When detecting light for wire detection light, realize that the two-dimensional scan to search coverage is detected, when the detection light is two-dimensional sheet detection
Light time, realize and the 3-D scanning of search coverage is detected.Each position of detection light irradiation search coverage can obtain one two
Detection image is tieed up, detection is scanned to the diverse location of search coverage, several two-dimensional detections on diverse location can be obtained
Several two-dimensional detection images are carried out three-dimensional reconstruction by image, you can obtain the three-dimensional detection result to search coverage.
Scanning device provided by the present invention realizes that detection light is as follows to the scanning probe process of search coverage：
Detection light is incident to first speculum 101, and the detection light is reflexed to described second by the first speculum 101
The detection light is reflexed to search coverage 108 by speculum 102, second speculum 102, and the driving equipment 105 drives
First rotatable platform 103 is rotated around first axis 106, and the driving equipment 105 drives described second to rotate
Platform 104 is rotated around second axis 107, remains that first speculum 101 and second speculum 102 are flat
OK, constantly change the position of the detection light irradiation search coverage, detection is scanned to search coverage.
When realizing scanning probe to scanning device with reference to Fig. 4, the first speculum 101 and the synchronous axial system of the second speculum 102
Angular range and the scope of search coverage scanning probe is described in detail.
During using the reflecting surface of the first speculum 101 and incident detection light angle as 135 °, the first speculum 101 and second
The position of speculum 102 is used as reference position.That is in Fig. 4, O1 is located at the first speculum 101, the second speculum 102 is located at O2
Position as reference position, now, the reflecting surface of the first speculum 101 is 135 ° with incident detection light angle.In reference
On position, incident detection light reflexes to second speculum 102 straight up by the first speculum 101, then by described
Two-mirror 102 reflexes to search coverage 108.Incidence detection light is incident to first axis 106, then on reference position, enters
The light path for penetrating detection light is as shown in Figure 4.
When first speculum 101 is located at A1, and second speculum is located at A2, now, the first axis is incident to
106 detection light, second speculum 102 is reflexed to close to the edge of search coverage by the first speculum 101, if first
The speculum 102 of speculum 101 and second rotate counterclockwise again, then detect light then can not reflex to second by the first transmitting mirror 101
Speculum 102, then search coverage can not be irradiated to by detecting light.Now, the first speculum 101 and the second speculum 102 rotate to
The maximum angle of distance reference position rotate counterclockwise.
When first speculum 101 is located at B1, and second speculum is located at B2, now, the first axis is incident to
106 detection light, the edge of the second speculum 102 away from search coverage is reflexed to by the first speculum 101, if first
The speculum 102 of speculum 101 and second turns clockwise again, then detecting light, can not to reflex to second by the first speculum 101 anti-
Mirror 102 is penetrated, then search coverage can not be irradiated to by detecting light.Now, the first speculum 101 and the second speculum 102 rotation to away from
The maximum angle turned clockwise from reference position.
If the anglec of rotation of the first speculum 101 and the second speculum 102 on reference positionFor 0, the detection light institute
The position of the search coverage of irradiation is scan origin, after first speculum and the second speculum rotate counterclockwise, and first is anti-
Penetrate mirror and the angle of the reference position isIt is negative, the second speculum and the angle of the reference position areBe it is negative, scanning away from
It is negative from Z, after first speculum and the second speculum turn clockwise, the first speculum and the angle of the reference position
ForFor just, the second speculum and the angle of the reference position areFor just, scanning distance Z is just.
Ultimate range Z, distance of shaft centers d and the anglec of rotation then scannedRelation be：
The distance of shaft centers d is the distance between first axle center and second axle center.
The anglec of rotation of the long edge lengths 2R of second speculum, distance of shaft centers d, the first speculum and the second speculumIt
Between relation be：
Fig. 5 is speculum radius R with rotational angleChange schematic diagram, as shown in Figure 5, when the first speculum 101 and
Two-mirror 102 from reference position rotate counterclockwise when, rotational angleIt is negative, relative to the scan position Z of reference position
It is negative；When the first speculum 101 and the second speculum 102 turn clockwise from reference position, rotational angleFor just, relatively
Scan position Z in reference position is also just.
The distance of shaft centers in first axle center and second axle center is 1m.
In a specific embodiment, in order to realize the detection light of incidence to the maximum scan model of search coverage scanning probe
Enclose for 0.5m, then it is 0.7m to set the long edge lengths 2R of second speculum, then the first speculum and the second speculum can revolve
The angular range turned is 14.45 °, and the scanning range for the search coverage that the detection light can irradiate is 0.5m.
The angular range that first speculum and the second speculum can rotate is 14.45 °, i.e., described first speculum 101
B1 is rotated to from A1, second speculum 102 rotates to B2 from A2, and the angle of rotation is 14.45 °, and detection light can irradiate
Distance of the scanning range from Z1 to Z2 of search coverage be 0.5m.B1 is at the uniform velocity then rotated to from A1 in the first speculum, it is described
Second speculum 102 from A2 at the uniform velocity rotate to B2 when, detection light in search coverage, from Z1 uniform speed scanning to Z2.
In another specific embodiment, it is 1m to set the long edge lengths 2R of the second speculum, then the first speculum
The angular range that can be rotated with the second speculum is 21 °, and the scanning range for the search coverage that the detection light can irradiate is
0.72m。
The angular range that first speculum and the second speculum can rotate is 21 °, i.e., described first speculum 101 is from A1
B1 is rotated to, second speculum 102 rotates to B2 from A2, and the angle of rotation is 21 °, the detecting area that detection light can irradiate
Distance of the scanning range in domain from Z1 to Z2 is 0.72m.
Table 1 is the important index for realizing parameter in detection parallel light scanning device, what table 1 was intended to be merely illustrative of the present
Technical scheme, provides the index that one of which realizes parameter, can also arrange parameter according to actual needs other indexs, here
Without specific restriction.
The parallel mirror scanner performance of table 1 and parameter
In practical application, the first speculum and the second speculum choose optical mirror, and aluminium (silver) is crossed in glass matrix
Technique is realized.With the rotatable platform of high-strength aluminum shape extrusion first and the second rotatable platform, the first speculum is fixedly mounted
It is fixedly mounted on the first rotatable platform, and by the second speculum on the second rotatable platform.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (7)
1. one kind detection parallel light scanning device, it is characterised in that the equipment includes：
First speculum, the second speculum, the first rotatable platform, the second rotatable platform and driving equipment；
First speculum is fixedly mounted on first rotatable platform, and second speculum is fixedly mounted on described
On two rotatable platforms；
The driving equipment drives first rotatable platform around the first central axis of first speculum, described to cause
First speculum is around first central axis, and the driving equipment drives second rotatable platform around second speculum
The second central axis, to cause second speculum around second central axis, the first rotatable platform and second is rotated
Platform is synchronous, in the same direction and rotates at the same speed, remains first speculum and second mirror parallel, described first
Axis is the line at first speculum, two long side midpoint, and second axis is in described second speculum, two long side
The line of point；
The midpoint of first axis is the first axle center, and the midpoint of second axis is the second axle center, first axle center and
The line in second axle center is perpendicular to detection light plane of incidence；
Detection light is incident to first speculum, and the detection light is reflexed to second speculum, institute by the first speculum
State the second speculum and the detection light is reflexed into search coverage, the driving equipment drives first rotatable platform around described
First central axis, and the driving equipment drives second rotatable platform around second central axis, remains
First speculum and second mirror parallel, constantly change the position of the detection light irradiation search coverage, to visiting
Survey region and be scanned detection；
The detection light is that sheet detects light, and the sheet detection light for irradiating the diverse location of search coverage is parallel to each other, to detection
Region carries out 3-D scanning irradiation；
During using the reflecting surface of the first speculum and incident detection light angle as 135 °, the position of the first speculum and the second speculum
Put as reference position；
The anglec of rotation of first speculum and the second speculum on reference positionFor 0, the search coverage that the detection light is irradiated
Position be scan origin；
After first speculum and the second speculum rotate counterclockwise, the first speculum and the angle of the reference position are
It is negative, the second speculum and the angle of the reference position areIt is negative, scanning distance Z is just；
After first speculum and the second speculum turn clockwise, the first speculum and the angle of the reference position are
For just, the second speculum and the angle of the reference position areFor just, scanning distance Z is negative；
Ultimate range Z, distance of shaft centers d and the anglec of rotation then scannedRelation be：
The distance of shaft centers d is the distance between first axle center and second axle center；
The anglec of rotation of the long edge lengths 2R of second speculum, distance of shaft centers d, the first speculum and the second speculumBetween
Relation is：
2. equipment according to claim 1, it is characterised in that the driving equipment includes：
First motor and the second motor；
First motor drives first rotatable platform around first central axis；
Second motor drives second rotatable platform around second central axis；
First motor and second motor perform synchronous driving, drive first speculum and described the
The direction that two-mirror is rotated is identical with angular speed, remains first speculum and second mirror parallel.
3. equipment according to claim 1, it is characterised in that the equipment also includes：
Non-resilient connection equipment；
Described non-resilient connection equipment one end is fixedly connected with first rotatable platform, the other end and second rotatable platform
It is fixedly connected, line of the non-resilient connection equipment parallel to first axle center and second axle center；
The non-resilient connection equipment drives first rotatable platform and described second turn under the driving of the driving equipment
Moving platform in the same direction, is rotated simultaneously with same angular speed, remains first speculum and second speculum
It is parallel.
4. equipment according to claim 3, it is characterised in that
The non-resilient connection equipment includes the first non-resilient connecting rod and the second non-resilient connecting rod；
One end of the first non-resilient connecting rod is fixedly connected with first rotatable platform close to one end of search coverage, another
End is fixedly connected with second rotatable platform close to one end of search coverage；
One end of the second non-resilient connecting rod is fixedly connected with the described one end of first rotatable platform away from search coverage, another
End is fixedly connected with the described one end of second rotatable platform away from search coverage；
The driving equipment drives the described first non-resilient connecting rod and the second non-resilient connecting rod simultaneously, and described first is non-resilient
Connecting rod and the second non-resilient connecting rod drive first rotatable platform and second rotatable platform in the same direction, with same
One angular speed is rotated simultaneously, remains first speculum and second mirror parallel.
5. equipment according to claim 4, it is characterised in that the driving equipment includes：
3rd motor, the 3rd motor is used to driving described first non-resilient in the non-resilient connection equipment
Connecting rod and the second non-resilient connecting rod, to cause the non-resilient connection equipment to drive first rotatable platform and described the
Two rotatable platforms in the same direction, are rotated simultaneously with same angular speed.
6. the equipment according to claim 1-5 any one, it is characterised in that
The distance of shaft centers in first axle center and second axle center is 1m.
7. the equipment according to claim 1-5 any one, it is characterised in that
The long edge lengths 2R of second speculum is 0.7m, and distance of shaft centers is 1m；
The angular range that then the first speculum and the second speculum can rotate is 14.45 °, the spy that the detection light can irradiate
The scanning range for surveying region is 0.5m.
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| CN108303179A (en) * | 2017-12-29 | 2018-07-20 | 三明学院 | A kind of large field of view scan system |
| CN112654893A (en) * | 2019-08-13 | 2021-04-13 | 深圳市大疆创新科技有限公司 | Motor rotating speed control method and device of scanning module and distance measuring device |
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| US5166944A (en) * | 1991-06-07 | 1992-11-24 | Advanced Laser Technologies, Inc. | Laser beam scanning apparatus and method |
| US6043799A (en) * | 1998-02-20 | 2000-03-28 | University Of Washington | Virtual retinal display with scanner array for generating multiple exit pupils |
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