CN106054377A - Light beam scanning mechanism, light beam scanning device and positioning system - Google Patents
Light beam scanning mechanism, light beam scanning device and positioning system Download PDFInfo
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- CN106054377A CN106054377A CN201610638655.0A CN201610638655A CN106054377A CN 106054377 A CN106054377 A CN 106054377A CN 201610638655 A CN201610638655 A CN 201610638655A CN 106054377 A CN106054377 A CN 106054377A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/10—Scanning systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
- G02B27/0938—Using specific optical elements
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- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
- Mechanical Optical Scanning Systems (AREA)
Abstract
The invention discloses a light beam scanning mechanism, a light beam scanning device and a positioning system. A light source emits laser continuously in a predetermined emission period, the laser is input to a wave lens and then output, a slot light sector with certain field angle is formed, a swing mechanism is configured to enable that the slot light sector swings reciprocally around a predetermined swing axis within a predetermined swing angle range in a predetermined swing frequency, and the swing direction of the slot light sector is not parallel with the slot light sector. Thus, the swing mechanism swings to drive the slot light sector to scan a positioning space, and compared with a light beam scanning device used by a motor at present, the light beam scanning mechanism of the invention is more practical.
Description
Technical field
The present invention relates to positioning field, particularly relate to a kind of beam sweep mechanism, beam sweep device and location system
System.
Background technology
Indoor positioning technologies, as the auxiliary positioning of satellite fix, can solve satellite-signal and arrive during ground more weak, no
The problem that can penetrate building.Laser positioning technology is a kind of common indoor positioning technologies, and the program is by located space
Inside build the beam sweep device launching location light beam, strafe location light beam to located space, object to be positioned designs many
Individual optical signal receiver, and at receiving terminal, data are carried out calculation process, to export three-dimensional location coordinates information.
Existing beam sweep device is usually the mode using driven by motor laser beam to rotate and realizes to located space
Strafe location light beam.Owing to the volume of motor is relatively big, and the stability crossed of electric machine rotation and ruggedness poor so that existing light
Bundle strafes the practicality of device bad.
Thus, it is desirable to the beam sweep device of a kind of new structure, beam sweep device and alignment system.
Summary of the invention
The technical problem that present invention mainly solves is to provide the beam sweep mechanism of a kind of new structure, beam sweep
Device and alignment system.
According to an aspect of the invention, it is provided a kind of beam sweep mechanism, including: light source, for predetermined transmitting
Cycle discontinuous transmission laser；Beam expander, outgoing after laser light incident to beam expander, form a word light covering of the fan with certain subtended angle,
Swing mechanism, be configured such that a word light covering of the fan with predetermined hunting frequency in the range of predetermined pendulum angle around predetermined swinging axle
Line reciprocally swinging, wherein, swaying direction and a word light covering of the fan of a word light covering of the fan are not parallel.
Preferably, the relative tertiary location relation between light source and beam expander can be fixed, and swing mechanism can be configured
For make light source and beam expander all with predetermined hunting frequency in the range of predetermined pendulum angle around predetermined axis of oscillation reciprocally swinging.
Preferably, this beam sweep mechanism can also include: reflecting mirror, and the reflecting surface of reflecting mirror can send with reflection source
Laser, outgoing after the reflection light of reflective surface incides beam expander, form a word light covering of the fan, wherein, light source, reflecting mirror
And the relative tertiary location relation between beam expander fixes, swing mechanism be configured such that light source, reflecting mirror and
Beam expander all with predetermined hunting frequency in the range of predetermined pendulum angle around predetermined axis of oscillation reciprocally swinging.
Preferably, this beam sweep mechanism can also include: fiber waveguide, the laser light incident that light source sends to fiber waveguide, from
The emergent light of fiber waveguide outgoing incides outgoing after beam expander, forms a word light covering of the fan, wherein, and light source, fiber waveguide and expand
Relative tertiary location relation between device is fixed, and swing mechanism is configured such that light source, fiber waveguide and beam expander are all with in advance
Fixed pendulum dynamic frequency in the range of predetermined pendulum angle around predetermined axis of oscillation reciprocally swinging.
Preferably, beam expander can be wave mirror, and the surface of wave mirror can be cylindrical surface, the ripple direction of wave mirror
Can be perpendicular to the central shaft of the cylinder at cylindrical surface place, swing mechanism is configured such that light source swings frequency with predetermined
Rate is around predetermined axis of oscillation reciprocally swinging in the range of predetermined pendulum angle, and laser can be incident along the direction being perpendicular to central shaft
On wave mirror.
Preferably, predetermined pendulum angle scope can be more than or equal to 90 °.
Preferably, this beam sweep mechanism can also include: reflecting mirror, and the reflecting surface of reflecting mirror is for reflection one word light fan
Face, swing mechanism be configured such that reflecting mirror with predetermined hunting frequency in the range of predetermined pendulum angle around predetermined swing
Axis reciprocally swinging.
Preferably, this beam sweep mechanism can also include: reflecting mirror, and the reflecting surface of reflecting mirror can send with reflection source
Laser, outgoing after the reflection light of reflective surface incides beam expander, form a word light covering of the fan, swing mechanism can be joined
Be set to the reflecting surface so that reflecting mirror with predetermined hunting frequency in the range of predetermined pendulum angle around predetermined axis of oscillation toward physical pendulum
Dynamic, wherein, from moving direction and a word light covering of the fan of the reflection light incidence point on beam expander of the reflecting surface outgoing of reflecting mirror
Not parallel.
Preferably, beam expander can be wave mirror, and the surface of wave mirror can be cylindrical surface, the ripple direction of wave mirror
Can be perpendicular to the central shaft of the cylinder at cylindrical surface place, point-like laser incides the incidence point position on the reflecting surface of reflecting mirror
On central shaft.
Preferably, predetermined axis of oscillation can overlap with central shaft.
Preferably, laser can incide on reflecting surface along the direction being perpendicular to central shaft.
Preferably, predetermined pendulum angle scope can be more than or equal to 45 °.
Preferably, reflecting mirror can be scanning galvanometer, and swing mechanism can be the swing mechanism in scanning galvanometer.
According to another aspect of the present invention, additionally provide a kind of beam sweep device, including: multiple light addressed above
Bundle strafes mechanism, wherein, can have predetermined angle, Duo Geguang between the predetermined axis of oscillation of different beam sweep mechanisms
Bundle strafes the light source of mechanism can have the identical transmitting cycle, it is possible to luminous periods different within the same transmitting cycle is sent out
Penetrate laser.
Preferably, this beam sweep device can include Liang Ge beam sweep mechanism, wherein, and Liang Ge beam sweep mechanism
Predetermined axis of oscillation can be orthogonal.
According to another aspect of the present invention, additionally provide a kind of alignment system, to be positioned in located space
Object positions, and this alignment system includes: multiple beam sweep devices addressed above, is suitable to be arranged in located space；
Multiple beam receivers, are suitable to be fixed on the outer surface of object to be positioned, for receiving a word light covering of the fan, multiple beam receivers
Between relative tertiary location relation fix；And processor, it is connected to multiple beam receiver, for according to beam receiver
The time of a word light covering of the fan, the pendulum angle of a word light covering of the fan and the functional relationships of time it is respectively received in one is strafed the cycle
System, determines the pendulum angle of the reflecting surface of reflecting mirror, so that it is determined that beam receiver is relative to the light corresponding to a word light covering of the fan
Bundle strafes the relative direction of device.
Preferably, processor can be according at least three beam receiver relative to the contra of same beam sweep device
To and at least three beam receiver between relative tertiary location relation, determine the position of object to be positioned.
To sum up, the beam sweep mechanism of the present invention, beam sweep device and alignment system are by using swing mechanism band
A dynamic word light covering of the fan is strafed to located space.Compared with the beam sweep device of existing employing motor, the light of the present invention
It is more practical that bundle strafes mechanism.
Accompanying drawing explanation
By combining accompanying drawing, disclosure illustrative embodiments is described in more detail, the disclosure above-mentioned and its
Its purpose, feature and advantage will be apparent from, wherein, in disclosure illustrative embodiments, and identical reference number
Typically represent same parts.
Fig. 1 shows the schematic block diagram of the structure of beam sweep mechanism according to an embodiment of the invention.
Fig. 2 shows the view of the word light covering of the fan according to the present invention.
Fig. 3 shows word light covering of the fan perspective view in vertical direction.
Fig. 4 shows the structural representation of the beam sweep mechanism according to the present invention one specific embodiment.
Fig. 5 shows the structural representation of the beam sweep mechanism according to another specific embodiment of the present invention.
Fig. 6 shows the structural representation of the beam sweep mechanism according to another specific embodiment of the present invention.
Fig. 7 shows the structural representation of the beam sweep mechanism according to another specific embodiment of the present invention.
Fig. 8 shows the structural representation of the beam sweep mechanism according to another specific embodiment of the present invention.
Fig. 9 shows the structural representation of wave mirror according to an embodiment of the invention.
Figure 10 shows the structural representation of the beam sweep mechanism according to another specific embodiment of the present invention.
Figure 11 shows the top view of the beam sweep mechanism shown in Figure 10.
Figure 12 shows the schematic block diagram of the structure of alignment system according to an embodiment of the invention.
Detailed description of the invention
It is more fully described the preferred implementation of the disclosure below with reference to accompanying drawings.Although accompanying drawing shows the disclosure
Preferred implementation, however, it is to be appreciated that may be realized in various forms the disclosure and the embodiment party that should not illustrated here
Formula is limited.On the contrary, it is provided that these embodiments are to make the disclosure more thorough and complete, and can be by the disclosure
Scope intactly conveys to those skilled in the art.
Fig. 1 shows the schematic block diagram of the structure of beam sweep mechanism according to an embodiment of the invention.
Seeing Fig. 1, the beam sweep mechanism 10 of the embodiment of the present invention includes light source 1, beam expander 2 and swing mechanism 3.
Light source 1 can be with predetermined transmitting cycle discontinuous transmission laser.Here, light source 1 can be generating laser, and it is permissible
Discontinuous transmission iraser.Wherein, the laser that light source 1 is launched can be point-like laser.Here " point-like laser " addressed refers to
Be the laser that projection approximation is a point of laser.Certainly, light source 1 can be to launch the laser of other form multiple (as also
Can be with bar shaped laser).
The laser that light source 1 sends can incide on beam expander 2, can be with shape after inciding the laser emitting on beam expander 2
Become there is a word light covering of the fan of certain subtended angle.As preferably, the subtended angle of a word light covering of the fan can be more than or equal to 90 °.
Wherein, beam expander 2 can use the optical element or assembly, example that can expand light incident thereon
As, beam expander 2 can use wave mirror.When beam expander 2 uses wave mirror, from the subtended angle of a word light covering of the fan of wave mirror outgoing
Size relevant with selected wave mirror, therefore can choose suitable wave mirror, so that from a word of wave mirror outgoing
The subtended angle of light covering of the fan can meet actual demand.
In order to make it easy to understand, here the term " a word light covering of the fan " addressed is done with brief description.From beam expander 2 outgoing
Light has certain subtended angle, and the word light covering of the fan addressed the most herein can be the covering of the fan shown in Fig. 2, and wherein, " word " refers to
Can be a wordline shape from the projection of the light of beam expander 2 outgoing.
Fig. 3 shows view during word light covering of the fan projection in vertical direction.As it is shown on figure 3, a word light
Covering of the fan width on projecting direction is less, and length is relatively big, can be approximated to be " shape ", therefore, from the light of beam expander 2 outgoing
It is properly termed as a word light covering of the fan.
Having certain illuminance from a word light covering of the fan of beam expander 2 outgoing, it has certain declining in communication process
Subtract.Illuminance at a word light covering of the fan decays to, less than when effectively receiving threshold value, cannot be arranged on object to be positioned
Receptor senses.Therefore, effective range of exposures of a word light covering of the fan can refer to that the illuminance of a word light covering of the fan is not less than effectively
Receive the region of threshold value, wherein, effectively receive the concrete numerical value of threshold value and the beam receiver being arranged on object to be positioned
Receive relating to parameters.
As in figure 2 it is shown, a word light covering of the fan can have certain effectively irradiation radius R and subtended angle direction scope (sees figure
The scope shown in curved line of middle band arrow), effectively irradiation radius R and the subtended angle direction scope of " a word light covering of the fan " is constituted
Sector region just can regard effective range of exposures of this word light covering of the fan as.
Swing mechanism 3 be configured such that a word light covering of the fan with predetermined hunting frequency in the range of predetermined pendulum angle
Around predetermined axis of oscillation reciprocally swinging.Wherein, predetermined hunting frequency, predetermined pendulum angle scope can set as required, this
In the predetermined axis of oscillation addressed can be a virtual axis, it is also possible to be an entity axle.
Thus, under the swing effect of swing mechanism 3, just can be along with swing from a word light covering of the fan of beam expander 2 outgoing
The swing of mechanism 3 and swing.
Wherein, swaying direction and a word light covering of the fan of a word light covering of the fan are not parallel.This is because, at the pendulum of a word light covering of the fan
When dynamic direction is parallel with a word light covering of the fan, a word light covering of the fan can swing in the plane at its place, such word light covering of the fan
The spatial dimension that can cover in swing process is the least.Accordingly, it would be desirable to limit swaying direction and a word light of a word light covering of the fan
Covering of the fan is not parallel, so that a word light covering of the fan can be with an inswept solid region during swinging.Here, as preferably,
The swaying direction of one word light covering of the fan can be vertical with a word light covering of the fan, and such word light covering of the fan can cover during swinging
Bigger spatial dimension.
When by the beam sweep arrangement of mechanism of the present invention in located space, a word light covering of the fan of outgoing just can be along with
The swing of swing mechanism 3 and the part or all of region in inswept located space.Such as, located space can correspond to horizontal plane
On square region, the beam sweep mechanism of the embodiment of the present invention can be set at located space a corner.So, light
Bundle is strafed mechanism and is had only to strafe a word light covering of the fan to 90 ° of scopes, it is possible to realizes its word light covering of the fan strafed and covers whole
Located space.
For the beam sweep mechanism of the embodiment of the present invention, can control by controlling light source 1 discontinuous transmission laser
The frequency of a word light covering of the fan is strafed by beam sweep mechanism processed.Wherein it is possible to there is the mode of various control light source 1 discontinuous transmission, this
In repeat no more.
So far combine Fig. 1-Fig. 3 basic structure and the operation principle of the beam sweep mechanism of the present invention are described.Its
In, swing mechanism 3 can drive a word light covering of the fan to swing in several ways.Below in conjunction with Fig. 4 to Figure 11 with regard to the present invention's
Several concrete structures that beam sweep mechanism can have are described further.Wherein it should be understood that embodiment described below
It is exemplary, and non-exclusive, and it is also not necessarily limited to disclosed each embodiment.
Fig. 4 shows the structural representation of the beam sweep mechanism according to the present invention one specific embodiment.
See Fig. 4, light source 1 and beam expander 2 can be fixedly installed on swing mechanism 3 so that light source 1 and beam expander 2 it
Between relative tertiary location relation fix, and make light source 1 and the beam expander 2 can be along with swing mechanism 3 is with predetermined swing
Frequency in the range of predetermined pendulum angle around predetermined axis of oscillation (not shown) reciprocally swinging.
Thus, light source 1, beam expander 2 can be as entirety, along with swing mechanism 3 around predetermined axis of oscillation toward physical pendulum
Dynamic, during light source 1, beam expander 2 swing along with swing mechanism 3, also can be with from a word light covering of the fan 21 of beam expander 2 outgoing
Swing.Wherein, the predetermined axis of oscillation addressed here can be an entity axis, it is also possible to be a virtual axis.Close
Here can repeat no more there to be various structures form in swing mechanism 3.
Fig. 5 shows the structural representation of the beam sweep mechanism according to another specific embodiment of the present invention.
Seeing Fig. 5, the beam sweep mechanism of the embodiment of the present invention includes light source 1, beam expander 2, swing mechanism 3 and reflection
Mirror 4.
Wherein, it is described in detail above about light source 1, beam expander 2 and swing mechanism 3, repeats no more here.
The laser that the reflecting surface of reflecting mirror 4 can send with reflection source 1, from the reflection light of the reflective surface of reflecting mirror 4
Incide outgoing after beam expander 2, form a described word light covering of the fan 21.
As it is shown in figure 5, light source 1, reflecting mirror 4 and beam expander 2 can all be fixed on swing mechanism 3 so that light source 1,
Reflecting mirror 4 and beam expander 2 all can along with swing mechanism 3 with predetermined hunting frequency in the range of predetermined pendulum angle around predetermined
Axis of oscillation reciprocally swinging.
Thus, light source 1, beam expander 2 and reflecting mirror 4 can be as entirety, along with swing mechanism 3 is around predetermined swing
Axis reciprocally swinging, during light source 1, beam expander 2 and reflecting mirror 4 swing along with swing mechanism 3, goes out from beam expander 2
The word light covering of the fan 21 penetrated also can swing therewith.Wherein, the predetermined axis of oscillation addressed here can be an entity axis, also
It can be a virtual axis.Here can repeat no more there to be various structures form about swing mechanism 3.
To sum up, Fig. 5 shows schematic diagram when arranging a reflecting mirror 4 in the light path between light source 1 and beam expander 2,
As long as it should be understood that enabling to the laser that light source 1 sends can incide on beam expander 2, between light source 1 and beam expander 2 also
Can arrange other optical element or assembly, these optical elements or assembly can be as reflecting mirrors 4, with light source 1, beam expander
2 together swing along with swing mechanism 3.
As shown in Figure 6, the light path between light source 1 and beam expander 2 can arrange a fiber waveguide 5.Light source 1 sends
Laser can incide fiber waveguide 5 at a certain angle, can incide beam expander 2 from the light of fiber waveguide 5 outgoing.
Wherein, although the most not using reference to illustrate, it should be appreciated that, swing mechanism can be configured
For make fiber waveguide 5, light source 1 and beam expander 2 can all with predetermined hunting frequency in the range of predetermined pendulum angle around predetermined
Axis of oscillation reciprocally swinging.
I.e. relative tertiary location relation between light source 1, beam expander 2 and fiber waveguide 5 can be fixed, and they all may be used
To swing along with swing mechanism.
Here, light source 1 and beam expander 2 can be fixed on the two ends of fiber waveguide 5, swing mechanism can use piezoelectric ceramics or
Other vibrating mechanisms,
It addition, be also provided with the optical elements such as convex lens or optical module between light source 1 and fiber waveguide 5, so that
The laser that light source 1 sends can incide fiber waveguide 5 at an appropriate angle.
For the beam sweep mechanism shown in Fig. 4, Fig. 5 and Fig. 6, the pendulum angle of swing mechanism and word light fan
The ratio of the shooting angle in face is 1:1, and therefore, the predetermined pendulum angle scope of swing mechanism can be set as being more than or equal to
90 °, so that when the beam sweep mechanism of the present invention being positioned over the corner of located space, from the outgoing of beam sweep mechanism
A word light covering of the fan swing during can substantially cover whole located space.
The beam sweep mechanism of the embodiment of the present invention uses swing mechanism to drive a word light covering of the fan to carry out to located space
Strafe.Compared with the beam sweep device of existing employing motor, the volume of the beam sweep mechanism of the present invention can be less, and
And stability can be higher.
Wherein, for the beam sweep mechanism shown in Fig. 4, Fig. 5 and Fig. 6, owing to whole beam sweep mechanism can
To swing as an entirety, therefore, beam expander 2 can be chosen from the wave mirror of existing various structures.
Fig. 7 shows the structural representation of the beam sweep mechanism according to another specific embodiment of the present invention.
Seeing Fig. 7, the laser sent from light source 1 can be directly incident on beam expander 2, from a word light of beam expander 2 outgoing
Covering of the fan 21 can incide on the reflecting surface of reflecting mirror 4.
Swing mechanism 3 can drive reflecting mirror 4 with predetermined hunting frequency in the range of predetermined pendulum angle around predetermined swing
Axis 31 reciprocally swinging.
As it is shown in fig. 7, reflecting mirror 4 can be fixed on swing mechanism 3, reflecting mirror 4 can be along with swing mechanism 3 be around predetermined
Axis of oscillation 31 reciprocally swinging.At reflecting mirror 4 during predetermined axis of oscillation swings, incide the word on reflecting mirror 4
The angle of incidence of light covering of the fan can change, thus also can occur certain from the angle of emergence of a word light covering of the fan of reflecting mirror 4 outgoing
Change.So, during reflecting mirror 4 swings, it is possible to the word light covering of the fan realizing outgoing is also carried out swinging.
Wherein, the ratio of the pendulum angle of the pendulum angle of reflecting mirror 4 and the word light covering of the fan from reflecting mirror 4 outgoing is 1:2,
Therefore, the predetermined pendulum angle range set of swing mechanism is more than or equal to 45 °, it is possible to make by the embodiment of the present invention
Beam sweep mechanism when being positioned over the corner of located space, swinging from a word light covering of the fan of beam sweep mechanism outgoing
During can substantially cover whole located space.
Fig. 7 shows that reflecting mirror 4 is fixed on swing mechanism 3, showing when only reflecting mirror 4 swings with swing mechanism 3
It is intended to, it should be appreciated that swing mechanism 3 can also drive light source 1, beam expander 2 and reflecting mirror 4 around predetermined axis of oscillation 31 simultaneously
Swing.Here, repeat no more.
Fig. 8 shows the structural representation of the beam sweep mechanism according to another specific embodiment of the present invention.
See Fig. 8, swing mechanism 3 be configured such that light source 1 with predetermined hunting frequency at predetermined pendulum angle model
Around predetermined axis of oscillation 31 reciprocally swinging in enclosing.As it can be seen, light source 1 can be fixed on swing mechanism 3, so, so that it may
To realize light source 1 around predetermined axis of oscillation 31 reciprocally swinging.
For the beam sweep mechanism of the embodiment of the present invention, light source 1 swings along with swing mechanism 3, and expands
Device 2 is motionless, therefore, if beam expander 2 uses the wave mirror of general structure, such as plane wave mirror.At light source 1 along with swing mechanism
During 3 swing, the angle of incidence of the incident ray on the laser light incident that light source 1 sends to beam expander 2 will change, and makes
Must can become disorderly and unsystematic from a word light covering of the fan of beam expander 2 outgoing, thus the location in later stage can be produced impact.Therefore, for
Make, during light source 1 swings, to carry out to space with certain rule from a word light covering of the fan of beam expander 2 outgoing
Strafe, this invention takes the beam expander 2 of special construction.
As it is shown in figure 9, the beam expander 2 of the present invention can use column wave mirror, the i.e. surface of beam expander 2 can be cylindricality
Surface, the ripple direction of beam expander 2 can be perpendicular to the ripple on the central shaft of the cylinder at cylindrical surface place, i.e. beam expander 2
Direction can be parallel to the bottom surface of the cylinder at cylindrical surface place, and namely ripple direction is along the circumferencial direction of cylinder.
For the beam sweep mechanism shown in Fig. 8, when beam expander 2 uses column wave mirror, can be by controlling light source 1
The direction of the laser sent impinges perpendicularly on the cylinder surface of beam expander 2 all the time, makes the word light fan from beam expander 2 outgoing
Face 21 can be parallel to central shaft all the time.
Here, by making laser that light source 1 sends all the time along the side of central shaft of the cylinder being perpendicular to residing for beam expander 2
To inciding on beam expander 2, it is possible to make the direction of the laser that light source 1 sends impinge perpendicularly on the column of beam expander 2 all the time
Surface.
As shown in Figure 8, the predetermined axis of oscillation 31 of swing mechanism 3 can overlap with central shaft, and, light source 1 can position
On central shaft, so, so, at light source 1 during predetermined axis of oscillation 31 swings, the laser launched from light source 1 can
To impinge perpendicularly on all the time on beam expander 2.
So, at light source 1 during predetermined axis of oscillation 31 swings, it is possible to make from beam expander 2 outgoing
Word light covering of the fan 21 swings along the direction being parallel to central shaft all the time, and the swaying direction of i.e. one word light covering of the fan hangs down with central shaft
Directly.
It addition, when beam expander 2 uses wave mirror, wave mirror can also is that other shape, such as can also is that elliposoidal,
Or the surface of wave mirror is also designed to meet sinusoidal shape etc..
Figure 10 shows the structural representation of the beam sweep mechanism according to another specific embodiment of the present invention.
Seeing Figure 10, the beam sweep mechanism of the embodiment of the present invention includes light source 1, reflecting mirror 4, beam expander 2 and swings
Mechanism's (not shown).
Wherein, the laser that the reflecting surface of reflecting mirror 4 sends for reflection source 1, incident from the reflection light of reflective surface
Outgoing after beam expander 2, forms a word light covering of the fan 21.
Although the most not using reference to illustrate, it should be appreciated that, swing mechanism can be configured to make
Reflecting mirror 4 reflecting surface can with predetermined hunting frequency in the range of predetermined pendulum angle around predetermined axis of oscillation 31 toward physical pendulum
Dynamic.Wherein, reflecting mirror 4 can be driven to swing around predetermined axis of oscillation 31 by swing mechanism here, it is also possible to be set by reflecting mirror 4
Counting into swingable structure, such as reflecting mirror 4 can be scanning galvanometer (can be such as one-dimensional MEMS scanning galvanometer), now,
Swing mechanism in scanning galvanometer just may be considered the swing mechanism addressed above.The most such as, swing mechanism can also is that pressure
Electroceramics, i.e. can drive reflecting mirror 4 to swing by piezoelectric ceramics.
Outgoing after the reflection light of the reflective surface of reflecting mirror 4 incides beam expander 2, is formed and has the one of certain subtended angle
Word light covering of the fan 21 (see in figure shown in dash area).
Wherein, light source 1 and beam expander 2 can be fixedly installed.Reciprocal around predetermined axis of oscillation 31 at the reflecting surface of reflecting mirror 4
During swing, the angle of incidence of the laser light incident that light source 1 sends to the incident illumination of the reflecting surface of reflecting mirror 4 can change,
Therefore, the angle of emergence from the reflection light of the reflective surface of reflecting mirror 4 also can change so that from the reflecting surface of reflecting mirror 4
The reflection light of reflection incides the incidence point on beam expander 2 and also can change, and then makes the word light from beam expander 2 outgoing
Covering of the fan can swing along with the swing of the reflecting surface of reflecting mirror 4.
Wherein, light source 1, reflecting mirror 4 and beam expander 2 are arranged to, and exist from the reflection light of the reflective surface of reflecting mirror 4
Moving direction and a word light covering of the fan of the incidence point on beam expander 2 are not parallel.
The moving direction reflecting light incidence point on beam expander 2 and a word light at the reflective surface from reflecting mirror 4
When covering of the fan is parallel, a word light covering of the fan can move on the two dimensional surface at its place, and such word light covering of the fan is at moving process
The middle spatial dimension that can cover is the least.Accordingly, it would be desirable to light source 1, reflecting mirror 4 and beam expander 2 are set so that from instead
Moving direction and a word light covering of the fan of penetrating the reflection light incidence point on beam expander 2 of the reflective surface of mirror 4 are not parallel, thus
Making can be with an inswept solid region during swinging from a word light covering of the fan of beam expander 2 outgoing.Here, as excellent
Choosing, light source 1, reflecting mirror 4 and beam expander 2 can be arranged to so that expanding from the reflection light of the reflective surface of reflecting mirror 4
The moving direction of the incidence point on bundle device 2 is vertical with a word light covering of the fan.
For the beam sweep mechanism of the embodiment of the present invention, reflecting mirror 4 swings around predetermined axis of oscillation 31, and
Beam expander 2 is motionless.Therefore, so that during reflecting mirror 4 swings, permissible from a word light covering of the fan of beam expander 2 outgoing
Strafe to space with certain rule.The embodiment of the present invention takes the beam expander 2 of special construction.
The structure of the beam expander 2 that the embodiment of the present invention is taked may refer to the associated description above in association with Fig. 9.
Wherein, when beam expander 2 uses column wave mirror, on the laser light incident that light source 1 sends to the reflecting surface of reflecting mirror 4
Incidence point may be located on the central shaft of the cylinder residing for beam expander 2.
Further, predetermined axis of oscillation 31 can overlap with the central shaft of the cylinder residing for beam expander 2.So, light source 1
The laser sent can incide on reflecting surface along the direction being perpendicular to central shaft (the most predetermined axis of oscillation 31).Namely
Saying, the laser that light source 1 sends can radially incide on the reflecting surface of reflecting mirror 4, so, from the reflecting surface outgoing of reflecting mirror 4
Reflection light also with central axis.Thus, reflecting mirror 4 reflecting surface around predetermined axis of oscillation 31 swing during, from
The reflection light of the reflecting surface outgoing of reflecting mirror 4 can impinge perpendicularly on beam expander 2 all the time, so, from the one of beam expander 2 outgoing
Word light covering of the fan just can be parallel to central shaft all the time.
For the beam sweep mechanism of the embodiment of the present invention, at the reflecting surface of reflecting mirror 4 around predetermined axis of oscillation 31
During swing, the angle that the reflecting surface of reflecting mirror 4 is turned over is inswept with the reflection light of the reflecting surface outgoing from reflecting mirror 4 institute
The ratio of angle be 1:2.
Figure 11 shows the top view of the beam sweep mechanism shown in Figure 10.As it is shown in fig. 7, at the reflecting surface of reflecting mirror 4
When swinging an angle [alpha], the angle inswept from the reflection light of the reflecting surface outgoing of reflecting mirror 4 is 2 α.
Thus, when the beam sweep mechanism of the present invention being arranged a corner of located space, the light beam of the present invention
The reflecting surface strafing the reflecting mirror 4 in mechanism has only to rotate 45 ° of location light that just can realize from the outgoing of beam sweep mechanism
Bundle covers whole located space.Therefore, the pendulum angle scope of the reflecting surface of reflecting mirror 4 can be set as more than or equal to 45 °.
So far, several concrete structures can having the beam sweep mechanism of the present invention in conjunction with specific embodiments enter
One step describes in detail.It addition, present invention also offers a kind of beam sweep device being made up of multiple beam sweep mechanisms.
Wherein, can have predetermined angle, multiple light beams between the predetermined axis of oscillation of different beam sweep mechanisms
The light source strafing mechanism can have the identical transmitting cycle, it is possible to luminous periods different within the same transmitting cycle launches
Laser.In this manner it is achieved that different beam sweep mechanisms strafes a word of different attitude in the different moment to located space
Light covering of the fan.
Such as, the beam sweep device of the present invention can include Liang Ge beam sweep mechanism, Liang Ge beam sweep mechanism
Predetermined axis of oscillation can be orthogonal, strafes a word light covering of the fan as a beam sweep mechanism can be responsible for left and right, another
Beam sweep mechanism can be responsible for strafing a word light covering of the fan up and down.
Thus, the beam sweep device of the present invention includes multiple word light fan that can strafe different attitude to located space
The beam sweep mechanism in face, can avoid the reasons such as angle residing for barrier or object to be positioned to a certain extent,
The optical signal receiver on object to be positioned is caused not receive the generation of the situation positioning light beam (a word light covering of the fan).
It addition, blocked by barrier at object to be positioned, or the angle problem residing for object to be positioned, may
The location light beam causing beam sweep device to be strafed cannot strafe the optical signal receiver on object undetermined, so that cannot
Object to be positioned is positioned.
In order to solve this problem, sometimes for installing multiple beam sweep devices in a located space, and in order to avoid
The product of laser overlapping region (laser overlapping region, i.e. at synchronization, is positioned, by different, the same area that light beam is inswept)
Raw, need the multiple light beams in the multiple beam sweep devices controlling in each located space or adjoining located space to sweep
The operation of injection device, makes them timesharing strafe.Multiple beam sweep devices are accomplished by multiple timesharing, for existing use
For the beam sweep device of motor, the rotational frequency of motor itself is limited, each beam sweep device in causing the unit interval
The number of times of effectively strafing of the location light beam launched reduces, and causes delay.
As described above, the beam sweep device of the present invention can use scanning galvanometer, wherein, the scanning frequency of scanning galvanometer
Rate motor to be much higher than, thus, when installing the beam sweep mechanism of multiple present invention in located space, even if needing multiple
The timesharing of beam sweep mechanism is strafed, it is also ensured that have a highest frequency of effectively strafing, and power consumption when using scanning galvanometer
Lower, more environmentally-friendly.
Figure 12 shows the schematic block diagram of the structure of alignment system according to an embodiment of the invention.
Seeing Figure 12, the alignment system 20 of the embodiment of the present invention includes that multiple beam sweep device (sees the first light in figure
Bundle strafes device 21-1, the second beam sweep device 21-2 ... N beam sweep device 21-N, N are more than 1), multiple light beam connects
Receive device and (see the first beam receiver 22-1 in figure, the second beam receiver 22-2 ... N beam receiver 22-N, N are more than
1) and processor 23.
Object to be positioned in located space can be positioned by the alignment system 20 of the embodiment of the present invention, wherein, and this
In the located space addressed can include one or more sub-located space, one or many can be provided with in every sub-located space
Individual location beam sweep device.
Beam receiver is suitable to be fixed on the outer surface of object to be positioned, can receive a word light covering of the fan, and multiple light beams connect
The relative tertiary location relation received between device is fixed.
Beam receiver can be laid in the surface of object to be positioned in a variety of forms.Such as, it is user at object undetermined
Time, one or more beam receivers can be laid in and be suitable on the wearable device that user dresses, such as the helmet, knapsack etc.,
User is by wearing relevant device, it is possible to carry multiple beam receiver；Can also be by one or more beam receiver cloth
It is located on the equipment (such as game paddle) being suitable to user and holding；Certainly can also directly one or more beam receivers be laid
With user.Furthermore it is also possible to make object to be positioned be suitable to carry one or more beam receiver in several ways,
Here repeat no more.
Processor 23 is connected to multiple beam receiver (can be wired connection, it is also possible to be wireless connections), Ke Yigen
According to beam receiver be respectively received in one is strafed the cycle time of a word light covering of the fan, a word light covering of the fan pendulum angle with
The functional relationship of time, determines the rotational angle of a word light covering of the fan, so that it is determined that beam receiver is relative to a word light covering of the fan institute
The relative direction of corresponding location beam sweep device.
Specifically, as described above, from anti-along with reflecting mirror of a word light covering of the fan of location beam sweep device outgoing
Penetrate the swing in face and swing, due to reflecting mirror swing right and wrong at the uniform velocity, so the angle swung and time are not linear scales,
But a special functional relationship θ=f (t).
So, beam sweep device starts to strafe the moment of a word light covering of the fan and can be designated as t0, beam receiver receives
The moment of one word light covering of the fan can be designated as t1, according to t1、t0Between time difference and the pendulum of reflecting mirror in beam sweep device
Dynamic angle and the functional relationship of time, it is possible to determine that the word light covering of the fan that beam sweep device is launched is strafing this location
During beam receiver, the angle that a word light covering of the fan is turned over, thus, beam receiver is relative to the contra of beam sweep device
To being assured that.
So, processor 23 can be according at least three beam receiver relative to the side of same location beam sweep device
Relative tertiary location relation between information and this at least three beam receiver, determines the position of object to be positioned.
According to the present invention, disclose the following technical scheme:
1. a beam sweep mechanism, including:
Light source, for predetermined transmitting cycle discontinuous transmission laser；
Beam expander, outgoing after described laser light incident to described beam expander, form a word light covering of the fan with certain subtended angle,
Swing mechanism, be configured such that a described word light covering of the fan with predetermined hunting frequency in the range of predetermined pendulum angle
Around predetermined axis of oscillation reciprocally swinging,
Wherein, the swaying direction of a described word light covering of the fan is not parallel with a described word light covering of the fan.
2. according to the beam sweep mechanism described in above-mentioned 1st technical scheme of the present invention, wherein,
Relative tertiary location relation between described light source and described beam expander is fixed, and described swing mechanism is configured to make
Obtain described light source and described beam expander all makes a reservation for around described with described predetermined hunting frequency in the range of described predetermined pendulum angle
Axis of oscillation reciprocally swinging.
3., according to the beam sweep mechanism described in above-mentioned 2nd technical scheme of the present invention, also include:
Reflecting mirror, the reflecting surface of described reflecting mirror is for reflecting the laser that described light source sends, from described reflective surface
Reflection light incide outgoing after described beam expander, form a described word light covering of the fan,
Wherein, the relative tertiary location relation between described light source, described reflecting mirror and described beam expander is fixed, described
Swing mechanism be configured such that described light source, described reflecting mirror and described beam expander all with described predetermined hunting frequency in institute
State in the range of predetermined pendulum angle around described predetermined axis of oscillation reciprocally swinging.
4., according to the beam sweep mechanism described in above-mentioned 1st technical scheme of the present invention, also include:
Fiber waveguide, the laser light incident that described light source sends to described fiber waveguide, enter from the emergent light of described fiber waveguide outgoing
It is mapped to outgoing after described beam expander, forms a described word light covering of the fan,
Wherein, the relative tertiary location relation between described light source, described fiber waveguide and described beam expander is fixed, described
Swing mechanism be configured such that described light source, described fiber waveguide and described beam expander all with described predetermined hunting frequency in institute
State in the range of predetermined pendulum angle around described predetermined axis of oscillation reciprocally swinging.
5. according to the beam sweep mechanism described in above-mentioned 1st technical scheme of the present invention, wherein,
Described beam expander is wave mirror, and the surface of described wave mirror is cylindrical surface, hangs down in the ripple direction of described wave mirror
The central shaft of the straight cylinder in described cylindrical surface place,
Described swing mechanism be configured such that described light source with described predetermined hunting frequency at described predetermined pendulum angle
In the range of around described predetermined axis of oscillation reciprocally swinging, described laser incides described ripple along the direction being perpendicular to described central shaft
On wave mirror.
6. according to the beam sweep machine described in any one technical scheme in above-mentioned 2nd to the 5th technical scheme of the present invention
Structure, wherein,
Described predetermined pendulum angle scope is more than or equal to 90 °.
7., according to the beam sweep mechanism described in above-mentioned 1st technical scheme of the present invention, also include:
Reflecting mirror, the reflecting surface of described reflecting mirror is used for reflecting a described word light covering of the fan, and described swing mechanism is configured to
Make described reflecting mirror with described predetermined hunting frequency in the range of described predetermined pendulum angle past around described predetermined axis of oscillation
Physical pendulum moves.
8., according to the beam sweep mechanism described in above-mentioned 1st technical scheme of the present invention, also include:
Reflecting mirror, the reflecting surface of described reflecting mirror is for reflecting the laser that described light source sends, from described reflective surface
Reflection light incide outgoing after described beam expander, form a described word light covering of the fan, described swing mechanism is configured such that institute
State the reflecting surface of reflecting mirror with described predetermined hunting frequency in the range of described predetermined pendulum angle around described predetermined axis of oscillation
Reciprocally swinging,
Wherein, from the moving direction of the reflection light incidence point on described beam expander of the reflecting surface outgoing of described reflecting mirror
Not parallel with a described word light covering of the fan.
9. according to the beam sweep mechanism described in above-mentioned 8th technical scheme of the present invention,
Wherein, described beam expander is wave mirror, and the surface of described wave mirror is cylindrical surface, the ripple side of described wave mirror
To the central shaft of the cylinder being perpendicular to described cylindrical surface place,
Described laser light incident is positioned on described central shaft to the incidence point on the reflecting surface of described reflecting mirror.
10. according to the beam sweep mechanism described in above-mentioned 9th technical scheme of the present invention, wherein,
Described predetermined axis of oscillation overlaps with described central shaft.
11. according to the beam sweep mechanism described in above-mentioned 10th technical scheme of the present invention, wherein,
Described laser incides on described reflecting surface along the direction being perpendicular to described central shaft.
12. according to the beam sweep mechanism described in above-mentioned 7th or the 8th technical scheme of the present invention, wherein,
Described predetermined pendulum angle scope is more than or equal to 45 °.
13. according to the beam sweep machine described in any one technical scheme in the present invention above-mentioned 7-11 item technical scheme
Structure, wherein,
Described reflecting mirror is scanning galvanometer, and described swing mechanism is the swing mechanism in described scanning galvanometer.
14. 1 kinds of beam sweep devices, including:
Multiple according to the beam sweep machine described in any one technical scheme in the present invention above-mentioned 1-13 item technical scheme
Structure, wherein, has predetermined angle, the plurality of beam sweep machine between the predetermined axis of oscillation of different beam sweep mechanisms
The light source of structure has the identical transmitting cycle, and luminous periods different within the same transmitting cycle launches described laser.
15., according to the beam sweep device described in above-mentioned 14th technical scheme of the present invention, sweep including two described light beams
Penetrating mechanism, wherein, the predetermined axis of oscillation of said two beam sweep mechanism is orthogonal.
16. 1 kinds of alignment systems, for positioning the object to be positioned in located space, this alignment system includes:
Multiple according to the beam sweep device described in above-mentioned 14th or the 15th technical scheme of the present invention, be suitable to be arranged on institute
State in located space；
Multiple beam receivers, are suitable to be fixed on the outer surface of described object to be positioned, are used for receiving a described word light fan
Face, the relative tertiary location relation between the plurality of beam receiver is fixed；And
Processor, is connected to the plurality of beam receiver, for dividing in one is strafed the cycle according to beam receiver
Do not receive pendulum angle and the functional relationship of time of the time of a described word light covering of the fan, a described word light covering of the fan, determine institute
State the pendulum angle of a word light covering of the fan, so that it is determined that described beam receiver is relative to the light beam corresponding to a described word light covering of the fan
Strafe the relative direction of device.
17. according to the alignment system described in above-mentioned 16th technical scheme of the present invention, wherein,
Described processor according at least three beam receiver relative to the relative direction of same beam sweep device and
Relative tertiary location relation between described at least three beam receiver, determines the position of described object to be positioned.
Above by reference to accompanying drawing describe in detail the beam sweep mechanism according to the present invention, beam sweep device and
Alignment system.
Being described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and also
It is not limited to disclosed each embodiment.In the case of the scope and spirit without departing from illustrated each embodiment, for this skill
For the those of ordinary skill in art field, many modifications and changes will be apparent from.The selection of term used herein, purport
Explaining the principle of each embodiment, actual application or the improvement to the technology in market best, or making the art
Other those of ordinary skill is understood that each embodiment disclosed herein.
Claims (10)
1. a beam sweep mechanism, including:
Light source, for predetermined transmitting cycle discontinuous transmission laser；
Beam expander, outgoing after described laser light incident to described beam expander, form a word light covering of the fan with certain subtended angle,
Swing mechanism, be configured such that a described word light covering of the fan with predetermined hunting frequency in the range of predetermined pendulum angle around in advance
Determine axis of oscillation reciprocally swinging,
Wherein, the swaying direction of a described word light covering of the fan is not parallel with a described word light covering of the fan.
Beam sweep mechanism the most according to claim 1, wherein,
Relative tertiary location relation between described light source and described beam expander is fixed, and described swing mechanism is configured such that institute
State light source and described beam expander all with described predetermined hunting frequency in the range of described predetermined pendulum angle around described predetermined swing
Axis reciprocally swinging.
Beam sweep mechanism the most according to claim 2, also includes:
Reflecting mirror, the reflecting surface of described reflecting mirror for reflecting the laser that described light source sends, anti-from described reflective surface
Penetrate light and incide outgoing after described beam expander, form a described word light covering of the fan,
Wherein, the relative tertiary location relation between described light source, described reflecting mirror and described beam expander is fixed, described swing
Mechanism be configured such that described light source, described reflecting mirror and described beam expander all with described predetermined hunting frequency described pre-
It is interior around described predetermined axis of oscillation reciprocally swinging that fixed pendulum moves angular range.
Beam sweep mechanism the most according to claim 1, also includes:
Fiber waveguide, the laser light incident that described light source sends to described fiber waveguide, incides from the emergent light of described fiber waveguide outgoing
Outgoing after described beam expander, forms a described word light covering of the fan,
Wherein, the relative tertiary location relation between described light source, described fiber waveguide and described beam expander is fixed, described swing
Mechanism be configured such that described light source, described fiber waveguide and described beam expander all with described predetermined hunting frequency described pre-
It is interior around described predetermined axis of oscillation reciprocally swinging that fixed pendulum moves angular range.
Beam sweep mechanism the most according to claim 1, wherein,
Described beam expander is wave mirror, and the surface of described wave mirror is cylindrical surface, and the ripple direction of described wave mirror is perpendicular to
The central shaft of the cylinder at described cylindrical surface place,
Described swing mechanism be configured such that described light source with described predetermined hunting frequency in described predetermined pendulum angle scope
Interior around described predetermined axis of oscillation reciprocally swinging, described laser incides described wave mirror along the direction being perpendicular to described central shaft
On.
6. according to the beam sweep mechanism in any of the one of claim 2 to 5, wherein,
Described predetermined pendulum angle scope is more than or equal to 90 °.
Beam sweep mechanism the most according to claim 1, also includes:
Reflecting mirror, the reflecting surface of described reflecting mirror is used for reflecting a described word light covering of the fan, and described swing mechanism is configured such that
Described reflecting mirror with described predetermined hunting frequency in the range of described predetermined pendulum angle around described predetermined axis of oscillation toward physical pendulum
Dynamic.
Beam sweep mechanism the most according to claim 1, also includes:
Reflecting mirror, the reflecting surface of described reflecting mirror for reflecting the laser that described light source sends, anti-from described reflective surface
Penetrate light and incide outgoing after described beam expander, form a described word light covering of the fan, described swing mechanism be configured such that described instead
Penetrate the reflecting surface of mirror with described predetermined hunting frequency in the range of described predetermined pendulum angle reciprocal around described predetermined axis of oscillation
Swing,
Wherein, from moving direction and the institute of the reflection light incidence point on described beam expander of the reflecting surface outgoing of described reflecting mirror
State a word light covering of the fan not parallel.
9. a beam sweep device, including:
Multiple according to the beam sweep mechanism in any of the one of claim 1-8, wherein, different beam sweep mechanisms
Having predetermined angle between predetermined axis of oscillation, the light source of the plurality of beam sweep mechanism has the identical transmitting cycle,
And within the same transmitting cycle different luminous period launch described laser.
10. an alignment system, for positioning the object to be positioned in located space, this alignment system includes:
Multiple beam sweep devices according to claim 9, are suitable to be arranged in described located space；
Multiple beam receivers, are suitable to be fixed on the outer surface of described object to be positioned, are used for receiving a described word light covering of the fan, institute
The relative tertiary location relation stated between multiple beam receiver is fixed；And
Processor, is connected to the plurality of beam receiver, for connecing respectively in one is strafed the cycle according to beam receiver
Receive pendulum angle and the functional relationship of time of the time of a described word light covering of the fan, a described word light covering of the fan, determine described one
The pendulum angle of word light covering of the fan, so that it is determined that described beam receiver is relative to the beam sweep corresponding to a described word light covering of the fan
The relative direction of device.
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