CN108226952A - A kind of laser scanning imaging system - Google Patents
A kind of laser scanning imaging system Download PDFInfo
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- CN108226952A CN108226952A CN201711333714.4A CN201711333714A CN108226952A CN 108226952 A CN108226952 A CN 108226952A CN 201711333714 A CN201711333714 A CN 201711333714A CN 108226952 A CN108226952 A CN 108226952A
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- laser
- reflecting element
- reflecting
- optical system
- rotating mechanism
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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
Abstract
This application discloses a kind of laser scanning imaging system, system includes：Laser emission optical system, for emitting laser；Rotation sweep unit, including rotating mechanism and at least two reflecting elements, at least two reflecting elements are fixed on rotating mechanism, and it is each between the reflecting surface of reflecting element and the rotary shaft of rotating mechanism there are preset angle, for by laser projection to target object；Laser pick-off optical system and laser emission optical system are set to the homonymy of rotation sweep unit, for receiving the laser that target object is reflected back.By the above-mentioned means, the application can reduce the volume of mechanical-optical setup in laser imaging system and realize to the multi-thread scanning of target object progress.
Description
Technical field
This application involves laser imaging field, more particularly to a kind of laser scanning imaging system.
Background technology
Laser imaging method is that surrounding objects are perceived using laser beam, and ambient is reflected in the form of point cloud data
The position of body and pattern have the features such as Measurement Resolution is high, speed is fast, small, light-weight.Scanning type laser imaging system
It is a kind of laser imaging system being widely used, realizes that laser is swept using the movement of mechanical scanning control laser in space
Retouch the function of imaging.The optical system control laser direction of propagation in systems and convergence diverging, the structure type of optical system
Determine the structure type of entire laser imaging system, how that mechanical scan arrangement is effective with optical system difficult point is
It is combined together.
Invention content
The application provides a kind of laser scanning imaging system, can reduce the volume of mechanical-optical setup in laser imaging system with
And it realizes and multi-thread scanning is carried out to target object.
In order to solve the above technical problems, another technical solution that the application uses is：A kind of laser scanning imaging is provided
System, the system comprises：Laser emission optical system, for emitting laser；Rotation sweep unit, including rotating mechanism and
At least two reflecting elements, at least two reflecting element are fixed on the rotating mechanism, and each reflecting element
There are preset angle between the rotary shaft of reflecting surface and the rotating mechanism, for by the laser projection to object
Body；Laser pick-off optical system and the laser emission optical system are set to the homonymy or offside of the rotation sweep unit,
For receiving the laser that the target object is reflected back.
The advantageous effect of the application is：A kind of laser scanning imaging system is provided, by by the reflection of multiple reflecting elements
Relative to there is default angle between the rotary shaft of rotating mechanism, and further combined with laser emission optical system and laser in face
Receiving optics can reduce the volume of mechanical-optical setup in laser imaging system and realize sweep multi-thread to target object progress
It retouches.
Description of the drawings
Fig. 1 is the structure diagram of the application laser scanning imaging system first embodiment；
Fig. 2 is the schematic side view of the application laser scanning imaging system second embodiment；
Fig. 3 is the scanning schematic diagram of the application rotation sweep unit first embodiment；
Fig. 4 is the scanning result schematic diagram of the application rotation sweep unit first embodiment；
Fig. 5 is the schematic side view of the application laser scanning imaging system third embodiment；
Fig. 6 is the schematic top plan view of the 4th embodiment of the application laser scanning imaging system；
Fig. 7 is the schematic side view of the 4th embodiment of the application laser scanning imaging system；
Fig. 8 is the scanning schematic diagram of the application rotation sweep unit second embodiment；
Fig. 9 is the scanning result schematic diagram of the application rotation sweep unit second embodiment；
Figure 10 is the structure diagram of the 5th embodiment of the application laser scanning imaging system；
Figure 11 is the scanning schematic diagram of the application rotation sweep unit third embodiment；
Figure 12 is the structure diagram of the application laser scanning imaging system sixth embodiment；
Figure 13 is the structure diagram of the 7th embodiment of the application laser scanning imaging system；
Figure 14 is the scanning schematic diagram of the 4th embodiment of the application rotation sweep unit.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, the technical solution in the embodiment of the present application is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the application, instead of all the embodiments.It is based on
Embodiment in the application, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall in the protection scope of this application.
Hereafter first, second grade of term can be used to describe various components, but these components should not be by this herein
A little term limitations, these terms are only used to element is distinguished from each other out.For example, first element can be referred to as second element, and
Similarly, second element can be referred to as first element, without departing from scope of the present application.
Figure is please referred to, Fig. 1 is the structure diagram of the application laser scanning imaging system first embodiment.The present embodiment
Provided in laser scanning imaging system 10 include：Laser emission optical system 11, rotation sweep unit 12 and laser connect
Receive optical system 13.
Wherein, laser emission optical system 11 is for emitting laser, including 111 and first collimator assembly 112 of laser.This
In embodiment, the number of laser 111 is 1, and the laser 111 used in the present embodiment can be to include but not limited to partly lead
One kind in body laser, optical fiber laser, solid state laser and light emitting diode (LED).In the applied field of the application
Laser 111 employed in scape is semiconductor laser, and advantage is small, simple in structure, direct modulation and effect
Rate is high.Certainly, can also using any of the above-described radiated element in other embodiments, the application is not done as laser
Further limit.
First collimator assembly 112 is used to improve the performance of the laser beam of the transmitting of laser 111, because of laser emitter 111
The laser beam of transmitting there may be astigmatism, be asymmetrical in shape and with the several years to tens degree dispersion angles not etc., for guarantor
The accuracy of its positioning to be demonstrate,proved, therefore laser beam need to be collimated and shaping so that laser beam divergent angle effectively compresses, into
For the light beam for the shape that meets the requirements, so that laser can transmit farther distance.Wherein, the first collimator assembly 112 can be with
For include but not limited to ordinary lens combine colimated light system, the colimated light system of aspherical simple lens, long-focus large aperture optics
System, cylindrical mirror add common optical system, macro/to surround and watch optical element combination colimated light system and optical fiber and ordinary lens combination is accurate
One kind in direct line system.The first collimator assembly 112 employed in the present embodiment combines colimated light system for ordinary lens, other
Any of the above-described collimating optical system may be used in embodiment, standard is carried out to the laser beam that laser emitter 111 is sent out
Straight and Shape correction, the application do not do further restriction.In addition, in the specific application scenarios of the application, laser emitter 111
It can be loaded into identical carrier jointly with the first collimator assembly 112, can also be mounted on different carriers, so that final satisfaction swashs
The laser beam that optical transmitting set 111 is emitted is in the focus of the first collimator assembly 112.
Rotation sweep unit 12, including rotating mechanism (not shown) and at least two reflecting element A.Wherein, at least two
A reflecting element A is fixed on rotating mechanism, and is deposited between the reflecting surface of each reflecting element A and the rotary shaft B of rotating mechanism
In preset angle, for by laser projection to target object.In the particular embodiment, rotation sweep unit 12 includes at least
There is default inclination angle reflecting element A between two and the rotary shaft B of rotating mechanism, can be specifically two, four, six etc.
Deng not doing further restriction herein.
Reflecting element A is specifically as follows plane mirror in the application, certainly in other application scene, can also use
Other reflecting elements do not do further restriction herein.In the present embodiment, the first collimator assembly 112 swashs 111 outgoing of laser
Light beam carries out shaping so that the angle of divergence of laser beam is effectively compressed, and can transmit farther distance, and after collimation
Laser beam changes the direction of propagation of laser by rotation sweep unit 12, so that target object of the laser projection to space
On.
Fig. 1 is further regarded to, laser pick-off optical system 13 further comprises the second collimator assembly 131 and laser pickoff
132.The effect of laser pick-off optical system 13 is the light energy collected as far as possible after target reflects, and is converged to sharp
On the photosurface of optical receiver 132, to improve detection range, and the optical gain of general receiving optics is bigger, to improving
Detection range role is bigger.Wherein, the laser pick-off optical system 13 and Laser emission optics in the present embodiment
System 11 is set to the homonymy of rotation sweep unit 12, and laser pick-off optical system 13 and laser emission optical system 11
Optical axis is parallel, wherein it is parallel and overlap or the parallel but misaligned situation of optical axis to include optical axis.
Wherein, the second collimator assembly 131 receives the laser beam being reflected back by target object diffusing reflection for improving
Performance, and the laser beam after performance improvement is converged into laser pickoff 132.Optionally, the second collimator assembly 131 can be
Including but not limited to using ordinary lens combination colimated light system, the colimated light system of aspherical simple lens, long-focus large aperture light
System, cylindrical mirror add common optical system, it is macro/surround and watch optical element combination colimated light system and optical fiber and ordinary lens combination
One kind in colimated light system.The second collimator assembly 131 employed in the present embodiment combines colimated light system for ordinary lens, is used for
It will be collimated by the reflected laser beam of target object diffusing reflection and shaping so that laser beam carries out convergence and becomes
On laser point dot projection to the photosurface of laser pickoff 132.
Laser pickoff 132, for receiving the laser beam of the performance improvement after the second collimator assembly 131, this implementation
The number of laser pickoff 132 is 1 in example, and the laser pickoff 132 used can be to include but not limited to photodetection
One kind in device, silicon photocell and imaging detector.In laser pick-off optical system, laser pickoff 132 is core
Part, therefore can be specifically photodiode, further may be used as laser pickoff 132 using photodetector in the application
Think high internal gain, small and high reliability avalanche photodide.It can also use in other embodiments upper
Any laser pickoff is stated, the application does not do and further limits.In addition, in one application scenarios of the application, laser
132 and second collimator assembly 131 of receiver can be loaded into identical carrier jointly, can also be mounted on different carriers, so that
The final laser beam for meeting the reception of laser pickoff 132 is in the focus of the second collimator assembly 131.
The above embodiment by the way that at least two reflecting elements are fixed on rotating mechanism, sets each reflecting element
There is default angle between reflecting surface and the rotary shaft of rotating mechanism, and further combined with laser emission optical system and laser
Receiving optics can reduce the volume of mechanical-optical setup in laser imaging system and realize sweep multi-thread to target object progress
It retouches.
Further referring to Fig. 2-3, Fig. 2 is that the side view of the application laser scanning imaging system second embodiment is illustrated
Figure, Fig. 3 are the scanning schematic diagram of the application rotation sweep unit first embodiment.Specifically, the rotation in the present embodiment is swept
It retouches unit 12 and includes the 5th reflecting element A5 and the 6th reflecting element A6.Wherein, the reflections of the 5th reflecting element A5 and the 6th
Exist between the reflecting surface of element A6 and the rotary shaft B of rotating mechanism and preset angle, and the reflecting element in the present embodiment
Number is 2, and using plane mirror, the number of laser is 1.
It is different with conventional mirror to be, the 5th reflecting element A5 and the 6th reflecting element A6 two in the application
Reflecting surface has certain inclination angle with rotary shaft B, as shown in figure 3, the 5th reflecting element A5 and the 6th reflecting element A6 and rotation
The angle of axis B is identical, is θ.The random angle angle value that may range between 0 to 5 degree of wherein θ, can be specifically 0
Degree, 2.5 degree and 5 degree etc..Certainly in other embodiments, the 5th reflecting element A5 and the 6th reflecting element A6 and rotation
Angle between axis B can not also be identical.
In the present embodiment, referring specifically to Fig. 3, when laser beam glancing incidence is to the 5th reflecting element A5, laser is anti-
It is mapped to above incident horizontal plane, and scans straight line, the angle of exit facet and the plane of incidence is 2 θ；When laser level enters
When being mapped to the 6th reflecting element A6, laser is reflected to below incident horizontal plane, and scans straight line, exit facet with
The angle of the plane of incidence is -2 θ.Finally, rotation sweep unit 12 respectively scans straight line, such as Fig. 4 in incoming Level face upper and lower
Shown, Fig. 4 is the scanning result schematic diagram of the application rotation sweep unit first embodiment, and the angle of two articles of straight lines is by the 5th
Angle theta between the rotary shaft B of the reflecting surface and rotating mechanism of reflecting element A5 and the 6th reflecting element A6 determines.According to should
With demand, the 5th reflecting element A5 and the 6th reflecting element A6 could be provided as with the inclination angle of rotary shaft it is equal, can not also
Equal, scanning the straight line come can also be all in plane of incidence either above or below or straight line above, and another straight
Line does not do further restriction in lower section, herein the application.
Further, rotation sweep unit 12 will scan in next laser projection to space after reflecting element, to mesh
Mark object measures, and the laser returned through target object diffusing reflection enters the second collimator assembly, and the second collimator assembly is to receiving
The laser beam that is reflected back of target object collimated and shaping so that laser beam carries out convergence and becomes the throwing of laser point hot spot
It is mapped on the photosurface of laser pickoff and carries out opto-electronic conversion, then the spy to target is realized via subsequent amplification and detection etc.
It surveys.
For the mode that traditional reflecting surface by reflecting element and rotary shaft axial plane are arranged in parallel, this implementation
By setting between the 5th reflecting element A5 and the reflecting surface of the 6th reflecting element A6 and the rotary shaft of rotating mechanism in example
Angle is identical or differs, and is scanned so as to fulfill two lines in space.
Further referring to Fig. 5, Fig. 5 is the schematic side view of the application laser scanning imaging system third embodiment.
The present embodiment and laser scanning imaging system third embodiment are roughly the same, and the difference lies in the present embodiment, rotation is swept
It retouches the both sides of unit while places two groups of corresponding laser emission optical systems and laser pick-off optical system, and something in common is not
It repeats, is described in detail below again：
Laser scanning imaging system 20 provided in the present embodiment includes：Laser emission optical system 21 and laser pick-off
Optical system 22, rotation sweep unit 23 and laser emission optical system 24 and laser pick-off optical system 25.
Wherein, laser emission optical system 21,24 for emitting laser, including rotating mechanism (scheme by rotation sweep unit 23
Do not show) and at least two reflecting elements, use two reflecting elements A5 and A6 in the present embodiment, and select plane reflection
Mirror.Laser pick-off optical system 22,25 is used to receive the reflection light that target object diffusing reflection is returned, and further by the reflected light
Line carries out photoelectric conversion, to realize the multi-thread scanning to target object.
In the present embodiment, by carrying out timesharing work to the laser transmitting-receiving optical system for being set to 23 both sides of rotation sweep unit
Make, can realize the four lines scanning to target object.I.e. within a preset time cycle, laser emission optical system 21 and swash
Light-receiving optical system 22 first works, and the two lines scanning to target object can be realized, in the subsequent time of predetermined period
Laser emission optical system 24 and laser pick-off optical system 25 are started to work, then can also realize and two lines of target object are swept
It retouches, i.e., by carrying out time-sharing work to two groups of laser transmitting-receiving optical systems, it can be achieved that four lines to target object scan.
Certainly, only schematical citing in the present embodiment, can also be in a specific embodiment in rotary unit
Both sides set multigroup laser transmitting-receiving optical system respectively, and carry out time-sharing work to it, can realize to extraterrestrial target object
Multi-thread scanning.
It, can be real by being correspondingly arranged two groups of laser transmitting-receiving optical systems respectively in the both sides of rotary unit in the present embodiment
Now the level angle measurement range of two line of target object scanning is extended.
Further referring to Fig. 6-8, Fig. 6 is that the vertical view of the 4th embodiment of the application laser scanning imaging system is illustrated
Figure, Fig. 7 are the schematic side view of the 4th embodiment of the application laser scanning imaging system, and Fig. 8 is the application rotation sweep list
The scanning schematic diagram of first second embodiment.
Specifically, the laser scanning imaging system 30 in the present embodiment includes：Laser emission optical system 31, rotation sweep
Unit 32 and laser pick-off optical system 33.Wherein, laser emission optical system 31 and laser pick-off optical system 33
Detailed description is referred to specific descriptions above, and details are not described herein again.And laser and laser employed in the present embodiment
The number of receiver is 1, and laser emission optical system 31 and laser pick-off optical system 33 are set to rotation sweep list
The homonymy of member 32.
Specifically, the rotation sweep unit 32 in the present embodiment includes the first reflecting element A1, the second reflecting element A2, the
Three reflecting element A3 and the 4th reflecting element A4.Optionally, the first reflecting element A1, the second reflecting element A2, third reflection
The reflecting surface of element A3 and the 4th reflecting element A4 and between the rotary shaft B of rotating mechanism it is different there are angle.
Fig. 8 is participated in, the angle theta 1 between the reflecting surface of the first reflecting element A1 and the rotary shaft B of rotating mechanism is positive 0.4
Degree, the angle theta 2 between the reflecting surface of the second reflecting element A2 and the rotary shaft B of rotating mechanism are minus 0.4 degree, third reflector
Angle theta 3 between the reflecting surface of part A3 and the rotary shaft B of rotating mechanism is 0 degree, the reflecting surface of the 4th reflecting element A4 and rotation
Angle theta 4 between the rotary shaft B of mechanism is positive 0.8 degree.Such as Fig. 8, when the laser beam of glancing incidence passes through between rotary shaft B
Angle be θ 1 the first reflecting element A1 after, laser beam reflects away the first reflecting element A1, and its reflection laser beam institute
The reflected beams plane and the angle of horizontal plane be 2 θ 1, i.e., it is 0.8 degree positive, and scan straight line on that plane.Work as water
Incident laser is put down after the second reflecting element A2 that the angle between rotary shaft B is θ 2, laser will be by the second reflector
Part A2 is reflected away, and the reflected beams plane where its reflection laser and the angle of horizontal plane are 2 θ 2, i.e., 0.8 degree minus, and
Straight line is scanned in this plane.When the third that the laser beam of glancing incidence passes through with the inclination angle of rotary shaft axial plane is θ 3 is anti-
After penetrating element A3, since the angle between reflecting surface 3 and rotary shaft B is 0 degree (i.e. the two is parallel), laser is by third reflecting element
After A3 is reflected away, straight line is scanned in the horizontal plane.Similarly, when the laser beam of glancing incidence pass through with rotary shaft B it
Between angle be θ 4 the 4th reflecting element A4 after, laser will be reflected away by the 4th reflecting element A4, and its reflection laser institute
The reflected beams plane and the angle of horizontal plane be 2 θ 4, i.e., it is 1.6 degree positive, and scan straight line on that plane.Most
Eventually, the rotating mechanism of rotation sweep unit 22 turns around around rotary shaft B rotations, i.e., after 360 degree, the reflecting surface of four reflecting elements
Go out four parallel straight lines in outgoing spacescan respectively, form the two-dimensional scan of four lines, rotated referring to Fig. 9, Fig. 9 for the application
The scanning result schematic diagram of scanning element second embodiment.
Further, rotation sweep unit 32 will scan in next laser projection to space after reflecting element, to mesh
Mark object measures, and the laser returned through target object diffusing reflection enters the second collimator assembly, and the second collimator assembly is to receiving
The laser beam that is reflected back of target object collimated and shaping so that laser beam carries out convergence and becomes the throwing of laser point hot spot
It is mapped on the photosurface of laser pickoff and carries out opto-electronic conversion, then the spy to target is realized via subsequent amplification and detection etc.
It surveys.
For the mode that traditional reflecting surface by reflecting element and rotary shaft axial plane are arranged in parallel, this implementation
First reflecting element A1 in example, the second reflecting element A2, third reflecting element A3 and the 4th reflecting element A4 reflecting surface with
The different angle of preset angle is respectively provided between rotary shaft, is scanned so as to fulfill four lines in space.
It is possible thereby to analogize, if necessary to carry out scanning more than five lines, can be used and the reflecting element of five or more
Reflecting surface sets different angles between the rotary shaft of rotating mechanism respectively, with this come come realize five lines in space scan.But
It is to improve the harness of scanning by the way of reflecting element is increased scanning angle range can be caused to reduce, that is, understands reflecting element
Quantity increase, scannable range is reduced.Further reflecting element is more, and difficulty of processing is bigger, and cost is higher.
Further referring to Figure 10-11, Figure 10 is that the structure of the 5th embodiment of the application laser scanning imaging system is shown
It is intended to, the scanning schematic diagram of Figure 11 the application rotation sweep unit third embodiments.Scanning imaging system in the present embodiment
It is further expanding on the basis of first and third embodiment, the difference lies in the Laser emission light in the present embodiment
It can include two lasers in system, for generating the laser being not parallel to each other with two beams, i.e. two lasers are emitted
Laser between there are certain angle, and in the present embodiment laser pickoff number for 1, be described in detail below：
Specifically, the laser scanning imaging system 40 in the present embodiment includes：Laser emission optical system 41, rotation sweep
Unit 42 and laser pick-off optical system 43.Wherein, rotation sweep unit 42 and the detailed of laser pick-off optical system 43 are retouched
It states and is referred to specific descriptions above, details are not described herein again.
Optionally, laser emission optical system 41 is for emitting laser, first laser device 411, the first collimator assembly 412,
Second laser 413 and third collimator assembly 414.And laser in the present embodiment and collimator assembly and the application first and
Laser employed in second embodiment is identical with collimator assembly, may refer to specific descriptions above, no longer superfluous herein
It states.
Optionally, the first laser device 411 in the present embodiment, the first collimator assembly 412 and second laser 413 and
Three collimator assemblies 414 can be placed with homonymy can also be overlapped placement, be placed in a manner that overlapping is placed in the present embodiment.Such as figure
10, when the first laser device 411 in laser emission optical system 41 and second laser 413 send out laser beam respectively by the
After collimation element 412 and third collimator assembly 414 collimate, becoming two beams has the laser beam of certain angle a, referring to figure
11.After being reflected by each reflecting element, all two parallel straight lines can be scanned in reflection space, when rotary shaft is revolved
After turning around, laser of two beams with certain angle a, can be in reflection space respectively after four reflecting elements are reflected
Eight parallel straight line (not shown) are scanned, form the eight lines scanning in space.Rotation sweep unit is specific in the present embodiment
Two lines and the scan mode of four lines that scan mode can be as detailed above are similar, and detailed description please refers to above specific retouch
It states, details are not described herein again.And in the present embodiment, a collimator assembly can also be shared using two lasers to realize that outgoing swashs
Light is collimated.Certainly, in addition to this it is possible to set 3,4,5 lasers, target object space is improved with this
Scan harness.
Further referring to Figure 12, Figure 12 is the structural representation of the application laser scanning imaging system sixth embodiment
Figure.The present embodiment and the 5th embodiment of laser scanning imaging system are roughly the same, and the difference lies in swashing in the present embodiment
Two lasers that light-receiving optical system is included in two laser pickoffs and laser emission optical system correspond to, and identical
Part repeats no more, and is described in detail below：
Specifically, the laser scanning imaging system 50 in the present embodiment includes：Laser emission optical system 51, rotation sweep
Unit 52 and laser pick-off optical system 53.Wherein, rotation sweep unit 52 and the detailed of laser pick-off optical system 53 are retouched
It states and is referred to specific descriptions above, details are not described herein again.
Laser pick-off optical system 53 includes first laser receiver 531 and second laser receiver 532 and correspondence is set
514 and the 4th collimator assembly of third collimator assembly being placed in 532 light path of first laser receiver 531 and second laser receiver
515.And the laser employed in the first and the 5th embodiment of laser and collimator assembly and the application in the present embodiment
It is identical with collimator assembly, specific descriptions above are may refer to, details are not described herein again.
Optionally, the first laser receiver 531 in the present embodiment and third collimator assembly can be connect with 514, second laser
Placement, the side placed in the present embodiment using overlapping can also be overlapped with homonymy placement by receiving 532 and the 4th collimator assembly 515 of device
Formula is placed.The image-forming principle phase of the concrete principle of laser scanning imaging system in the present embodiment and the first to the 5th embodiment
Together, the difference lies in two laser optical laser pick-off optical systems in the laser emission optical system in the present embodiment
Laser pickoff correspond, therefore details are not described herein again for specific embodiment, refers to the specific descriptions of the above embodiment.
It certainly, in other embodiments, can also be by multiple laser emission optical systems and multiple laser pick-off optical systems
System is separately positioned on the both sides of rotation sweep unit, and the level angle measurement to the multi-thread scanning of extraterrestrial target object is realized with this
Range extends.
Further referring to Figure 13-14, Figure 13 is that the structure of the 7th embodiment of the application laser scanning imaging system is shown
It is intended to, Figure 14 is the scanning schematic diagram of the 4th embodiment of the application rotation sweep unit.Scanning imagery system in the present embodiment
System is further expanding on the basis of first and second embodiment, and the difference lies in the Laser emission light in the application
It can also include beam splitter in system, for the laser that laser emits to be divided into multi beam, and between each laser
It is not parallel to each other, i.e., is incident to rotation sweep unit with certain angle, is described in detail below：
Specifically, the laser scanning imaging system 60 in the present embodiment includes：Laser emission optical system 61, rotation sweep
Unit 62 and laser pick-off optical system 63.Wherein, rotation sweep unit 62 and the detailed of laser pick-off optical system 63 are retouched
It states and is referred to specific descriptions above, details are not described herein again.
Optionally, laser emission optical system 61, which further includes beam splitter E, the beam splitter E, can be arranged on first
After collimator assembly 612, for the laser after the first collimator assembly 612 to be divided at least two beams according to certain splitting ratio,
In the present embodiment, laser is divided into three beams by beam splitter E, and is not parallel to each other between the three beams of laser, i.e., there are certain angle, three
Shu Jiguang can scan two parallel straight lines, as rotary shaft B after each reflecting element is reflected in reflection space
After rotation is turned around, laser of the three beams with certain angle after four reflecting elements are reflected, can reflect sky respectively
Between scan 12 parallel straight line (not shown), formed space ten two wires scanning.Rotation sweep unit in the present embodiment
Specific scan mode can be as detailed above two lines and four lines scan mode it is similar, detailed description please refer to tool above
Body describes, and details are not described herein again.
Certainly, the application only schematically lists several multi-thread scan modes, can also be in other embodiments
16 lines, 20 lines etc., the application is not further to be limited.
Further, in other embodiments, can also multiple Laser emissions be set by the homonymy in rotation sweep unit
Optical system and multiple laser pick-off optical systems, and a beam splitter can be set before each laser emission optical system, when
Can also be so to share same beam splitter.
It is of course also possible to be rotation sweep unit offside set respectively multiple laser emission optical systems and it is multiple swash
Light-receiving optical system is realized with this to the extension of the level angle measurement range of the multi-thread scanning of extraterrestrial target object.
The above embodiment, by multiple laser simultaneously or Asynchronous operation mode, can realize the more of extraterrestrial target object
Line scans.
In conclusion it should be readily apparent to one skilled in the art that the application provides a kind of laser scanning imaging system, pass through by
Multiple reflecting elements are fixed on rotation sweep unit, and further combined with laser relative to rotary shaft axis direction with preset inclination angle
Optical transmitting system and laser pick-off optical system can reduce the volume of mechanical-optical setup and realization in laser imaging system
Multi-thread scanning is carried out to target object.
The foregoing is merely presently filed embodiments, not thereby limit the scope of the claims of the application, every to utilize this
It is relevant to be directly or indirectly used in other for the equivalent structure or equivalent flow shift that application specification and accompanying drawing content are made
Technical field similarly includes in the scope of patent protection of the application.
Claims (10)
1. a kind of laser scanning imaging system, which is characterized in that the system comprises：
Laser emission optical system, for emitting laser；
Rotation sweep unit, including rotating mechanism and at least two reflecting elements, at least two reflecting element is fixed on
The rotating mechanism, and each there are preset between the reflecting surface of the reflecting element and the rotary shaft of the rotating mechanism
Angle, for by the laser projection to target object；
Laser pick-off optical system and the laser emission optical system are set to the homonymy or right of the rotation sweep unit
Side, for receiving the laser that the target object is reflected back.
2. system according to claim 1, which is characterized in that the rotation sweep unit includes the first reflecting element, the
Two reflecting elements, third reflecting element and the 4th reflecting element, first reflecting element, second reflecting element, institute
State angle between the reflecting surface of third reflecting element and the 4th reflecting element and the rotary shaft of the rotating mechanism not
Together.
3. system according to claim 2, which is characterized in that the reflecting surface of first reflecting element and the whirler
Angle between the rotary shaft of structure is positive 0.4 degree, the reflecting surface of second reflecting element and the rotary shaft of the rotating mechanism
Between angle be minus 0.4 degree, the angle between the reflecting surface of the third reflecting element and the rotary shaft of the rotating mechanism
It it is 0 degree, the angle between the reflecting surface of the 4th reflecting element and the rotary shaft of the rotating mechanism is positive 0.8 degree.
4. system according to claim 1, which is characterized in that the laser emission optical system includes laser and first
Collimator assembly, first collimator assembly are used to improve the performance of the laser beam of the laser transmitting.
5. system according to claim 4, which is characterized in that the number of the laser is at least 1.
6. system according to claim 4, which is characterized in that the laser emission optical system further includes beam splitter,
The beam splitter is used to the laser being divided into multi beam, and be not parallel to each other between each laser beam.
7. system according to claim 6, which is characterized in that the laser for semiconductor laser, optical fiber laser,
One kind in solid state laser and light emitting diode.
8. system according to claim 1, which is characterized in that the laser pick-off optical system includes the second collimator assembly
And laser pickoff, second collimator assembly receive the property for the laser beam that the target object is reflected back for improving
Can, and the laser beam after performance improvement is projected to the laser pickoff.
9. system according to claim 8, which is characterized in that the laser pickoff is photodetector, silicon photocell
And one kind in imaging detector.
10. system according to claim 8, which is characterized in that the number of the laser pickoff is at least 1.
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| CN201711333714.4A CN108226952A (en) | 2017-12-13 | 2017-12-13 | A kind of laser scanning imaging system |
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| CN201711333714.4A CN108226952A (en) | 2017-12-13 | 2017-12-13 | A kind of laser scanning imaging system |
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