CN211180187U - Underwater laser circumferential scanning light beam emission system - Google Patents
Underwater laser circumferential scanning light beam emission system Download PDFInfo
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- CN211180187U CN211180187U CN201921595991.7U CN201921595991U CN211180187U CN 211180187 U CN211180187 U CN 211180187U CN 201921595991 U CN201921595991 U CN 201921595991U CN 211180187 U CN211180187 U CN 211180187U
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Abstract
The utility model provides an underwater laser circumferential scanning beam emission system, which comprises a shell, a beam controller arranged in the shell, a plane reflector group, a vibrating mirror group, a first optical window, a second optical window, a third optical window and a fourth optical window arranged on the surface of the shell; the first, second, third and fourth optical windows are respectively arranged on the outer walls of the shell in the front, back, left and right directions on the same horizontal plane; the laser beam emitted by the beam controller can be scanned and emitted from the first optical window, the second optical window, the third optical window and the fourth optical window in 90 degrees in sequence after being reflected by the plane mirror group and the galvanometer group in one scanning period. According to the scheme, outgoing light beams can not be blocked during laser circumferential scanning detection, the sealing pressure resistance, the electrical connection and the structural strength of an underwater vehicle are not damaged, and the incoming laser beams are scanned and emitted in a 360-degree sectorization mode without shielding.
Description
Technical Field
The utility model relates to an underwater target laser detection field, especially an underwater laser circumference scanning beam transmitting system.
Background
The underwater laser detection generally adopts blue-green laser with small transmission loss. Compared with underwater acoustic detection, magnetic field detection and electromagnetic detection, underwater blue-green laser detection has higher ranging precision and positioning precision, is not interfered by hydrology and acoustomagnetic interference, and is an important development direction of future underwater detection technology. At present, the research on the underwater laser detection technology mainly focuses on two application fields of marine laser radar and underwater laser imaging. The former is the same as the air-ground laser radar, and the carrier mainly has two types of ship-borne and airborne; the underwater target imaging detection device mainly realizes imaging detection of underwater targets based on a line scanning technology and a range gating technology, and is mainly applied to underwater large-scale carrying platforms. Due to the fact that the detection device is large in size and high in power consumption, the two detection methods are not reported to be applied to underwater small-sized vehicles.
In underwater target detection, the underwater laser target detection is very challenging due to the random target orientation, high intersection speed, short detection time, limited volume and power consumption of an underwater small platform, the window sealing and structural strength of laser receiving and transmitting, and the contradiction between light path arrangement and scanning blind areas. Recently, a detection method of underwater laser short-range circumferential scanning is disclosed and reported in domestic literature. The prototype device adopts a scanning detection system with synchronous pulse point light beam receiving and transmitting, and the transmitting reflector and the receiving reflector are driven by a double-shaft motor to rotate synchronously. The transmitting reflector directly turns the emergent light beam of the laser and then emits the emergent light beam through the optical transmitting window; meanwhile, the reflected echo of the target passes through the optical receiving window and is directly turned to the photoelectric detector by the receiving reflector. Finally, circumferential dynamic scanning detection is achieved through rotation of the motor, and the azimuth and distance information of the target echo is calculated according to the received target echo. The detection method has the following defects: 1. a double-shaft motor, a receiving/transmitting reflector and other supporting structures (such as reinforcing ribs) which are positioned in the center of the device need to be supported, and the supporting structures have the problem of light beam shielding during circumferential scanning detection, can not realize 360-degree all-directional detection and have detection blind areas; 2. when circumferential scanning detection is implemented, annular optical windows with large sizes are required for transmitting and receiving, and the problems of sealing pressure resistance and structural strength exist in an underwater environment; 3. when the detection device is installed on an underwater vehicle, the panoramic transceiving light path blocks the electrical connection between the front cabin section and the rear cabin section.
In earlier studies, the utility model proposes "an underwater target circumferential scanning laser detection system" (201810105360.6) and "a laser circumferential non-scanning target detection device" (201810214638.3). The two patents overcome the problems of detection blind area, sealing pressure resistance, structural strength and electrical connection of conventional circumferential scanning, but face the problems of high precision of used optical devices, large processing difficulty and difficult installation and adjustment of an optical machine.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a purpose, be exactly to the not enough that prior art exists, and provide a laser circumference scanning beam emission system under water, this scheme is in order not to block outgoing beam when laser circumference scanning surveys, do not destroy the sealed withstand voltage of underwater vehicle again simultaneously, electrical connection and structural strength, the laser circumference beam emission method of "pure reflex formula subregion scanning" is proposed, adopt light beam controller promptly, the plane mirror group and shake the mirror group, scan through the light path turn and shake the mirror, implement 360 minutes sector to incident laser beam and scan the outgoing without sheltering from.
The scheme is realized by the following technical measures:
an underwater laser circumferential scanning beam transmitting system is characterized in that: the optical system comprises a shell, a light beam controller, a plane mirror group, a vibrating mirror group and a first optical window, a second optical window, a third optical window and a fourth optical window, wherein the light beam controller, the plane mirror group and the vibrating mirror group are arranged in the shell; the first, second, third and fourth optical windows are respectively arranged on the outer walls of the shell in the front, back, left and right directions on the same horizontal plane; the laser beam emitted by the beam controller can be scanned and emitted from the first optical window, the second optical window, the third optical window and the fourth optical window in 90 degrees in sequence after being reflected by the plane mirror group and the galvanometer group in one scanning period.
The scheme is preferably as follows: the plane reflector group comprises a first plane reflector, a second plane reflector and a fourth plane reflector which are independently arranged; the vibrating lens group comprises a first vibrating lens, a second vibrating lens, a third vibrating lens and a fourth vibrating lens which are independently arranged.
The scheme is preferably as follows: the light beam controller can emit four paths of laser beams with different paths, namely a first laser beam, a second laser beam, a third laser beam and a fourth laser beam; the first laser beam emitted by the light beam controller can be reflected by the first plane reflector and the first vibrating mirror in sequence and then is emitted from the first optical window in a 90-degree scanning manner; the second laser beam emitted by the beam controller can be reflected by the second plane reflector and the second galvanometer in sequence and then scanned and emitted from the second optical window in 90 degrees; the third laser beam emitted by the beam controller can be reflected by the third galvanometer and then is emitted from the third optical window in a 90-degree scanning manner; and a fourth laser beam emitted by the beam controller can be reflected by the fourth plane mirror and the fourth galvanometer in sequence and then scanned and emitted from the fourth optical window in 90 degrees.
The scheme is preferably as follows: the light beam controller comprises a base, an incident laser beam vertically incident from the upper part of the base, a first right-angle prism, a second right-angle prism, a third right-angle prism, a rhombic prism, a first linear motor, a second linear motor, a first push rod arranged on the first linear motor and a second push rod arranged on the second linear motor; the first right-angle prism, the first linear motor and the second linear motor are fixedly arranged on the base; the second right-angle prism and the third right-angle prism are arranged on the first push rod; the rhombic prism is arranged on the second push rod; the first right-angle prism is arranged on a propagation path of the incident laser beam; the first linear motor can drive the first push rod to do telescopic motion so that the second right-angle prism or the third right-angle prism shields the first right-angle prism to change the propagation direction of the incident laser beam; the second linear motor can drive the second push rod to do telescopic motion, so that the rhombic prism shields the laser beam reflected by the third right-angle prism, and the propagation path of the laser beam is changed.
The scheme is preferably as follows: when the beam controller needs to output a first laser beam, the first push rod and the second push rod are at initial positions, and the incident laser beam is reflected by the first right-angle prism and then outputs the first laser beam; when a second laser beam needs to be output, the first linear motor controls the first push rod to contract, so that the second right-angle prism moves to the incident laser beam and reflects the second laser beam; when a third laser beam needs to be output, the first linear motor controls the first push rod to extend, so that the third right-angle prism runs to the incident laser beam and reflects the third laser beam; when a fourth laser beam needs to be output, the first push rod keeps the position when the third laser beam is output unchanged, and the second linear motor controls the second push rod to extend, so that the diamond prism moves to the position of the third laser beam to refract and output the fourth laser beam.
The scheme is preferably as follows: and a gap exists between the mounting positions of the second right-angle prism and the third right-angle prism, and the size of the gap is smaller than the side length of the first right-angle prism.
The scheme is preferably as follows: each optical window is a cylindrical surface or a spherical surface, and the curvature center of each optical window is positioned on the corresponding galvanometer beam reflection point.
The scheme is preferably as follows: the shell is circular; the first optical window, the second optical window, the third optical window and the fourth optical window are respectively arranged at four quadrant points of the shell.
The beneficial effect of the scheme can be known from the description of the scheme, as the beam controller is adopted in the scheme to output the fixed incident laser beams into the laser beams in 4 directions in sequence respectively, the laser beams in each direction are reflected by the plane mirror and the vibrating mirror to be scanned and emitted in 90 degrees at 4 optical windows, and the scanning and output of 360-degree sectorization without shielding are formed; the beam controller adopts the combination of two linear motors, a push rod, a plurality of right-angle prisms and a rhomboid prism to realize that laser beams in 4 directions are sequentially output in time sequence on the basis of not changing the emission direction of the incident laser beam, the requirement of the system for realizing 360-degree scanning in a scanning period is met, the optical window is cylindrical or spherical, the curvature center of the optical window is positioned on the corresponding galvanometer beam reflection point, and the emitted light beam is emitted in a 90-degree divergence mode.
Therefore, the utility model can realize the pure reflection type subarea scanning beam emergent method without blind areas in the circumferential direction of 360 degrees, does not disperse light beams, and is beneficial to keeping the quality of the light beams; the light beam controller implements dynamic light path turning on the incident light beam according to the scanning instruction, and the emergent direction of the light beam is switched without gap in time; the emergent direction of the light beam is controlled by scanning with a galvanometer, and a plurality of sectors are sequentially alternated and scanned in a time-sharing manner to be combined to finish the emergent without a blind area in the circumferential direction of 360 degrees; the target in a certain sector can be continuously irradiated through the beam controller and the galvanometer, so that the whole-period scanning is avoided, and the real-time performance is strong; the occupied space of the light path is small, and the electrical connection of the front cabin section and the rear cabin section of the underwater vehicle is not damaged; the optical window is small in size, and sealing pressure resistance and structural strength of the underwater vehicle can be guaranteed. Therefore, the scheme has prominent substantive features and remarkable progress, and the beneficial effects of the implementation of the scheme are also obvious.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the beam controller.
Fig. 3 is a control flow block diagram of the present invention.
In the figure, ① is a first laser beam, ② is a second laser beam, ③ is a third laser beam, ④ is a fourth laser beam, 01 is a housing, 02 is a beam controller, 03A is a first plane mirror, 03B is a second plane mirror, 03C is a fourth plane mirror, 04A is a first galvanometer, 04B is a second galvanometer, 04C is a third galvanometer, 04D is a fourth galvanometer, 05A is a first optical window, 05B is a second optical window, 05C is a third optical window, 05D is a fourth optical window, 02-01 is a first linear motor, 02-2 is an incident laser beam, 02-3 is a first push rod, 02-4 is a second linear motor, 02-5 is a second push rod, 02-6 is a second rectangular prism, 02-7 is a third rectangular prism, 02-8 is a first rectangular prism, 02-9 is a diamond prism, and 02-10 is a base.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
As shown in fig. 1-3, the present solution includes:
a housing 01, a beam controller 02, plane mirrors 03A, 03B, 03C, galvanometers 04A, 04B, 04C, 04D, optical windows 05A, 05B, 05C, 05D.
The beam controller 02 performs dynamic optical path switching on the incident beam therein according to the scan command, and selects the emitting direction of the beam, i.e., selects and outputs one of the first laser beam ①, the second laser beam ②, the third laser beam ③, and the fourth laser beam ④.
The plane mirrors 03A, 03B, 03C function to reflect the incident light beams ①, ②, ④ to the corresponding galvanometers 04A, 04B, 04D, respectively.
The galvanometers 04A, 04B, 04C and 04D correspond to the corresponding optical windows 05A, 05B, 05C and 05D, and the galvanometers are used for finishing the scanning and the emitting of incident beams in 90 degrees divergence in the optical windows through the swinging of a certain angle.
The optical windows 05A, 05B, 05C, 05D are cylindrical or spherical surfaces, and the centers of curvature thereof are located at the corresponding galvanometer beam reflection points, so that the galvanometer reflected beams are linearly propagated when passing through the optical windows, and the beam emission is reduced.
In the embodiment, four scanning sectors are arranged, and the scanning angle of the emergent light beam of each sector is equal to 90 degrees, so that the four sectors are subjected to time-sharing combined scanning to complete circumferential 360-degree non-blind-area emergent light.
The light beam controller comprises a base 02-10, a first linear motor 02-1, a second linear motor 02-4, an incident laser beam 02-2, a first push rod 02-3, a second push rod 02-5, a second right-angle prism 02-6, a second right-angle prism 02-7, a second right-angle prism 02-8 and a diamond prism 02-9.
The control method of the beam controller for the laser beam emission comprises the following steps:
the position and direction of the incident beam are fixed, and the position and direction of the emergent beam are also fixed during the driving control process of the first and second linear motors, namely the first laser beam ①, the second laser beam ②, the third laser beam ③ and the fourth laser beam ④.
When the beam controller needs to output a first laser beam, the first push rod and the second push rod are at initial positions, and the incident laser beam is reflected by the first right-angle prism and then outputs the first laser beam; when a second laser beam needs to be output, the first linear motor controls the first push rod to contract, so that the second right-angle prism moves to the incident laser beam and reflects the second laser beam; when a third laser beam needs to be output, the first linear motor controls the first push rod to extend, so that the third right-angle prism runs to the incident laser beam and reflects the third laser beam; when a fourth laser beam needs to be output, the first push rod keeps the position when the third laser beam is output unchanged, and the second linear motor controls the second push rod to extend, so that the diamond prism moves to the position of the third laser beam to refract and output the fourth laser beam.
In a scanning period, the light beam controller sequentially selects and outputs a first laser beam ①, a second laser beam ②, a third laser beam ③ and a fourth laser beam ④ according to time sequence, and after the first laser beam, the second laser beam, the third laser beam and the fourth laser beam are reflected by the plane mirror group and the galvanometer group, the laser beams are respectively emitted from the optical windows 05A, 05B, 05C and 05D in a 90-degree scanning mode, and 360-degree blind-area-free scanning is completed.
The present invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification, and to any novel method or process steps or any novel combination of features disclosed.
Claims (8)
1. An underwater laser circumferential scanning beam transmitting system is characterized in that: the optical system comprises a shell, a light beam controller, a plane mirror group, a vibrating mirror group and a first optical window, a second optical window, a third optical window and a fourth optical window, wherein the light beam controller, the plane mirror group and the vibrating mirror group are arranged in the shell; the first optical window, the second optical window, the third optical window and the fourth optical window are respectively arranged on the outer walls of the shell in the front, back, left and right directions on the same horizontal plane; the laser beam emitted by the beam controller can be scanned and emitted from the first optical window, the second optical window, the third optical window and the fourth optical window in 90 degrees in sequence after being reflected by the plane mirror group and the galvanometer group in one scanning period.
2. The underwater laser circumferential scanning beam emission system of claim 1, wherein: the plane reflector group comprises a first plane reflector, a second plane reflector and a fourth plane reflector which are independently arranged; the mirror group that shakes includes the first mirror that shakes, the second mirror that shakes, the third mirror that shakes and the fourth mirror that shakes that independently sets up.
3. An underwater laser circumferential scanning beam emission system as claimed in claim 1 or 2, wherein: the light beam controller can emit four paths of laser beams with different paths, namely a first laser beam, a second laser beam, a third laser beam and a fourth laser beam; the first laser beam emitted by the light beam controller can be reflected by the first plane reflector and the first vibrating mirror in sequence and then is emitted from the first optical window in a 90-degree scanning manner; the second laser beam emitted by the beam controller can be reflected by the second plane reflector and the second galvanometer in sequence and then is scanned and emitted from the second optical window in 90 degrees; the third laser beam emitted by the beam controller can be reflected by the third galvanometer and then is emitted from the third optical window in a 90-degree scanning manner; and a fourth laser beam emitted by the beam controller can be reflected by the fourth plane mirror and the fourth galvanometer in sequence and then scanned and emitted from the fourth optical window in 90 degrees.
4. The underwater laser circumferential scanning beam emission system of claim 1, wherein: the light beam controller comprises a base, an incident laser beam vertically incident from the upper part of the base, a first right-angle prism, a second right-angle prism, a third right-angle prism, a rhombic prism, a first linear motor, a second linear motor, a first push rod arranged on the first linear motor and a second push rod arranged on the second linear motor; the first right-angle prism, the first linear motor and the second linear motor are fixedly arranged on the base; the second right-angle prism and the third right-angle prism are arranged on the first push rod; the rhombic prism is arranged on the second push rod; the first right-angle prism is arranged on a propagation path of an incident laser beam; the first linear motor can drive the first push rod to do telescopic motion so that the second right-angle prism or the third right-angle prism shields the first right-angle prism to change the transmission direction of the incident laser beam; the second linear motor can drive the second push rod to do telescopic motion, so that the rhombic prism shields the laser beam reflected by the third right-angle prism, and the propagation path of the laser beam is changed.
5. The underwater laser circumferential scanning beam emission system of claim 4, wherein: when the beam controller needs to output a first laser beam, the first push rod and the second push rod are at initial positions, and the incident laser beam is reflected by the first right-angle prism and then outputs the first laser beam; when a second laser beam needs to be output, the first linear motor controls the first push rod to contract, so that the second right-angle prism moves to the incident laser beam and reflects the second laser beam; when a third laser beam needs to be output, the first linear motor controls the first push rod to extend, so that the third right-angle prism runs to the incident laser beam and reflects the third laser beam; when a fourth laser beam needs to be output, the first push rod keeps the position when the third laser beam is output unchanged, and the second linear motor controls the second push rod to extend, so that the diamond prism moves to the position of the third laser beam to refract and output the fourth laser beam.
6. The underwater laser circumferential scanning beam emission system of claim 4, wherein: and a gap exists between the mounting positions of the second right-angle prism and the third right-angle prism, and the size of the gap is smaller than the side length of the first right-angle prism.
7. The underwater laser circumferential scanning beam emission system of claim 1, wherein: each optical window is a cylindrical surface or a spherical surface, and the curvature center of each optical window is positioned on the corresponding galvanometer light beam reflection point.
8. The underwater laser circumferential scanning beam emission system of claim 1, wherein: the shell is circular; the first optical window, the second optical window, the third optical window and the fourth optical window are respectively arranged at four quadrant points of the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921595991.7U CN211180187U (en) | 2019-09-24 | 2019-09-24 | Underwater laser circumferential scanning light beam emission system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921595991.7U CN211180187U (en) | 2019-09-24 | 2019-09-24 | Underwater laser circumferential scanning light beam emission system |
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| CN211180187U true CN211180187U (en) | 2020-08-04 |
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| CN201921595991.7U Expired - Fee Related CN211180187U (en) | 2019-09-24 | 2019-09-24 | Underwater laser circumferential scanning light beam emission system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110501689A (en) * | 2019-09-24 | 2019-11-26 | 中国工程物理研究院电子工程研究所 | A kind of underwater laser circumferential scanning beam delivery system |
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2019
- 2019-09-24 CN CN201921595991.7U patent/CN211180187U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110501689A (en) * | 2019-09-24 | 2019-11-26 | 中国工程物理研究院电子工程研究所 | A kind of underwater laser circumferential scanning beam delivery system |
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