CN107678042A - A kind of optical scanner pendulum mirror and its control method, laser imaging radar - Google Patents
A kind of optical scanner pendulum mirror and its control method, laser imaging radar Download PDFInfo
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- CN107678042A CN107678042A CN201710841012.0A CN201710841012A CN107678042A CN 107678042 A CN107678042 A CN 107678042A CN 201710841012 A CN201710841012 A CN 201710841012A CN 107678042 A CN107678042 A CN 107678042A
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- angle
- rotating shaft
- mirror
- optical scanner
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention belongs to optical technical field, discloses a kind of optical scanner pendulum mirror and its control method, laser imaging radar, housing, optical flat speculum, high magnetic steel, transition piece, rotating shaft, band magnetic core coil, optoelectronic angle position sensor and control module；The rotating shaft angular position information that optoelectronic angle position sensor will detect, gives control module；The target angle information that user inputs is sent to control module；Information processing of the control module to transmission, provides the control voltage with magnetic core coil, the angle position of rotating shaft is approached the angle on target of input, and the target angle angle value of input changes according to scan characteristic, and rotating shaft and then rotates, and optical flat speculum completes the scanning to light.The scanning pendulum len of the present invention has the structure of big scanning angle, high angle position precision, up to tens Hz scan frequency, high linearity and miniaturization, available in the various equipment for needing optical scanner.
Description
Technical field
The invention belongs to optical technical field, more particularly to a kind of optical scanner pendulum mirror and its control method, laser imaging
Radar.
Background technology
Laser imaging radar can obtain the 3D pictures of target, have important application value.Various scannings are utilized both at home and abroad
Mechanism has been developed that the laser imaging radar of a variety of different purposes.Study hotspot in recent years be no-raster imaging, no-raster into
As having kinds of schemes again, but up to the present, some scheme costs are excessively high, and other less mature and reliables, Shang You
Many technical problems need to solve.And the scheme of scan mechanism imaging is used, its subject matter is to need to realize that the high speed of light is inclined
Turn, although there are a variety of optical scanning mechanism, comparatively, mechanical scanning mechanism is still mature and reliable the most.Scanning point
To sweep for row and swept with field, in traditional mechanical scanning system, row is swept and typically uses polygonal mirror high speed rotary drum, and field, which is swept, then uses pendulum mirror,
All driven by motor, such structure causes machine volume huge, using limited.With the new hair of each technical field
Exhibition, the laser imaging radar of miniaturization turn into a kind of sensing technology to receive much concern.Occurs MEMS mirror in recent years
And MEMS mirror, the former is single MEMS mirror, and quickly, but its specular cross section is too really to sweep speed
Small, the application being allowed on laser radar is limited, and the latter is that it is solid-state to obtain bigger reflective surface area by the former array
The core devices of laser radar, it is a direction of nearest laser radar development.Array MEMS mirror needs complicated work
There is certain distance in skill and big input, some external at present major companies in Devoting Major Efforts To Developing to complete batch production, moreover,
Solid-state laser radar using MEMS array reflection device is for the less high occasion of angular resolution, for resolution requirement
Higher occasion can not just substitute big minute surface, and reason is that it can be by division of wave front.On the other hand, in many occasion demands
Laser radar, and do not need high speed row sweep because its picture normally only needs limited row, and this has the picture of restricted driving main
Sensor array can be relied on to realize again, therefore the requirement for scanning is exactly only to need one high-precision one-dimensional to sweep
Pendulum mirror is retouched, basic demand is that to have larger specular cross section, there is higher scan frequency and linearity, most critical
It is that it must also be minimized as much as possible in structure on the premise of minute surface size is met.Employed in conventional laser radar
Scanning pendulum len be essentially all by motor driven, its structure is difficult to minimize.Need it is to be noted that in bar code scanner
The scanning pendulum len of miniaturization is employed, but this kind of pendulum mirror is only a structure that can back and forth sweep, without high-precision angle
Position detection is spent, can not be applied in laser radar.
In summary, the problem of prior art is present be：Scanning pendulum len employed in conventional laser radar is substantially all
It is by motor driven, the space put in mirror shared by motor is larger, and its structure is difficult to minimize；MEMS mirror area is too
It is small, application closely is only applicable to, and array MEMS mirror then will in angular resolution due to division of wave front
Higher occasion is asked not apply；The scanning pendulum len of miniaturization is employed in bar code scanner, but this kind of pendulum mirror is only one
The individual structure that can back and forth sweep, without high-precision angular position detection, it can not be applied in laser radar.
The content of the invention
The problem of existing for prior art, the invention provides a kind of optical scanner pendulum mirror and its control method, laser
Imaging radar.
The present invention is achieved in that a kind of control method of optical scanner pendulum mirror, the control of the optical scanner pendulum mirror
Method comprises the following steps：
Step 1, optoelectronic angle position sensor detection rotating shaft angular position information；
Step 2, the target angle information that user inputs is sent to control module；
Step 3, information processing of the control module to transmission, provides the control voltage with magnetic core coil, makes the angle of rotating shaft
The angle on target of input is approached in position, and the target angle angle value of input changes according to scan characteristic, and rotating shaft and then rotates, optical flat
Speculum completes the scanning to light.
Further, the control module is used to receive the mesh that optoelectronic angle position passes the signal of device and inputted by user simultaneously
Angle-data is marked, and the voltage added by providing with magnetic core coil both ends by control algolithm and drive circuit, make the angle of rotating shaft
The angle on target of input is approached, when input angle on target data are constantly updated according to linear scanning mode, the rotating shaft drives light
Learn plane mirror and then to rotate, carry out optical scanner.
Another object of the present invention is to provide a kind of optical scanner of the control method of the optical scanner pendulum mirror to put mirror,
The optical scanner pendulum mirror is provided with：
Optical flat speculum, high magnetic steel；
The optical flat speculum and high magnetic steel are fixed in rotating shaft by transition piece；The rotating shaft both ends bearing branch
Support is positioned on housing；The optical flat mirror reflection surface is towards outside housing；The high magnetic steel is in housing；
Band magnetic core coil is fixed in housing, and the high magnetic steel forced belt moves axis of rotation；
Optoelectronic angle position sensor is used for the particular location for detecting rotating shaft angle, sends the control mould outside housing to
Block；
The rotating shaft angle position that the angle on target of the control module combination user input provides with photoelectrical position sensor
Driving voltage with magnetic core coil is produced by control algolithm, the corresponding angle position of rotating shaft is quickly approached the mesh of user's input
Mark angle.
Further, the positive countershaft of the magnetic core with magnetic core coil；The face of the positive countershaft of magnetic core is a Cylinder Surface；
Parallel to rotating shaft, the Cylinder Surface is used to make high magnetic steel both sides Dou Chu in whole slewing area the bus of the Cylinder Surface
In in Cylinder Surface.
Further, the optoelectronic angle position sensor includes moving part and determines part, and moving part is coupled fixation with the rotating shaft
Together, determine part and with the housing be coupled to be fixed together.
Further, the swing angle of the optical flat speculum uses spacer pin；Spacer pin is fixed on the housing.
Another object of the present invention is to provide a kind of laser imaging for the control method that mirror is put using the optical scanner
Radar.
Compared with the structure of the single-ended clamping optical flat speculum of traditional motor, the present invention has several advantages：
(1) in the structure of the single-ended clamping optical flat speculum of traditional motor, dynamic structure is single, optical flat
Speculum is then bound up by the axle of clamp structure and dynamic structure, and the size of optical flat speculum is also in many cases
Much smaller than dynamic structure, therefore optical tilt mirror complete machine is taken up too much space, and dynamic structure reflects with optical flat in the present invention
Mirror design is closely packed together, and the size of optical flat speculum is only more smaller than the lateral dimension of optical tilt mirror complete machine, and structure is critical
Gather much.
(2) traditional motor it is single-ended clamping optical flat speculum structure in, optical flat speculum only have one end with
Motor shaft is linked, and another section is free end, and such structure is in the impact shock environment of complexity for a long time using being to deposit
The both ends of countershaft are spacing in structure in hidden danger, the present invention, make the ability of anti shock and vibration much better than.
(3) in the structure of the single-ended clamping optical flat speculum of traditional motor, in order to ensure precision and certain anti-
Impact shock ability, using the single-ended clamp structure of optical flat speculum specially designed, it is necessary in view of needed for long-term use
The fastness wanted, cause to increase considerably extra rotary inertia, the bigger dynamic structure of design of for this having to so that complete machine
Size further becomes big；Single-ended clamping is not used in the present invention, without it is corresponding the drawbacks of, therefore be more beneficial for the knot with miniaturization
Structure is realized, realizes that difficulty is smaller, precision is easier to be guaranteed.
The scanning pendulum len of the present invention has big scanning angle, high angle position precision, up to tens Hz scanning frequency
The structure of rate, high linearity and miniaturization, available for scanning imagery laser radar.The present invention is by reasonably moving
Power driving, angular position sensing and control design case, high-precision pendulum mirror is set to be achieved on a compact structure, and
Scanning range is big, scan frequency is high, linearity is good.
Brief description of the drawings
Fig. 1 is the control method flow chart of optical scanner pendulum mirror provided in an embodiment of the present invention；
Fig. 2 is the general structure and control schematic diagram that optical scanner pendulum mirror provided in an embodiment of the present invention is faced；
Fig. 3 is the magnetoelectricity drive part structural representation of optical scanner pendulum mirror side view provided in an embodiment of the present invention；
In figure：1st, housing；2nd, optical flat speculum；3rd, high magnetic steel；4th, transition piece；5th, rotating shaft；6th, band magnetic core coil；7、
Optoelectronic angle position sensor；8th, spacer pin；9th, control module.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Scanning pendulum len employed in conventional laser radar is essentially all by motor driven, and its structure is difficult to small-sized
Change.MEMS mirror area is too small, is only applicable to application closely, and array MEMS mirror is then due to division of wave front
Reason requires that higher occasion can not be applied in angular resolution；Need it is to be noted that being employed in bar code scanner small-sized
The scanning pendulum len of change, but this kind of pendulum mirror is only a structure that can back and forth sweep, without high-precision angular position detection,
It can not be applied in laser radar.
Below in conjunction with the accompanying drawings and specific embodiment is described in detail to the application principle of the present invention.
As shown in figure 1, the control method of optical scanner pendulum mirror provided in an embodiment of the present invention includes：
S101：The rotating shaft angular position information that optoelectronic angle position sensor will detect, gives control module；
S102：The target angle information that user inputs is sent to control module；
S103：Control module is handled this two-way information of transmission, and integrated structure and electric parameter provide band magnetic core
The control voltage of coil, makes the angle position of rotating shaft approach the angle on target of input, and the target angle angle value of input is special according to scanning
Property change, rotating shaft and then rotates, and optical flat speculum completes scanning to light.
As shown in Figures 2 and 3, optical scanner pendulum mirror provided in an embodiment of the present invention, including the reflection of housing 1, optical flat
Mirror 2, high magnetic steel 3, transition piece 4, rotating shaft 5, band magnetic core coil 6, optoelectronic angle position sensor 7, spacer pin 8, control module 9,
Optical flat speculum 2 and high magnetic steel 3 are all fixed in rotating shaft 5 by transition piece 4, and the both ends of rotating shaft 5 are positioned at bearings
On housing 1, the reflecting surface of optical flat speculum 2 is towards outside housing 1, and high magnetic steel 3 is then in housing 1, band magnetic core coil 6
It is fixed in housing 1, when band magnetic core coil 6 is powered, the forced belt turn axle 5 of high magnetic steel 3 rotates, optical flat speculum 2
Concomitant rotation, optoelectronic angle position sensor 7 are used for the particular location for detecting the angle of rotating shaft 5, give the control mould outside housing 1
Block 9, control module 9 combines the angle on target of user's input and the angle position of rotating shaft 5 that photoelectrical position sensor 7 provides passes through control
Algorithm processed goes to produce the control voltage with magnetic core coil 6, the corresponding angle position of rotating shaft 5 is quickly approached the target of user's input
Angle.
When mounted, its magnetizing direction is consistent with swaying direction for the high magnetic steel 3.
The positive countershaft 5 of magnetic core with magnetic core coil 6, the face of the positive countershaft 5 of magnetic core are a Cylinder Surface, the mother of curved surface
Line parallel to rotating shaft 5, the size of magnetic core curved surface it is ensured that make high magnetic steel 3 in whole slewing area both sides all in magnetic core curved surface
In the range of.
The optical flat speculum 2 on the premise of the installing space of the optoelectronic angle position sensor 7 is met
The center of rotating shaft 5 is positioned as close in structure, to produce rotary inertia as small as possible, this point is embodied in the transition
In the structure design of part 4.
The optoelectronic angle position sensor 7 includes moving part and determines part, and moving part is coupled with the rotating shaft 5 is fixed on one
Rise, determine part and then with the housing 1 be coupled to be fixed together, the optoelectronic angle position sensor 7 can use various energy satisfactions
The Fundamentals of Sensors of precision and data rate request, but be required to ensure in its structure not form in the range of scanning angle and appoint
What obstacle, the structure design with the transition piece 4 is needed to consider in structure.
The angle on target that the control module 9 receives the signal of optoelectronic angle position sensor 7 and inputted by user simultaneously
Data, and the voltage added by providing with the both ends of magnetic core coil 6 by control algolithm and drive circuit, make the angle approaching of rotating shaft 5
The angle on target of input, when input angle on target data are constantly updated according to linear scanning mode, rotating shaft 5 drives optical flat anti-
Penetrate mirror 2 and then to rotate, just reach the purpose of optical scanner.
The swing angle scope of described optical flat speculum 2 is any limitation as using the spacer pin 8, to avoid because just
Beginning prestart deviation angle is excessive, causes in initial start high magnetic steel 3 not in the effective range with magnetic core coil 6,
Spacer pin 8 is fixed on the housing 1.
For the present invention in limited shell space, the design using high magnetic steel and with magnetic core coil can be at the angle of restriction
Big driving torque is produced in the range of degree, optoelectronic angle position sensor provides the angle position of rotating shaft, given outside housing
Control module, and user is then sent into real-time target angular position to control module, control module handles this two paths of signals, to band
Magnetic core coil provides corresponding driving voltage, and drive shaft rotates and quickly approaches target angular position, and big driving torque coordinates
High-precision angular position detection so that the scan characteristic of big scanning range, high scan frequency and high linearity is able to reality
It is existing.
One optical flat speculum is bonded on tightened together with axle transition piece by seccotine, the transition
The other end of part then fixes strength magnet steel, and its magnetizing direction is consistent with swaying direction, and with magnetic core coil fixation in the housing, around
The circle of line number hundred has the structure of Cylinder Surface, position and strong magnetic to thousands of circles, the positive countershaft of magnetic core in the direction of countershaft
Steel is close, and this part is the executing agency of pendulum mirror.In the space adjacent with executing agency, an optoelectronic angle position is configured with
Sensor is put, the rotating part of optoelectronic angle position sensor is to be coupled fixation between moving part and the axle of executing agency, and motionless
Determine part and be then linked with housing in part.The control module of outside, user's input are given in the output of optoelectronic angle position sensor
Target angular position be also fed into control module, control module utilizes the two information, with reference to pendulum mirror structure and electric parameter,
The control voltage with magnetic core coil is provided, the angle position of rotating shaft is quickly approached the angle on target of user's input.
Mirror is put in the optical scanner made using the present invention, and scanning angle is big, and scan frequency is high, and linearity is good, structure
It is compact, it can significantly reduce the size of optical scanning head, be advantageous to the miniaturization of laser radar complete machine.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (7)
1. mirror is put in a kind of optical scanner, it is characterised in that the optical scanner pendulum mirror is provided with：
Optical flat speculum, high magnetic steel；
The optical flat speculum and high magnetic steel are fixed in rotating shaft by transition piece；Determined with bearings at the rotating shaft both ends
Position is on housing；The optical flat mirror reflection surface is towards outside housing；The high magnetic steel is in housing；
Band magnetic core coil is fixed in housing, and the high magnetic steel forced belt moves axis of rotation；
Optoelectronic angle position sensor is used for the particular location for detecting rotating shaft angle, sends the control module outside housing to；
The rotating shaft angle position that the angle on target of the control module combination user input provides with photoelectrical position sensor passes through
Control algolithm produces the driving voltage with magnetic core coil, the corresponding angle position of rotating shaft is quickly approached the target angle of user's input
Degree.
2. mirror is put in optical scanner as claimed in claim 1, it is characterised in that the positive countershaft of the magnetic core with magnetic core coil；
The face of the positive countershaft of magnetic core is a Cylinder Surface；The bus of the Cylinder Surface is used parallel to rotating shaft, the Cylinder Surface
In make high magnetic steel in whole slewing area both sides all in Cylinder Surface.
3. mirror is put in optical scanner as claimed in claim 1, it is characterised in that the optoelectronic angle position sensor includes dynamic
Part and determine part, moving part is coupled with the rotating shaft to be fixed together, and determines part and with the housing be coupled to be fixed together.
4. mirror is put in optical scanner as claimed in claim 1, it is characterised in that the swing angle of the optical flat speculum is adopted
Use spacer pin；Spacer pin is fixed on the housing.
5. a kind of control method of the pendulum mirror of optical scanner as claimed in claim 1, it is characterised in that the optical scanner pendulum mirror
Control method comprises the following steps：
Step 1, optoelectronic angle position sensor will detect rotating shaft angular position information；
Step 2, the target angle information that user inputs is sent to control module；
Step 3, information processing of the control module to transmission, provides the control voltage with magnetic core coil, makes the angle position of rotating shaft
The angle on target of input is approached, the target angle angle value of input changes according to scan characteristic, and rotating shaft and then rotates, optical flat reflection
Mirror completes the scanning to light.
6. the control method of optical scanner pendulum mirror as claimed in claim 5, it is characterised in that the control module is used for simultaneously
The angle on target data that optoelectronic angle position passes the signal of device and inputted by user are received, and pass through control algolithm and drive circuit
The voltage added by with magnetic core coil both ends is provided, the angle on target for inputting the angle approaching of rotating shaft, when the input target angle number of degrees
Constantly updated according to according to linear scanning mode, the rotating shaft drives optical flat speculum and then to rotate, and carries out optical scanner.
A kind of 7. laser imaging radar for being provided with optical scanner pendulum mirror described in Claims 1 to 4 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710841012.0A CN107678042A (en) | 2017-09-18 | 2017-09-18 | A kind of optical scanner pendulum mirror and its control method, laser imaging radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710841012.0A CN107678042A (en) | 2017-09-18 | 2017-09-18 | A kind of optical scanner pendulum mirror and its control method, laser imaging radar |
Publications (1)
| Publication Number | Publication Date |
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| CN107678042A true CN107678042A (en) | 2018-02-09 |
Family
ID=61136706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710841012.0A Pending CN107678042A (en) | 2017-09-18 | 2017-09-18 | A kind of optical scanner pendulum mirror and its control method, laser imaging radar |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262036A (en) * | 2019-05-30 | 2019-09-20 | 中国科学院长春光学精密机械与物理研究所 | A kind of two dimension wide-angle fast steering mirror |
| CN110322801A (en) * | 2019-07-09 | 2019-10-11 | 京东方科技集团股份有限公司 | A kind of three-dimensional display apparatus, its display methods and three-dimensional display system |
| CN110989164A (en) * | 2019-12-24 | 2020-04-10 | 成都英飞睿技术有限公司 | Self-adaptive drive control method, system and device for quickly controlling reflector |
| CN112394336A (en) * | 2019-08-16 | 2021-02-23 | 上海禾赛光电科技有限公司 | Swing mirror assembly, transmitting system and laser radar |
| CN112859048A (en) * | 2019-11-27 | 2021-05-28 | 上海禾赛科技股份有限公司 | Light beam scanning apparatus, laser radar including the same, and control method |
| CN114787686A (en) * | 2019-12-13 | 2022-07-22 | 三美电机株式会社 | Optical scanning device |
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| CN101156102A (en) * | 2005-02-14 | 2008-04-02 | 德州仪器公司 | Apparatus and methods for rapidly bringing a scanning mirror to a selected deflection amplitude at its resonant frequency |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110262036A (en) * | 2019-05-30 | 2019-09-20 | 中国科学院长春光学精密机械与物理研究所 | A kind of two dimension wide-angle fast steering mirror |
| CN110322801A (en) * | 2019-07-09 | 2019-10-11 | 京东方科技集团股份有限公司 | A kind of three-dimensional display apparatus, its display methods and three-dimensional display system |
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| CN112394336A (en) * | 2019-08-16 | 2021-02-23 | 上海禾赛光电科技有限公司 | Swing mirror assembly, transmitting system and laser radar |
| CN112394336B (en) * | 2019-08-16 | 2024-04-05 | 上海禾赛科技有限公司 | Swing mirror assembly, transmitting system and laser radar |
| CN112859048A (en) * | 2019-11-27 | 2021-05-28 | 上海禾赛科技股份有限公司 | Light beam scanning apparatus, laser radar including the same, and control method |
| CN114787686A (en) * | 2019-12-13 | 2022-07-22 | 三美电机株式会社 | Optical scanning device |
| CN114787686B (en) * | 2019-12-13 | 2023-09-19 | 三美电机株式会社 | Optical scanning device |
| CN110989164A (en) * | 2019-12-24 | 2020-04-10 | 成都英飞睿技术有限公司 | Self-adaptive drive control method, system and device for quickly controlling reflector |
| CN110989164B (en) * | 2019-12-24 | 2020-12-08 | 成都英飞睿技术有限公司 | Self-adaptive drive control method, system and device for quickly controlling reflector |
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