CN108646405A - A kind of system for realizing multi-thread scanning - Google Patents
A kind of system for realizing multi-thread scanning Download PDFInfo
- Publication number
- CN108646405A CN108646405A CN201810696387.7A CN201810696387A CN108646405A CN 108646405 A CN108646405 A CN 108646405A CN 201810696387 A CN201810696387 A CN 201810696387A CN 108646405 A CN108646405 A CN 108646405A
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- Prior art keywords
- polygonal mirror
- echo
- central axis
- collimated ray
- reflecting surface
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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
- G02B26/12—Scanning systems using multifaceted mirrors
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B5/00—Optical elements other than lenses
- G02B5/08—Mirrors
- G02B5/09—Multifaceted or polygonal mirrors, e.g. polygonal scanning mirrors; Fresnel mirrors
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mechanical Optical Scanning Systems (AREA)
- Microscoopes, Condenser (AREA)
Abstract
The invention discloses a kind of system for realizing multi-thread scanning, collimated ray generation devices, for providing collimated ray；And polygonal mirror, the polygonal mirror can surround central axis and rotate, and, the polygonal mirror includes multiple reflectings surface, for reflecting the collimated ray, wherein, the multiple reflecting surface of the polygonal mirror is different relative to the angle of central axis so that the light after reflection forms a plurality of parallel scan line on scanned object.System structure disclosed by the invention is simple, by the way of the mirror surface angular deflection of polygonal mirror, can realize multi-thread scanning in the case where not changing device structure, improve spatial resolution.
Description
Technical field
The present invention relates to light beams to scan field, and in particular to a kind of system for realizing multi-thread scanning.
Background technology
Laser radar be one kind using laser as working media, by measure laser flight time and deflection angle, realize
Three-dimensional imaging to target.The scan mode of laser radar includes that regular polygon scanning, vibration mirror scanning, MEMOS scannings etc. are a variety of
Mode.
In the prior art, in order to improve spatial resolution, the mode of the multi-thread scanning of generally use, and multi-thread scanning is realized
Mode include laser light splitting transmitting, multichannel receives etc., and structure is complex, and equipment calibration is difficult.
In existing regular polygon scan mode, each reflecting surface of regular polygon is parallel with rotary shaft, scans track
Cause spatial resolution low to can not achieve multi-thread scanning for straight line.
Therefore, it is necessary to one kind while not increasing transmitting-receiving light path, can realize the Use of The Polygonal Mirror Scanner system of multi-thread scanning.
Invention content
The present invention is intended to provide it is a kind of simple in structure, it can realize multi-thread scanning while not increasing transmitting-receiving light path
System.
The embodiment of the present invention provides a kind of system for realizing multi-thread scanning, including：
Collimated ray generation device, for providing collimated ray；And
Polygonal mirror, the polygonal mirror can surround central axis and rotate, also, the facetted mirrors
Mirror includes multiple reflectings surface, for reflecting the collimated ray,
Wherein, the multiple reflecting surface of the polygonal mirror is different relative to the angle of central axis so that anti-
Light after penetrating forms a plurality of parallel scan line on scanned object.
Further, the multiple reflecting surface is (m-1) * α relative to the angle of central axis, wherein m ∈ (1, n), n
For the quantity of the reflecting surface of the polygonal mirror.
Further, 0 ° of α≤3 ° ＜.
Further, α is 1.2 °.
Further, further include motor, the motor is for driving the polygonal mirror to rotate.
Further, the system also includes angular encoder, the angular encoder and the motor, the polyhedrons
The coaxial setting of speculum, the motor drive the angular encoder and polygonal mirror rotation.
Further, the collimated ray generation device includes laser light source.
Further, echo reception optical unit, the echo reception optical unit receive returning for scanned object reflection
Wave；
Echo Processing unit, the echo that the Echo Processing cell processing is received through echo reception optical unit；And
Computer unit, the computer unit are configured to the letter of processing Echo Processing unit and angular encoder transmission
Breath, to obtain the three-dimensional information of scanned object.
Further, the angular encoder is incremental encoder.
Further, the polygonal mirror is thrihedral reflector, tetrahedron speculum or pentahedron speculum.
Compared with prior art, the present invention has the following advantages：
System structure disclosed by the invention is simple, can be in the case where not changing device structure, using facetted mirrors
The mode of the mirror surface angular deflection of mirror, realizes multi-thread scanning, improves spatial resolution.
Description of the drawings
By the description made for the present invention of below with reference to attached drawing, other objects of the present invention and advantage will be aobvious and easy
See, and can help that complete understanding of the invention will be obtained.
Fig. 1 is the structural schematic diagram of the system provided in an embodiment of the present invention for realizing multi-thread scanning；
Fig. 2 is the reflected light path schematic diagram of the polygonal mirror of Fig. 1；
Fig. 3 is the structural schematic diagram of tetrahedron speculum provided in an embodiment of the present invention；
Fig. 4 is the side view of an angle of the tetrahedron speculum of Fig. 3；
Fig. 5 is the side view of another angle of the tetrahedron speculum of Fig. 3；And
Fig. 6 is that the tetrahedron speculum of Fig. 3 reflects the schematic diagram of the scan line formed after collimated ray.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the attached drawing of the embodiment of the present invention,
Technical scheme of the present invention is clearly and completely described.Obviously, described embodiment is the implementation of the present invention
Example, instead of all the embodiments.Based on described the embodiment of the present invention, those of ordinary skill in the art are without creating
Property labour under the premise of the every other embodiment that is obtained, shall fall within the protection scope of the present invention.
Unless otherwise defined, the technical term or scientific terminology that the present invention uses should be tool in fields of the present invention
There is the ordinary meaning that the personage of general technical ability is understood.
As shown in Figure 1, the present invention provides a kind of system 100 for realizing multi-thread scanning, including collimated ray generates
Device 4 and polygonal mirror 3.Collimated ray generation device 4 is for providing collimated ray 10, such as collimated ray generation device
4 may include laser light source, and collimated ray 10 is laser, and the spectral coverage of laser is preferably 905nm.The laser of 905nm wave bands is received
Send out efficient, the laser and electrooptical device to human eye fanout free region, and for generating the wave band of laser are cheap.Fig. 1
The collimated ray generation device 4 shown directly generates collimated ray 10 by laser light source, and collimated ray 10 passes through speculum 41
In through-hole 42 be irradiated on a reflecting surface of polygonal mirror 3, and carried out instead towards scanned object 7 by the reflecting surface
It penetrates.But collimated ray generation device 4 is not limited to above structure, for example, collimated ray generation device 4 can not include laser
Light source, but include ordinary light source, and the scattering light of ordinary light source is converted into collimated light by light collimation optics
Line.Speculum 41 could alternatively be other optical elements as needed.
Polygonal mirror 3 may include multiple reflectings surface, and each face can reflect collimated ray 10, work as collimated ray
10 when being incident on a reflecting surface of polygonal mirror 3 with certain orientation, can be scanned by the reflection of reflecting surface
A luminous point is formed on body 7, and as polygonal mirror 3 is around the rotation of central axis 11, collimated ray 10 is same
Incoming position on face changes, and according to optical reflection principle and visual persistence phenomenon, light spot position can also change,
And a scan line can be formed on scanned object 7.
Assuming that polygonal mirror 3 is regular polygon speculum, that is, each reflecting surface is parallel with central axis 11, vertically
It is regular polygon in the section of central axis 11, then the scanning track of multiple reflectings surface of polygonal mirror 3 is a coincidence
Straight line.
But according to the design of the present inventor, by multiple reflectings surface of polygonal mirror 3 relative to central axis 11
Angle is set as different, and each reflecting surface has the deflection of certain angle relative to central axis 11.It is fixed according to optical reflection
Rule is it is found that when incident ray direction is constant, and when reverse-biased face deflects, reflection light can also deflect, and reflection light
The angle of deflection is 2 times of reflecting surface deflection angle.In this way, when polygonal mirror 3 is rotated around central axis 11, polyhedron
Each reflecting surface of speculum 3 reflects incident laser respectively, and the angle due to each reflecting surface relative to central axis 11 is arranged
To be different, therefore, multiple reflectings surface can form a plurality of misaligned scan line on scanned object, realize multi-thread sweep
It retouches, and the quantity of scan line is identical as the quantity of the reflecting surface of polygonal mirror 3.
It should be noted that reflecting surface can be different relative to the direction that central axis 11 deflects, for example, one of them is anti-
Face is penetrated relative to the deflection angle β to the left of central axis 11, another reflecting surface is relative to the deflection angle β to the right of central axis 11.
Fig. 2 be the polygonal mirror 3 of Fig. 1 rotary course in reflected light path dynamic change schematic diagram, wherein it is anti-
Penetrate face A1, A2 and A3 indicate respectively polygonal mirror 3 different moments reflecting surface.As shown in Fig. 2, being implemented according to one
Example, the reflecting surface A1 of polygonal mirror 3 is parallel with central axis 11, and reflecting surface A2 and 11 angle of central axis are α, reflecting surface
A3 and 11 angle of central axis are 2 α, i.e. reflecting surface A2 is α relative to reflecting surface A1 angles, and reflecting surface A3 is relative to reflecting surface A1
Angle be 2 α, in this way when collimated ray 10 be irradiated to reflecting surface A1, reflecting surface A2 and reflecting surface A3 and reflect after, be respectively formed
Reflection light K1, K2 and K3, reflection light K2 have deflected 2 α relative to K1, and reflection light K3 has deflected 4 α relative to K1.In this way,
Assuming that polygonal mirror 3 is there are three reflecting surface A1, A2 and A3, when polygonal mirror 3 rotates, will be formed 3 it is parallel
Scan line.Likewise, it is assumed that polygonal mirror 3 has n reflecting surface A1, A2 and A3, An, when polygonal mirror 3 rotates
When, the parallel scan line of n items will be formed.It is preferred that deflection angle direction one side of the n reflecting surface relative to central axis 11
To equably changing, to form equally distributed scan line.
Using more reflectings surface, although having more number of scanning lines, spatial resolution can be further increased, it has
Imitating optics bore reduces, and 100 detection range of system can shorten.Consider effective optics bore and number of scanning lines, polyhedron are anti-
It can be tetrahedron speculum (four reflectings surface) or pentahedron speculum (five reflectings surface) to penetrate mirror 3.
In one embodiment, each reflecting surface of polygonal mirror 3 can be relative to the angle of central axis 11
(m-1) * α, wherein m ∈ (1, n), n are the quantity of the reflecting surface of polygonal mirror 3.I.e. per the folder of one side and central axis 11
Angle is all different, and is 0, α, 2 α, 3 α, (n-1) * α respectively, wherein 0 ° of α≤3 ° ＜, α are preferably 1.2 °, can be met in this way
While the requirement of spatial resolution, preparation is also relatively easy to.
As shown in Figure 1, system 100 can also include motor 1 and angular encoder 2, echo reception optical unit 5, echo
Processing unit 6 and computer unit 8.Motor 1 is selected as using servo motor for driving polygonal mirror 3 to rotate.Servo
There is motor stability of rotation, the low advantage of slot effect the point interval in same scan line can be made uniform.
The coaxial setting of angular encoder 2 and motor 1, polygonal mirror 3,1 driving angle encoder 2 of motor and polyhedron
Speculum 3 rotates.Angular encoder 2 is preferably incremental encoder.Incremental encoder includes code-disc and reading head, directly
Three groups of square-wave pulses are exported using photoelectricity transformation principle：A, B and Z phases.90 ° of A and two group pulse phase differences of B, can easily sentence
Break and direction of rotation, and Z phases are every turn of pulse, then it can be with benchmarking.Incremental encoder be 1024 lines, every turn one
Circle have 4096 it is position encoded, angular resolution be 360 °/4096=0.09 °.It is incremental encoder high resolution, anti-interference
Ability is strong, and reliability is high, is suitable for long distance transmission.
Echo reception optical unit 5 can receive the echo 9 of the reflection of scanned object 7, and echo reception optical unit 5 can be with
Simple with light path including speculum 41 and lens 43, transmitting-receiving is efficient, is directed at easy advantage.At Echo Processing unit 6
Manage the echo received through echo reception optical unit 5.Computer unit 8 is configured to processing Echo Processing unit 6 and angular coding
The information that device 2 transmits, to obtain the three-dimensional information of scanned object 7.
Specifically, when collimated ray 10 is projected to scanned object 7 by polygonal mirror 3, collimated ray 10 is through being swept
After retouching the reflection of object 7, echo 9 is formed, and echo reception optical unit 5 is reflected by polygonal mirror 3, at echo
Reason unit 6 carries out opto-electronic conversion to the echo that echo reception optical unit 5 receives and signal amplifies, and obtains flying for collimated ray 10
Row (transmission) time.Finally, the angle that computer unit 8 is recorded according to the flight time of collimated ray 10 and angular encoder 2
Spend the information of variation, you can obtain the three-dimensional information of scanned object 7.
Below by taking tetrahedron speculum as an example, how detailed description system 100 realizes multi-thread scanning.
As shown in figures 3 to 6, tetrahedron speculum 31 respectively includes the faces S1, the faces S2, the faces S3 and the faces S4, the faces S1 and central shaft
The angle of line 11 is 0 °, i.e., parallel with central axis 11, and the faces S2 and the angle of central axis 11 are -1.2 ° (α takes -1.2 °), S3
The angle of face and central axis 11 is -2.4 ° (- 2 α), and the faces S4 and the angle of central axis 11 are 1.2 ° (α).When scan module revolves
When turning, laser can be reflected by the faces S1, the faces S2, the faces S3 and the faces S4 respectively.The laser reflected by the faces S2 with respect to
The laser of the faces S1 reflection, can deflect 2.4 ° (2 α), the laser reflected with respect to the faces S1 by the laser that the faces S3 are reflected, can be inclined
Turn 4.8 °, the laser reflected with respect to the faces S1 by the laser that the faces S4 are reflected can deflect 2.4 °.In this way, the laser of reflection
4 parallel scan lines can be formed：L1, L2, L3 and L4.
Compared with prior art, the embodiment of the present invention has the following advantages：
System structure disclosed by the invention is simple, can be in the case where not changing device structure, using facetted mirrors
The mode of the reflecting face deflection of mirror, realizes multi-thread scanning, improves spatial resolution.And made using incremental encoder
For position coder, position sensing high resolution, do not add up site error.
For the embodiment of the present invention, it is also necessary to explanation, in the absence of conflict, the embodiment of the present invention and reality
The feature in example is applied to can be combined with each other to obtain new embodiment.
Finally it should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although reference
Preferred embodiment describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the present invention's
Technical solution is modified or equivalent replacement, without departing from the spirit of the technical scheme of the invention and range.
Claims (10)
1. a kind of system for realizing multi-thread scanning, including：
Collimated ray generation device, for providing collimated ray；And
Polygonal mirror, the polygonal mirror can surround central axis and rotate, also, the polygonal mirror packet
Multiple reflectings surface are included, for reflecting the collimated ray,
Wherein, the multiple reflecting surface of the polygonal mirror is different relative to the angle of central axis so that after reflection
Light a plurality of parallel scan line is formed on scanned object.
2. the system as claimed in claim 1, which is characterized in that the multiple reflecting surface is relative to the angle of central axis
(m-1) * a, wherein m ∈ (1, n), n are the quantity of the reflecting surface of the polygonal mirror.
3. the system as claimed in claim 1, which is characterized in that 0 ° of a≤3 ° ＜.
4. the system as claimed in claim 1, which is characterized in that a is 1.2 °.
5. system according to any one of claims 1-4, which is characterized in that further include motor, the motor is for driving institute
State polygonal mirror rotation.
6. system as claimed in claim 5, which is characterized in that the system also includes angular encoder, the angular coding
The coaxial setting of device and the motor, the polygonal mirror, the motor drive the angular encoder and the polyhedron
Speculum rotates.
7. system as claimed in claim 6, which is characterized in that the collimated ray generation device includes laser light source.
8. system as claimed in claim 6, which is characterized in that the system also includes：
Echo reception optical unit, the echo reception optical unit receive the echo of scanned object reflection；
Echo Processing unit, the echo that the Echo Processing cell processing is received through echo reception optical unit；And
Computer unit, the computer unit are configured to the information of processing Echo Processing unit and angular encoder transmission, with
Obtain the three-dimensional information of scanned object.
9. system as claimed in claim 6, which is characterized in that the angular encoder is incremental encoder.
10. the system as claimed in claim 1, which is characterized in that the polygonal mirror is thrihedral reflector, tetrahedron
Speculum or pentahedron speculum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810696387.7A CN108646405A (en) | 2018-06-29 | 2018-06-29 | A kind of system for realizing multi-thread scanning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810696387.7A CN108646405A (en) | 2018-06-29 | 2018-06-29 | A kind of system for realizing multi-thread scanning |
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| CN108646405A true CN108646405A (en) | 2018-10-12 |
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| CN201810696387.7A Pending CN108646405A (en) | 2018-06-29 | 2018-06-29 | A kind of system for realizing multi-thread scanning |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109709529A (en) * | 2019-03-05 | 2019-05-03 | 深圳市镭神智能系统有限公司 | A kind of rotating prism and multi-line laser radar range-measurement system |
| CN110286522A (en) * | 2019-06-28 | 2019-09-27 | 京东方科技集团股份有限公司 | A kind of backlight and liquid crystal display panel |
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| US9116457B2 (en) * | 2005-12-26 | 2015-08-25 | Ricoh Company, Ltd. | Optical deflector, optical scanning apparatus, and image forming apparatus |
| US20170343798A1 (en) * | 2014-02-12 | 2017-11-30 | Brother Kogyo Kabushiki Kaisha | Light deflector and polygon mirror |
| CN207318710U (en) * | 2017-11-02 | 2018-05-04 | 厦门市和奕华光电科技有限公司 | A kind of more harness hybrid laser radars of list laser |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9116457B2 (en) * | 2005-12-26 | 2015-08-25 | Ricoh Company, Ltd. | Optical deflector, optical scanning apparatus, and image forming apparatus |
| CN102338875A (en) * | 2010-07-16 | 2012-02-01 | 李少勤 | Multi-spectral scanning foresight anti-collision laser radar device and application thereof |
| US20170343798A1 (en) * | 2014-02-12 | 2017-11-30 | Brother Kogyo Kabushiki Kaisha | Light deflector and polygon mirror |
| CN103954971A (en) * | 2014-05-22 | 2014-07-30 | 武汉大学 | On-board colorful three-dimensional scanning laser radar |
| CN207318710U (en) * | 2017-11-02 | 2018-05-04 | 厦门市和奕华光电科技有限公司 | A kind of more harness hybrid laser radars of list laser |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109709529A (en) * | 2019-03-05 | 2019-05-03 | 深圳市镭神智能系统有限公司 | A kind of rotating prism and multi-line laser radar range-measurement system |
| CN110286522A (en) * | 2019-06-28 | 2019-09-27 | 京东方科技集团股份有限公司 | A kind of backlight and liquid crystal display panel |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200828 Address after: 100190, No. 19 West Fourth Ring Road, Beijing, Haidian District Applicant after: Research Institute of aerospace information innovation, Chinese Academy of Sciences Address before: 100094, No. 9 Deng Nan Road, Beijing, Haidian District Applicant before: Academy of Opto-Electronics, Chinese Academy of Sciences |
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Address after: 100190, No. 19 West Fourth Ring Road, Beijing, Haidian District Applicant after: Research Institute of aerospace information innovation, Chinese Academy of Sciences Address before: 100094, No. 9 Deng Nan Road, Beijing, Haidian District Applicant before: Academy of Opto-Electronics, Chinese Academy of Sciences |
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Effective date of registration: 20200909 Address after: 100029 Beijing city Chaoyang District Beitucheng West Road No. 3 Applicant after: Institute of Microelectronics, Chinese Academy of Sciences Address before: 100190, No. 19 West Fourth Ring Road, Beijing, Haidian District Applicant before: Research Institute of aerospace information innovation, Chinese Academy of Sciences |
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Application publication date: 20181012 |