CN115343688A - Laser scanning synchronous control system and control method based on polygon mirror - Google Patents
Laser scanning synchronous control system and control method based on polygon mirror Download PDFInfo
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- CN115343688A CN115343688A CN202210979640.6A CN202210979640A CN115343688A CN 115343688 A CN115343688 A CN 115343688A CN 202210979640 A CN202210979640 A CN 202210979640A CN 115343688 A CN115343688 A CN 115343688A
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- 238000003384 imaging method Methods 0.000 claims description 4
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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
- 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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- 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
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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
- 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
- G01S7/483—Details of pulse systems
Abstract
The invention provides a laser scanning synchronous control system and a laser scanning synchronous control method based on a polygon mirror, which are used for solving the technical problems of short-distance detection blind areas, easy laser bifurcation and difficulty in accurately extracting multi-frame single detection images scanned by each reflecting surface for splicing in the conventional optical trigger synchronous control. The system comprises a pulse laser, a synchronous controller, a first receiving detector, a multi-surface rotating mirror, a continuous laser and a second receiving detector; the control method adopts a continuous laser and a second receiving detector to construct a scanning starting monitoring mechanism, and when a synchronous controller detects that the maximum energy value of a signal sent by the second receiving detector occurs each time, the position of a pulse laser on a current reflecting surface is recorded as a triggering starting point of the pulse laser; the synchronous controller counts all the sent trigger pulses, outputs the serial number of the current trigger pulse at each trigger starting point, and accurately extracts a multi-frame single detection image obtained by scanning each reflecting surface of the polygon mirror according to the serial number.
Description
Technical Field
The invention relates to synchronous control, in particular to a laser scanning synchronous control system and a control method based on a polygon mirror.
Background
The synchronous control is widely applied to laser radar three-dimensional scanning imaging, and the specific working principle is as follows: the pulse laser emits pulse laser to illuminate a target, return light is received by the receiving detector, the laser radar carries out three-dimensional measurement through the flight time of the pulse laser, and due to the fact that the light speed of the pulse laser is extremely fast and the pulse width is short, the pulse laser and the receiving detector are required to be synchronously controlled, and effective receiving and flight time measurement of the pulse laser can be carried out.
As shown in fig. 1, the optical trigger synchronous control system includes a pulse laser 01, a spectroscope 02, a light-emitting detector 03, a synchronous controller 04, a receiving detector 05, and a turning mirror 06, which are sequentially disposed along a reflection light path of the spectroscope 02. The pulse laser 01 is separated into a beam of pulse laser by the spectroscope 02, the light-emitting time is received and monitored by the light-emitting detector 03, and the synchronous controller 04 takes the time as a trigger starting point to send out a synchronous square wave to trigger the receiving detector 05 to receive the pulse laser. Since there is a response delay between the pulse laser 01, the synchronous controller 04, and the receiving detector 05, as shown in fig. 2, the waveform of the pulse laser 01 is 0a, and the waveform of the receiving detector 05 is 0b, if the target distance is too close, the receiving detector 05 cannot be started in time, and thus, a short-distance detection blind area may exist. The rotating mirror 06 and the pulse laser 01 operate independently, as shown in fig. 3, when the laser emitted from the pulse laser 01 is emitted to a corner of the rotating mirror 06, the laser is prone to diverge, which results in failure of the scanning and brings about excessive stray light. Meanwhile, the rotary mirror 06 is composed of a polygon mirror and is driven to rotate by a motor. The scanning process of each surface of the rotating mirror 06 is divided into a plurality of single scans, each single scan obtains a frame of single detection image, therefore, each surface scan can obtain a plurality of frames of single detection images, and a frame of scanning image is formed after splicing. However, because the corresponding relation between the laser timing sequence and the angle of the rotating mirror 06 cannot be established, the corresponding laser light emitting time when each surface starts to scan cannot be judged, and because of the error existing in the processing and assembling of the rotating mirror 06, the area of each surface of the rotating mirror 06 and the included angle between each two surfaces are unequal, and in addition, the error existing in the stability of the rotating speed of the motor, in the scanning process of each surface of the rotating mirror 06, the number of the lasers reflected by the rotating mirror is unequal, so the number of the corresponding single detection images is unequal. Therefore, in the multi-frame single detection images obtained in one scanning operation, it is difficult to accurately extract and splice the multi-frame single detection images obtained by each scanning.
Disclosure of Invention
The invention aims to solve the technical problems of short-distance detection blind areas, easy laser bifurcation and difficulty in accurately extracting and splicing multi-frame single detection images scanned by each reflecting surface in the conventional optical trigger synchronous control, and provides a laser scanning synchronous control system and a control method based on a polygon mirror.
In order to achieve the purpose, the technical solution of the invention is as follows:
a laser scanning synchronous control system based on a polygon mirror is characterized by comprising a pulse laser, a synchronous controller, a first receiving detector, the polygon mirror, a continuous laser and a second receiving detector;
any reflecting surface of the multi-surface rotating mirror is positioned on a pulse laser light path emitted by the pulse laser, and another different reflecting surface of the multi-surface rotating mirror is positioned on a continuous laser light path emitted by the continuous laser; the pulse laser reflected by the reflecting surface where the pulse laser is located is used for scanning a target to be detected, and the first receiving detector is located on a reflecting light path of the target to be detected; the second receiving detector is positioned on a reflection light path of the reflection surface where the continuous laser is positioned, and the output end of the second receiving detector is connected with the input end of the synchronous controller;
after being reflected by a corresponding reflecting surface of the polygon mirror, the continuous laser emitted by the continuous laser reaches a second receiving detector, and the second receiving detector receives the reflected continuous laser signal and sends the reflected continuous laser signal to the synchronous controller;
the output end of the synchronous controller is respectively connected with the pulse laser and the first receiving detector; and the synchronous controller is used for receiving the signal sent by the second receiving detector and judging whether the signal reaches the energy maximum value, when the signal reaches the energy maximum value, the synchronous controller sends a group of sequence square waves which are respectively sent to the pulse laser and the first receiving detector, and the pulse laser and the first receiving detector are synchronously controlled to respectively carry out pulse laser emission and detection imaging.
The invention also provides a laser scanning synchronous control method based on the polygon mirror, which is characterized by comprising the following steps:
determining position and angle of continuous laser and second receiving detector
When the pulse laser emitted by the pulse laser is positioned on any reflecting surface of the polygon mirror, the polygon mirror stops rotating; transmitting continuous laser to different reflecting surfaces of the multi-surface rotating mirror by using the continuous laser, continuously adjusting the angles and the positions of the continuous laser and the second receiving detector on the corresponding reflecting surfaces, and stopping adjusting and fixing the positions and the angles of the continuous laser and the second receiving detector when the synchronous controller detects that a signal sent by the second receiving detector is the maximum energy value;
performing synchronous control
The multi-surface rotating mirror continuously rotates, so that continuous laser emitted by the continuous laser device is reflected by the corresponding reflecting surface of the multi-surface rotating mirror and then enters a second receiving detector, and the second receiving detector sends a signal to the synchronous controller in real time; when the synchronous controller detects that the energy of the signal sent by the second receiving detector is maximum every time, the position of the pulse laser on the current reflecting surface is recorded as a trigger starting point of the pulse laser; at the triggering starting point of each reflecting surface, the synchronous controller sends out a corresponding group of sequence square waves; each group of sequence square waves comprise sequence square waves with the same frequency and output to the pulse laser and sequence square waves output to the first receiving detector; the total time of the sequence square waves output to the pulse laser in each group of sequence square waves is less than or equal to the time from the start of receiving the pulse laser to the stop of receiving the pulse laser by the corresponding reflecting surface of the polygon mirror, and the number of trigger pulses in each group of sequence square waves is the same;
meanwhile, the synchronous controller counts the trigger pulses in all the sequence square waves, and the serial number of the trigger pulse is increased by 1 when one trigger pulse is sent out; at the trigger starting point of each reflecting surface of the polygon mirror, the synchronous controller outputs the serial number of the current trigger pulse, and can accurately extract a multi-frame single detection image shot between two adjacent trigger starting points according to the serial number of the current trigger pulse, namely the multi-frame single detection image shot by the current reflecting surface, and then splice to obtain a frame of scanning image;
and 3, splicing the obtained scanning images of each frame according to a time sequence to obtain a dynamic scanning image of the target to be detected.
Further, the step 1 specifically comprises: when the pulse laser emitted by the pulse laser is positioned on any reflecting surface of the polygon mirror within 1/2 of the starting position of the current reflecting surface, the angle and the position of the continuous laser and the position of the second receiving detector on the corresponding reflecting surface are continuously adjusted, and when the synchronous controller detects that the signal sent by the second receiving detector is the energy maximum value, the adjustment is stopped, and the position and the angle of the continuous laser and the position and the angle of the second receiving detector are fixed.
Further, the step 1 specifically comprises: when the pulse laser emitted by the pulse laser is positioned on any reflecting surface of the polygon mirror and is 1/10000 to 1/1000 away from the starting point of the current reflecting surface, the angle and the position of the continuous laser and the second receiving detector on the corresponding reflecting surface are continuously adjusted, and when the synchronous controller detects that the signal sent by the second receiving detector is the energy maximum value, the adjustment is stopped and the position and the angle of the continuous laser and the second receiving detector are fixed.
Further, in step 2, the sequence square wave output to the pulse laser and the sequence square wave output to the first receiving detector in each group of sequence square waves are respectively provided with a trigger delay t s1 And a trigger delay t s2 And a trigger delay t s1 And trigger delay t s2 The time delay of the time delay unit is adjustable.
Further, in step 2, counting the trigger pulses in all the sequence square waves by the synchronous controller specifically includes:
the synchronous controller counts all trigger pulses in the sequence of square waves output to the pulsed laser, or counts all trigger pulses in the sequence of square waves output to the first receiving detector.
The invention has the beneficial effects that:
1. according to the laser scanning synchronous control method based on the polygon mirror, when the synchronous controller detects that the maximum energy value of the signal sent by the second receiving detector occurs every time, the position of the pulse laser on the current reflecting surface is recorded as the trigger starting point of the pulse laser to receive and send the laser, and the pulse laser can be accurately received and sent at the fixed position of each reflecting surface of the polygon mirror.
2. According to the laser scanning synchronous control method based on the polygon mirror, the synchronous controller counts all trigger pulses in sequence square waves output to the first receiving detector, outputs the serial number of the current trigger pulse at the trigger starting point, can accurately extract a multi-frame single detection image shot on the current reflecting surface of the polygon mirror according to the serial number of the current trigger pulse, and further splices to obtain a frame of scanning image.
3. The invention provides a laser scanning synchronous control method based on a polygon mirror, which sets the total time output to a pulse laser in each group of sequence square waves to be less than the time from the start of receiving pulse laser to the stop of receiving pulse laser in the one-time scanning process of the polygon mirror, and avoids the bifurcation when the pulse laser is emitted to the corner of the polygon mirror to cause scanning failure.
4. According to the laser scanning synchronous control method based on the multi-facet rotating mirror, the frequency of the sequence square wave output to the pulse laser and the frequency of the sequence square wave output to the first receiving detector in each group of sequence square waves are set to be the same in the synchronous controller, and the receiving and sending synchronization of the pulse laser is guaranteed.
5. According to the laser scanning synchronous control method based on the polygon mirror, the number of trigger pulses in each group of sequence square waves is set to be the same in the synchronous controller, and the number of single detection images received on each reflecting surface of the polygon mirror can be guaranteed to be the same.
6. The invention provides a laser scanning synchronous control method based on a polygon mirror, wherein in a synchronous controller, sequence square waves output to a pulse laser and sequence square waves output to a first receiving detector in each group of sequence square waves are set as delay-adjustable sequence square waves, so that the emission delay and the receiving delay of the pulse laser can be adjusted at will, the response delay between the pulse laser and the first receiving detector can be eliminated, and a short-distance detection blind area is eliminated.
7. The laser scanning synchronous control system based on the polygon mirror is provided with the continuous laser and the second receiving detector to form a scanning initial monitoring mechanism, can monitor the position of pulse laser emitted by the pulse laser on the polygon mirror in real time, and marks the scanning initial position.
Drawings
FIG. 1 is a schematic diagram of optical trigger synchronization control in the prior art;
FIG. 2 is a schematic diagram of a waveform of a short-distance detection blind area caused by response delay in optical trigger synchronization control;
FIG. 3 is a schematic diagram of a laser reflection bifurcation at a corner of a turning mirror in optical trigger synchronization control;
FIG. 4 is a schematic structural diagram of an embodiment of a laser scanning synchronous control system based on a polygon mirror according to the present invention;
FIG. 5 is a timing diagram of synchronization control in an embodiment of the method of the present invention.
The specific reference numbers are as follows:
01-a pulsed laser; 02-a spectroscope; 03-a light-emitting detector; 04-a synchronous controller; 05-receiving a detector; 06-rotating the mirror;
1-a pulsed laser; 2-a synchronous controller; 3-a first receiving detector; 4-a multi-faceted rotating mirror; 5-a continuous laser; 6-second receiving detector.
Detailed Description
To further clarify the advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
A laser scanning synchronous control system based on a polygon mirror is shown in fig. 4 and comprises a pulse laser 1, a synchronous controller 2, a first receiving detector 3, the polygon mirror 4, a continuous laser 5 and a second receiving detector 6. The continuous laser 5 and the second receiving detector 6 constitute a scanning start monitoring system for monitoring the position of the pulse laser emitted by the pulse laser 1 on the polygon mirror 4 in real time and marking the scanning start position. The polygon mirror 4 includes at least three reflecting surfaces having the same size and material, and the polygon mirror 4 in this embodiment includes six reflecting surfaces having the same material. As shown in fig. 4, the reflecting surface where the pulse laser emitted from the pulse laser 1 is located is denoted as a first reflecting surface, and the other reflecting surfaces are a second reflecting surface, a third reflecting surface, a fourth reflecting surface, a fifth reflecting surface and a sixth reflecting surface in sequence along the counterclockwise direction, so that the third reflecting surface is located on the continuous emitting laser light path of the continuous laser 5; in another embodiment, any one of the second reflecting surface, the fourth reflecting surface, the fifth reflecting surface, and the sixth reflecting surface may be positioned on the continuous emission laser light path of the continuous laser 5. And the second receiving detector 6 is positioned on a reflection light path of the reflection surface of the polygon mirror 4 corresponding to the continuous laser 5, and is used for receiving the reflected continuous laser signal and sending the reflected continuous laser signal to the synchronous controller 2. And the synchronous controller 2 is used for receiving the signal sent by the second receiving detector 6 and judging whether the energy reaches the maximum value, and when the energy reaches the maximum value, the synchronous controller 2 sends a group of sequence square waves which are respectively sent to the pulse laser 1 and the first receiving detector 3. The group of sequence square waves comprises one path of sequence square waves output to the pulse laser 1 and one path of sequence square waves output to the first receiving detector 3, and the sequence square waves are used for synchronously controlling the pulse laser 1 and the first receiving detector 3 to work on the corresponding reflecting surface of the polygon mirror 4. The first receiving detector 3 is located on a reflection light path of the target to be detected and used for receiving reflection light of the target to be detected to complete imaging of the target to be detected.
The laser scanning synchronous control method based on the polygon mirror provided by the invention is explained by the following specific embodiment, which specifically comprises the following steps:
determining the position and angle of a continuous laser 5 and a second receiving detector 6
When the pulse laser emitted by the pulse laser 1 is positioned on any one reflecting surface of the polygon mirror 4, the polygon mirror 4 stops rotating; continuously adjusting the angles and the positions of the continuous laser 5 and the second receiving detector 6 on the corresponding reflecting surfaces, and stopping adjusting and fixing the positions and the angles of the continuous laser 5 and the second receiving detector 6 when the synchronous controller 2 detects that the signal sent by the second receiving detector 6 is the energy maximum value; in order to make the first receiving detector 3 obtain more detection images on each reflecting surface, the angles and positions of the continuous laser 5 and the second receiving detector 6 on the corresponding reflecting surface can be adjusted when the distance between the first receiving detector 3 and the starting position of the current reflecting surface on each reflecting surface is within 1/2, and preferably, the angles and positions of the continuous laser 5 and the second receiving detector 6 on the corresponding reflecting surface are adjusted when the pulse laser emitted by the pulse laser 1 is positioned on any reflecting surface of the multi-surface rotating mirror 4 at the position which is 1/10000 to 1/1000 away from the starting position of the current reflecting surface. Since each reflecting surface of the polygon mirror 4 has the same size and material, when the pulse laser emitted from the pulse laser 1 is located at the corresponding position of each reflecting surface, the second receiving detector 6 can receive the corresponding continuous laser signal with the maximum energy.
Performing synchronous control
In the scanning process, the polygon mirror 4 is driven by the motor to continuously rotate, so that continuous laser emitted by the continuous laser 5 is reflected by a corresponding reflecting surface of the polygon mirror 4 and then enters the second receiving detector 6, and the second receiving detector 6 sends a signal to the synchronous controller 2 in real time; when the synchronous controller 2 detects the presence of a signal sent by the second receiving detector 6 each timeAnd when the energy is maximum, recording the position of the pulse laser on the current reflecting surface as the trigger starting point. At the trigger start point of each reflecting surface, the synchronous controller 2 sends out a corresponding group of sequence square waves, and along with the continuous rotation of the polygon mirror 4 in the scanning process, the synchronous controller 2 sends out a plurality of groups of corresponding sequence square waves. Each group of the sequence square waves comprises one sequence square wave output to the pulse laser 1 and one sequence square wave output to the first receiving detector 3. As shown in fig. 5, the waveform of the second receiving detector 6 input to the synchronous controller 2 is denoted as a, the waveform of the sequence square wave output from the synchronous controller 2 to the pulse laser 1 is denoted as b, the waveform of the sequence square wave output from the synchronous controller 2 to the first receiving detector 3 is denoted as c, and in order to ensure the receiving and transmitting synchronization of the pulse laser, the frequency of the sequence square wave output to the pulse laser 1 is set to be the same as that of the sequence square wave output to the first receiving detector 3. In the synchronous control process, in order to avoid that the pulse laser 1 emits pulse laser at the corner position of the polygon mirror 4 to obtain bifurcated light and further cause scanning failure, the total time t' of the sequence square waves output to the pulse laser 1 in each group of sequence square waves is set to be less than or equal to the time t from the start of receiving the pulse laser to the stop of receiving the pulse laser in the primary scanning process of the corresponding reflecting surface of the polygon mirror 4. In this embodiment, the total scanning time of one reflection surface of the polygon mirror 4 is 50ms, that is, the time t from the start of receiving the pulse laser to the stop of receiving the pulse laser in the primary scanning process of the corresponding reflection surface is 50ms, the number of the trigger pulses in the sequence square wave output to the pulse laser 1 is set to 200, the cycle of the trigger pulses is 100us, and the total time t' of the sequence square wave output to the pulse laser 1 is 20ms, which is less than the time from the start of receiving the pulse laser to the stop of receiving the pulse laser in the primary scanning process of the corresponding reflection surface. In the invention, the trigger time delay t of the sequence square wave output to the pulse laser 1 in each group of sequence square waves in the synchronous controller 2 s1 And a trigger delay t of the sequence square wave output to the first receiving detector 3 s2 The pulse laser is set into a sequence square wave with adjustable time delay, so that the transmitting time delay and the receiving time delay of the pulse laser can be adjusted at will, and the pulse laser 1 and the first receiving probe can be eliminatedResponse time delay between the detectors 3 further eliminates a short-distance detection blind area. In addition, because of the error existing in the processing and assembling of the polygon mirror 4, the area of each reflecting surface of the polygon mirror 4 and the included angle between every two reflecting surfaces are unequal, and the error existing in the stability of the rotating speed of the motor driving the polygon mirror 4 to rotate is added, so that the number of the reflected lasers is unequal in the scanning process of each reflecting surface of the polygon mirror 4, the number of the trigger pulses output to the pulse laser 1 and the trigger pulses output to the first receiving detector 3 in each group of sequence square waves arranged in the synchronous controller 2 is the same. When each trigger pulse triggers the pulse laser 1 and the first receiving detector 2 to work, one frame of single detection image can be obtained, the number of the detection images received by each reflecting surface of the multi-surface rotating mirror 4 can be ensured to be the same, and 200 frames of single detection images can be obtained in the scanning process of each reflecting surface of the multi-surface rotating mirror 4.
Meanwhile, the synchronous controller 2 counts the trigger pulses in all the sequence square waves, wherein the trigger pulses output to the pulse laser 1 in all the sequence square waves can be counted, the trigger pulses output to the first receiving detector 3 in all the sequence square waves can also be counted, in the embodiment, the trigger pulses output to the pulse laser 1 are counted, and the serial number of the trigger pulses increases by 1 when the pulse laser 1 sends out one trigger pulse; at the trigger starting point of each reflecting surface of the polygon mirror 4, the synchronous controller 2 outputs the serial number of the current trigger pulse, and the serial number of the current trigger pulse can accurately extract the position between two adjacent trigger starting points, namely, a multi-frame single detection image obtained by shooting the current reflecting surface of the polygon mirror for multiple times by the first receiving detector 3, and then a frame of scanning image is obtained by splicing;
and 3, splicing the obtained scanning images of each frame according to a time sequence to obtain a dynamic scanning image of the target to be detected.
The invention adopts a continuous laser 5 and a second receiving detector 6 to construct a scanning initial monitoring mechanism, when a synchronous controller 2 detects that the maximum energy value of a signal sent by the second receiving detector 6 occurs each time, the position of a pulse laser on a current reflecting surface is recorded as a trigger starting point, two paths of sequence square waves with the same frequency are sent by the synchronous controller 2 to synchronously control the laser to receive and send, wherein the total time t' of the sequence square waves output to the pulse laser 1 in each group of sequence square waves is less than or equal to the time t from the beginning to the stopping of receiving the pulse laser in the one-time scanning process of the current reflecting surface. The synchronous controller counts all the sent trigger pulses, outputs the serial number of the current trigger pulse at each trigger starting point, and accurately extracts the multi-frame single detection image corresponding to each surface scanning process of the multi-surface rotating mirror 4 according to the serial number.
The above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and it will be apparent to those skilled in the art that modifications may be made to the specific technical solutions described in the above embodiments or equivalent substitutions for some technical features, and these modifications or substitutions may not make the essence of the corresponding technical solutions depart from the scope of the technical solutions protected by the present invention.
Claims (6)
1. The utility model provides a laser scanning synchronous control system based on polygon revolving mirror which characterized in that: the system comprises a pulse laser (1), a synchronous controller (2), a first receiving detector (3), a multi-face rotating mirror (4), a continuous laser (5) and a second receiving detector (6);
any reflecting surface of the multi-surface rotating mirror (4) is positioned on a pulse laser light path emitted by the pulse laser (1), and another different reflecting surface of the multi-surface rotating mirror (4) is positioned on a continuous laser light path emitted by the continuous laser (5); the pulse laser reflected by the reflecting surface where the pulse laser is located is used for scanning a target to be detected, and the first receiving detector (3) is located on a reflecting light path of the target to be detected; the second receiving detector (6) is positioned on a reflection light path of the reflection surface where the continuous laser is positioned, and the output end of the second receiving detector (6) is connected with the input end of the synchronous controller (2);
the continuous laser emitted by the continuous laser (5) is reflected by a corresponding reflecting surface of the multi-surface rotating mirror (4) and then reaches the second receiving detector (6), and the second receiving detector (6) receives the reflected continuous laser signal and sends the reflected continuous laser signal to the synchronous controller (2);
the output end of the synchronous controller (2) is respectively connected with the pulse laser (1) and the first receiving detector (3); the synchronous controller (2) is used for receiving the signal sent by the second receiving detector (6) and judging whether the signal reaches the maximum energy value, when the signal reaches the maximum energy value, the synchronous controller (2) sends a group of sequence square waves which are respectively sent to the pulse laser (1) and the first receiving detector (3), and the pulse laser (1) and the first receiving detector (3) are synchronously controlled to respectively carry out pulse laser emission and detection imaging.
2. A method for synchronously controlling laser scanning based on a polygon mirror, which is based on the system for synchronously controlling laser scanning based on a polygon mirror of claim 1, and comprises the following steps:
determining the position and angle of a continuous laser (5) and a second receiving detector (6)
When the pulse laser emitted by the pulse laser (1) is positioned on any reflecting surface of the polygon mirror (4), the polygon mirror (4) stops rotating; the method comprises the steps that continuous lasers (5) are used for emitting continuous lasers to different reflecting surfaces of a multi-surface rotating mirror (4), angles and positions of the continuous lasers (5) and a second receiving detector (6) on the corresponding reflecting surfaces are continuously adjusted, and when a synchronous controller (2) detects that a signal sent by the second receiving detector (6) is the maximum energy value, adjustment is stopped, and the positions and the angles of the continuous lasers (5) and the second receiving detector (6) are fixed;
2 ] performing synchronous control
The multi-surface rotating mirror (4) rotates continuously, so that continuous laser emitted by the continuous laser (5) is reflected by a corresponding reflecting surface of the multi-surface rotating mirror (4) and then enters the second receiving detector (6), and the second receiving detector (6) sends a signal to the synchronous controller (2) in real time; when the synchronous controller (2) detects that the energy of the signal sent by the second receiving detector (6) is maximum every time, the position of the pulse laser on the current reflecting surface is recorded as a trigger starting point of the pulse laser; at the triggering starting point of each reflecting surface, the synchronous controller (2) sends out a corresponding group of sequence square waves; each group of the sequence square waves comprises sequence square waves with the same frequency and output to the pulse laser (1) and sequence square waves output to the first receiving detector (3); the total time of the sequence square waves output to the pulse laser (1) in each group of sequence square waves is less than or equal to the time from the start of receiving the pulse laser to the stop of receiving the pulse laser by the corresponding reflecting surface of the polygon mirror (4), and the number of trigger pulses of each group of sequence square waves is the same;
meanwhile, the synchronous controller (2) counts the trigger pulses in all the sequence square waves, and the serial number of the trigger pulse is increased by 1 when one trigger pulse is sent; at the trigger starting point of each reflecting surface of the multi-surface rotating mirror (4), the synchronous controller (2) outputs the serial number of the current trigger pulse, and can accurately extract a multi-frame single detection image shot between two adjacent trigger starting points according to the serial number of the current trigger pulse, and then splice to obtain a frame of scanning image;
and 3, splicing the obtained scanning images of each frame according to a time sequence to obtain a dynamic scanning image of the target to be detected.
3. The laser scanning synchronous control method based on the polygon mirror as claimed in claim 2, characterized in that:
step 1 specifically comprises the following steps: when the pulse laser emitted by the pulse laser (1) is positioned on any one reflecting surface of the polygon mirror (4) and within 1/2 of the starting position of the current reflecting surface, the angles and the positions of the continuous laser (5) and the second receiving detector (6) on the corresponding reflecting surface are continuously adjusted, and when the synchronous controller (2) detects that the signal sent by the second receiving detector (6) is the energy maximum value, the adjustment is stopped, and the positions and the angles of the continuous laser (5) and the second receiving detector (6) are fixed.
4. The laser scanning synchronous control method based on the polygon mirror as claimed in claim 2, characterized in that:
step 1 specifically comprises the following steps: when pulse laser emitted by the pulse laser (1) is located on any one reflecting surface of the polygon mirror (4) and is 1/10000 to 1/1000 away from the starting point of the current reflecting surface, the angle and the position of the continuous laser (5) and the second receiving detector (6) on the corresponding reflecting surface are continuously adjusted, and when the synchronous controller (2) detects that a signal sent by the second receiving detector (6) is the energy maximum value, the adjustment is stopped and the positions and the angles of the continuous laser (5) and the second receiving detector (6) are fixed.
5. The laser scanning synchronous control method based on the polygon mirror according to any one of claims 2 to 4, characterized in that:
in step 2, the sequence square waves output to the pulse laser (1) and the sequence square waves output to the first receiving detector (3) in each group of sequence square waves are respectively provided with trigger time delay t s1 And trigger delay t s2 And a trigger delay t s1 And trigger delay t s2 The time delay of the time delay unit is adjustable.
6. The laser scanning synchronous control method based on the polygon mirror as claimed in claim 5, wherein:
in step 2, the counting of the trigger pulses in all the sequence square waves by the synchronous controller (2) is specifically as follows:
the synchronous controller (2) counts all trigger pulses in the sequence of square waves output to the pulsed laser (1), or counts all trigger pulses in the sequence of square waves output to the first receiving detector (3).
Priority Applications (1)
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