CN212320648U - Multi-mode laser scanner optical-mechanical system and equipment - Google Patents
Multi-mode laser scanner optical-mechanical system and equipment Download PDFInfo
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- CN212320648U CN212320648U CN202020470744.0U CN202020470744U CN212320648U CN 212320648 U CN212320648 U CN 212320648U CN 202020470744 U CN202020470744 U CN 202020470744U CN 212320648 U CN212320648 U CN 212320648U
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Abstract
The utility model provides a multimode laser scanner optical-mechanical system and device, which relates to the technical field of photoelectric detection, and comprises a linearly polarized light source, an optical switch unit, a multimode scanning unit, an optical telescope unit and a light sensitive unit; the multi-mode scanning unit comprises at least two groups of optical wedge lenses; the center of the linearly polarized light source, the center of the optical switch unit and the center of the optical wedge lens are on a first straight line, the optical telescope unit is arranged between the beam splitter and the light sensitive unit, the center of the beam splitter, the center of the optical telescope unit and the center of the light sensitive unit are on a second straight line, the first straight line is perpendicular to the second straight line, the problem of low light power utilization rate can be solved, and therefore the beneficial effects of improving the light power utilization rate and reducing the processing difficulty are achieved.
Description
Technical Field
The utility model belongs to the technical field of the photoelectric detection technique and specifically relates to a multimode laser scanner ray apparatus system and equipment are related to.
Background
The laser scanning is a high-efficiency three-dimensional imaging system, the laser scanning depends on an optical mechanical system to realize the emission and the receiving of optical signals, the scanning principle of the optical mechanical system, the performance characteristics of an optical emission and receiving system and the performance of direct image laser scanning imaging. For laser scanning, the design properties mainly involved include the repetition rate utilization of the scanning system, the scanning field angle of the scanning system, the system weight and size, the scanning speed, the receiving aperture, etc.
The optical-mechanical design of the laser scanner mainly comprises optical principle design, scanning mode design and the like, wherein the optical principle design mainly aims at optical emission and reception, and the scanning mode design belongs to a part of the optical emission and is used for realizing deflection of an optical path. The coaxial transmitting and receiving light path can realize the light, small and compact design of an optical-mechanical system, and is usually realized by adopting a method of opening a reflector, but the opening of the reflector usually generates light energy loss, so that the light power utilization rate is low, and the problem of high processing difficulty exists.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a multimode laser scanner ray apparatus system and equipment to alleviate the problem that the luminous power utilization is low, the processing degree of difficulty is big.
In order to achieve the above object, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a multimode laser scanner optical mechanical system, which includes: the device comprises a linearly polarized light source, an optical switch unit, a multi-mode scanning unit, an optical telescope unit and a light sensitive unit; the linearly polarized light source is used for emitting linearly polarized light; the optical switch unit comprises a wave plate and a beam splitter; the multi-mode scanning unit comprises at least two groups of rotary scanning mechanisms, and each rotary scanning mechanism comprises an optical wedge lens; the optical telescope unit is used for focusing light spots matched with the light sensitive unit in size; wherein, the center of the linearly polarized light source, the center of the optical switch unit and the center of the optical wedge lens are on a first straight line; the optical telescope unit is arranged between the beam splitter and the light sensitive unit, and the center of the beam splitter, the center of the optical telescope unit and the center of the light sensitive unit are on a second straight line; the first straight line is perpendicular to the second straight line.
In one embodiment, a wave plate is used to achieve conversion of polarized light; the beam splitter is used for transmitting the light matched with polarization.
In one embodiment, the rotary scanning mechanism comprises an optical wedge lens, an optical wedge clamping structure, a driving motor, an incremental encoder and a control unit; the optical wedge clamping structure is used for installing an optical wedge lens and is fixedly connected with the driving motor and the incremental encoder.
In one embodiment, the control unit is used for controlling the rotational scanning speed of the driving motor; the incremental encoder is used for detecting the rotation angle and the real-time scanning speed of the driving motor.
In one embodiment, the control unit controls the rotational scanning speed of the driving motor to realize a plurality of scanning modes when the initial phase of the two sets of rotational scanning mechanisms is the same.
In one embodiment, when the two sets of rotary scanning mechanisms have different rotation speeds, the control unit controls the drive motor to realize the rose petal scanning.
In one embodiment, when the two sets of rotary scanning mechanisms rotate at the same speed but in different directions, the control unit controls the driving motors to realize linear scanning.
In one embodiment, when the two sets of rotary scanning mechanisms have different rotation directions and the scanning speed of one set of rotary scanning mechanism is half of the scanning speed of the other set of rotary scanning mechanism, the control unit controls the driving motor to realize asymmetric scanning.
In a second aspect, an embodiment of the present invention provides a multimode laser scanner optical device, which includes: the multi-modal laser scanner optical engine system of any of the mounting structure and the first aspect; the assembly structure comprises an integral supporting structure, and the integral supporting structure is used for coaxially assembling and locking all units in the multi-mode laser scanner optical mechanical system.
In one embodiment, the mounting structure further comprises: the light sensor comprises a wave plate adjusting structure and a light sensitive unit adjusting structure; the wave plate adjusting structure is used for adjusting the installation angle of the wave plate; the light sensitive unit adjusting structure is used for adjusting the installation position and the angle of the light sensitive unit.
The embodiment of the application provides an optical-mechanical system and equipment of a multi-mode laser scanner, wherein the optical-mechanical system comprises a linearly polarized light source, an optical switch unit, a multi-mode scanning unit, an optical telescope unit and a light sensitive unit; the multi-mode scanning unit comprises at least two groups of rotary scanning mechanisms, each rotary scanning mechanism comprises an optical wedge lens, and the optical telescope unit is used for focusing light spots matched with the light sensitive unit in size; the center of the linearly polarized light source, the center of the optical switch unit and the center of the optical wedge lens are on a first straight line, the optical telescope unit is arranged between the beam splitter and the light sensitive unit, the center of the beam splitter, the center of the optical telescope unit and the center of the light sensitive unit are on a second straight line, the first straight line is perpendicular to the second straight line, the problem of low light power utilization rate can be solved, and therefore the beneficial effects of improving the light power utilization rate and reducing the processing difficulty are achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of an optical-mechanical system of a multi-mode laser scanner according to an embodiment of the present invention;
fig. 2 is a schematic view of a multi-modal scanning footprint distribution provided by an embodiment of the present invention;
fig. 3 is an appearance schematic diagram of an overall structure of an optical-mechanical device of the multi-mode laser scanner according to an embodiment of the present invention;
fig. 4 is a cross-sectional view of an overall structure of an optical-mechanical device of a multi-mode laser scanner provided by an embodiment of the present invention.
Icon: 110-a linearly polarized light source; 120-an optical switching unit; 130-wedge lens; 140-an optical telescope unit; 150-a light sensitive unit; a 121-wave plate; 122-a beam splitter; 310-optical component mount; 320-motor support seat; 321-a drive motor; 322-incremental encoder; 330-wave plate adjusting structure; 340-light sensitive unit adjusting structure; 410-an optical component support; 411-a linearly polarized laser; 412-a polarizing beam splitter; 413-1/4 wave plates; 414-optical telescope; 415-a light sensitive cell adjustment mechanism; 416-a light sensitive unit; 420-rotating the support; 421-optical wedge I; 422-optical wedge II; 423-driving the motor I; 424-drive motor II; 425-encoder.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The laser scanning is a high-efficiency three-dimensional imaging system, the laser scanning depends on an optical mechanical system to realize the emission and the receiving of optical signals, the scanning principle of the optical mechanical system, the performance characteristics of an optical emission and receiving system and the performance of direct image laser scanning imaging. For laser scanning, the design properties mainly involved include the repetition rate utilization of the scanning system, the scanning field angle of the scanning system, the system weight and size, the scanning speed, the receiving aperture, etc. The distribution of optical scanning foot points is also an important index of an optical scanning system, and a common optical scanning system can only realize the foot point scanning with single regular distribution and cannot meet the requirements of various application scenes.
The optical-mechanical design of the laser scanner mainly comprises the problems of optical principle design, scanning mode design and the like, wherein the optical principle design mainly aims at optical emission and reception, and the scanning mode design belongs to a part of the optical emission and is used for realizing deflection of an optical path. The coaxial transmitting and receiving light paths are beneficial to the light, small and compact design of an optical-mechanical system, but the problems of light energy loss, processing difficulty increase and the like caused by the opening of the related reflector always bother laser scanner optical designers. The design of the scanning mechanism, on the basis of conventional scanning of a polygonal mirror, an inclined plane mirror and the like, has the scanning modes of an MEMS oscillating mirror and the like, so that the scanning efficiency is improved, but the problems of small effective area, complex control, short service life and the like brought by the scanning modes of the MEMS oscillating mirror are also problems to be solved urgently. Therefore, the common laser scanner optical-mechanical system has the problems of low optical power utilization rate and large processing difficulty.
Based on this, the embodiment of the utility model provides a multimode laser scanner optical machine system and equipment in order to alleviate above-mentioned problem. For the convenience of understanding the present embodiment, a multi-mode laser scanner optical system disclosed in the embodiments of the present invention will be described in detail first.
Referring to fig. 1, a schematic diagram of an optical-mechanical system of a multi-modal laser scanner is shown, the system comprising: a linearly polarized light source 110, an optical switch unit 120, a multi-modal scanning unit, an optical telescope unit 140, and a light sensitive unit 150.
The linearly polarized light source 110 is used for emitting linearly polarized light; the optical switching unit 120 includes a wave plate 121 and a beam splitter 122; the multi-modal scanning unit comprises at least two sets of rotary scanning mechanisms, the rotary scanning mechanisms comprising an optical wedge lens 130; the optical telescope unit 140 is used for focusing light spots matched with the size of the light sensitive unit 150; wherein, the center of the linearly polarized light source 110, the center of the optical switch unit 120, and the center of the wedge lens 130 are on a first straight line; the optical telescope unit 140 is disposed between the beam splitter 122 and the light sensitive unit 150, and a center of the beam splitter 122, a center of the optical telescope unit 140, and a center of the light sensitive unit 150 are on a second straight line; the first straight line is perpendicular to the second straight line.
The multimode laser scanner optical-mechanical system provided by the embodiment introduces the optical switch unit, and solves the problems of light energy loss, low light power utilization rate and high processing difficulty in the design of coaxial transmitting and receiving light paths; on the other hand, multi-mode scanning is realized by introducing optical wedge scanning, and the requirements of various application scenes can be met.
The linearly polarized light source can emit short pulse linearly polarized laser light source with high repetition frequency, the light vector direction of the light wave is kept unchanged, and the light vibration is only along one fixed direction. A pulse linear polarization laser with the wavelength of 1550nm or 905nm can be used as a laser light source, and the repetition frequency of laser pulses can reach 1 MHz; the light may be collimated using a laser collimator with a divergence angle of less than 0.3 mrad.
In some embodiments, a wave plate is used to achieve conversion of polarized light; the beam splitter is used to transmit polarization-matched light and reflect polarization-unmatched light.
For example, the optical switching unit includes a quarter-wave plate and a polarization beam splitter, the quarter-wave plate can realize free conversion between linearly polarized light and circularly polarized light, when a linearly polarized laser signal passes through the 1/4 wave plate, the linearly polarized light is converted into circularly polarized light, when the circularly polarized light passes through the 1/4 wave plate from the other side, the circularly polarized light is converted into linearly polarized light, but the wave direction is rotated by 90 °.
The included angle between the polarization state incident light matched with the polarization beam splitter and the polarization state echo light not matched with the polarization beam splitter is 90 degrees. The polarization beam splitter can realize 1000: 1 or more, i.e. when the incident light matches the polarization state of the polarizing beam splitter, the ratio of the transmitted light power to the emitted light power is 1000: 1, when the incident light does not match the polarization state of the polarizing beam splitter, the ratio of the emitted optical power to the transmitted optical power is 1000: 1. wherein the propagation direction of the transmitted light makes an angle of 90 ° with the propagation direction of the emitted light.
The optical switch unit provided by the embodiment can realize high transmittance transmission of the emergent light signal emitted by the linear deflection light source, and realizes high reflectance reflection of the echo light signal through adjustment of the polarization state.
Furthermore, the multi-mode scanning unit is composed of two groups of independently controllable rotary scanning mechanisms, each group of optical scanning mechanisms can realize different rotation speed control, and multi-mode scanning can be realized through different initial phases and different rotation speeds of the two groups of rotary scanning mechanisms.
In some embodiments, the rotary scanning mechanism includes an optical wedge lens, an optical wedge clamping structure, a drive motor, an incremental encoder, and a control unit; the optical wedge clamping structure is used for installing an optical wedge lens and is fixedly connected with the driving motor and the incremental encoder.
The optical wedge lens can also be made of N-BK7 glass, the refractive index of the optical wedge lens to the 1550nm wavelength is 1.501, and large-angle deflection of light can be achieved through the large-wedge-angle optical wedge. The combination of the two groups of scanning mechanisms enables the double-optical-wedge scanning to effectively improve the light deflection angle, and further increases the field angle of laser scanning.
In some embodiments, the control unit is for controlling a rotational scanning speed of the drive motor; the incremental encoder is used for detecting the rotation angle and the real-time scanning speed of the driving motor.
In some embodiments, when the initial phase of the two sets of rotary scanning mechanisms is the same, the control unit controls the rotary scanning speed of the driving motor to realize a plurality of scanning modes. For example: a rose petal foot point mode, a linear foot point mode, an asymmetric foot point mode and the like, as shown in fig. 2.
Specifically, when the rotation speeds of the two sets of rotary scanning mechanisms are different, the control unit controls the driving motor to realize rose petal scanning, as shown in part a of fig. 2.
When the rotation speeds of the two sets of rotary scanning mechanisms are the same but the rotation directions are different, the control unit controls the driving motors to realize linear scanning, as shown in part B of fig. 2.
When the two sets of rotary scanning mechanisms have different rotation directions and the scanning speed of one set of rotary scanning mechanism is half of the scanning speed of the other set of rotary scanning mechanism, the control unit controls the driving motor to realize asymmetric scanning, as shown in part C of fig. 2.
In addition, the optical telescope unit can be realized by adopting modes of an aspherical mirror, a combined focusing lens and the like, and the size of a focused light spot is matched with that of the light sensitive unit. In some embodiments, an optical filter is arranged between the optical telescope unit and the beam splitter, the optical filter and the optical telescope unit are both coated with antireflection films on the surfaces, the antireflection wave band is matched with the laser light source, and the transmittance is greater than 98%.
The embodiment of the utility model provides a multimode laser scanning optical machine system, through the optical switch unit alleviate the light energy loss, the luminous power utilization ratio is low and the processing degree of difficulty is big in the coaxial transmission and receiving light path design; and the optical wedge scanning is introduced to realize multi-mode free conversion, so that the system has the advantages of compact structure, high scanning speed, high laser repetition frequency utilization rate and the like, and can meet the requirements of various application scenes.
The embodiment of the utility model provides a still provide a multimode laser scanner optical equipment, this equipment includes: the multi-mode laser scanner optical mechanical system provided by the assembling structure and any one of the above embodiments; the assembly structure comprises an integral supporting structure, and the integral supporting structure is used for coaxially assembling and locking all units in the multi-mode laser scanner optical mechanical system.
In one embodiment, the mounting structure further comprises: the light sensor comprises a wave plate adjusting structure and a light sensitive unit adjusting structure; the wave plate adjusting structure is used for adjusting the installation angle of the wave plate; the light sensitive unit adjusting structure is used for adjusting the installation position and the angle of the light sensitive unit.
For example, referring to fig. 3, an appearance of an overall structure of a multi-modal laser scanner optical mechanical device is schematically shown, and the overall supporting structure includes an optical component holder 310 and a motor support base 320. The optical component holder 310 serves as a support structure of the entire optical system, and is used for fixing an optical component; the motor support base 320 is used to support two sets of drive motors 321 and incremental encoders 322. The mounting structure further includes a wave plate adjustment structure 330 and a light sensitive unit adjustment structure 340.
In addition, the assembling structure can also comprise an optical fastening structure, an installation adjusting structure and a rotary supporting structure, and is used for realizing the fastening, installation, adjustment and rotary support of all optical components. For example, the optical fastening structure is used for fixing the positions and relative postures of all optical components; the installation adjusting structure is used for determining the relative positions of the optical element, the laser light source and the light sensitive unit and adjusting the relative positions; the rotary support structure is used for fixing the optical elements, the driving motor and the incremental encoder of the two groups of independently controllable rotary scanning mechanisms.
Fig. 4 is a cross-sectional view of the overall structure of the multi-modal laser scanner optical mechanical device, and the optical component holder 410 is used as a supporting structure of the whole optical system for fixing the optical component. The apparatus further comprises: the linear polarization laser 411, the polarization beam splitter 412, and the 1/4 wave plate 413, the optical filter, the optical telescope 414, the light sensitive unit 416, and the light sensitive unit adjusting mechanism 415 are sequentially disposed above the polarization beam splitter 412, and are used for adjusting the position, the angle, and the like of the light sensitive unit.
The high repetition frequency pulse laser signal emitted by the linear polarization laser is incident on the first surface of the polarization beam splitter 412, and because the polarization state of the polarized light is matched with that of the polarization beam splitter 412, the light ray linearly penetrates through the polarization beam splitter and is incident on the front surface of the 1/4 wave plate 413; 1/4 wave plate 413 converts the linear polarized light into circular polarized light, and then the circular polarized light is incident on the front surface of wedge I (421) of the multi-mode scanning unit, the circular polarized light is deflected by the two wedges and then is emitted to the atmosphere, the emitted light is diffused and reflected by the detected object to generate parallel light echo light signal, the echo light signal is still circular polarized light, enters into wedge I and wedge II (422), and returns to the back surface of 1/4 wave plate 413 along the original light path, the circular polarized light is projected by the back surface of 1/4 wave plate 413, and then is converted into linear polarized light.
The light vector of the linearly polarized light of the echo light signal is deflected by 90 degrees due to the fact that the linearly polarized light penetrates through the 1/4 wave plates twice, the echo light signal deflected by 90 degrees is not matched with the polarization state of the polarization beam splitter 412, is reflected to the optical filter through the inclined plane and is transmitted to the optical telescope 414, the echo light signal focused by the optical telescope 414 is projected to the surface of the light sensitive unit 416 and is converted into an electric signal, and the electric signal is processed by the signal acquisition circuit.
The multi-modality scanning unit is divided into two groups, each group including an optical wedge, a driving motor (423 or 424), a rotating bracket 420, an encoder 425, and a control unit. The control unit can simultaneously control the driving motors of the two groups of scanning units and can collect the angle information of the encoders of the two groups of scanning units. The rotary bracket 420 is first fixedly connected with the optical wedge, the driving motor is a hollow motor, the size of the hollow shaft is matched with the outer diameter of the rotary bracket, and meanwhile, the rotary bracket is fixedly connected with the encoder for fixing the whole scanning unit.
Wherein, a pulse linear polarization laser with the wavelength of 1550nm or 905nm is adopted as a laser source, and the repetition frequency of laser pulses can reach 1 MHz; the linear polarization laser light source adopts a laser collimator with the divergence angle smaller than 0.3mrad to collimate light; 1/4 wave plate, polarizing beam splitter, optical filter, optical telescope, optical wedge I and optical wedge II all use optical elements with diameter of 1 inch.
Further, the driving motor can adopt a direct-drive motor, the inner rotor is fixedly connected with the rotating support, the outer stator is fixedly connected with the motor supporting seat, and the motor supporting seat is fixedly connected with the bare engine bottom plate. The encoder can be an incremental encoder, and the angle and the rotating speed are measured by adopting a mode of a photoelectric code disc and a reading head.
According to the multimode laser scanner optical equipment provided by the embodiment, an 1/4 wave plate and a polarization beam splitter are adopted to form an optical switch, so that the problem of unidirectional transmission and passing of laser signals is solved; by adopting the double-optical-wedge scanning device, the multi-mode laser scanning foot point distribution is realized, and the laser scanning device has the characteristics of small volume, light weight and high scanning speed.
The application provides a multimode laser scanner ray apparatus system and equipment, including linearly polarized light source, optical switch unit, multimode scanning unit, optics telescope unit and light sensitive unit. The optical switch unit can realize the unilateral transmission of the light path and realize the 90-degree deflection of the emergent light path and the echo light path; the multimode scanning unit comprises two groups of independently controlled rotary scanning mechanisms, and multimode control can be realized through different speed control of the two groups of scanning mechanisms to obtain different laser scanning foot point distributions; the optical telescope unit can realize the focusing of the return optical signal. The optical switch is designed, so that the problems of low optical power utilization rate, difficulty in processing and the like existing in the coaxial transmitting and receiving optical paths are solved; by the design of the multi-mode scanning unit, multi-mode scanning capable of realizing distribution of various scanning foot points is provided, and different use scenes can be adapted; through the optical telescope unit, the focusing of a return optical signal to the optical sensitive unit is realized, and the size of a focusing light spot meets the size requirement of the optical receiving unit.
It should be noted that: like reference numbers and letters indicate like items in the figures, and thus once an item is defined in a figure, it need not be further defined or explained in subsequent figures, and moreover, the terms "first," "second," "third," etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still modify or easily conceive of changes in the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A multi-modal laser scanner opto-mechanical system, comprising: the device comprises a linearly polarized light source, an optical switch unit, a multi-mode scanning unit, an optical telescope unit and a light sensitive unit;
the linearly polarized light source is used for emitting linearly polarized light;
the optical switch unit comprises a wave plate and a beam splitter;
the multi-mode scanning unit comprises at least two groups of rotary scanning mechanisms, and each rotary scanning mechanism comprises an optical wedge lens;
the optical telescope unit is used for focusing light spots matched with the light sensitive unit in size;
wherein the center of the linearly polarized light source, the center of the optical switch unit and the center of the optical wedge lens are on a first straight line; the optical telescope unit is arranged between the beam splitter and the light-sensitive unit, and the center of the beam splitter, the center of the optical telescope unit and the center of the light-sensitive unit are on a second straight line; the first straight line is perpendicular to the second straight line.
2. The multi-modal laser scanner opto-mechanical system of claim 1 wherein the wave plate is configured to effect conversion of polarized light; the beam splitter is used for transmitting the light matched with polarization.
3. The multi-modal laser scanner opto-mechanical system of claim 1,
the rotary scanning mechanism comprises an optical wedge lens, an optical wedge clamping structure, a driving motor, an incremental encoder and a control unit;
the optical wedge clamping structure is used for installing the optical wedge lens and is fixedly connected with the driving motor and the incremental encoder.
4. The multi-modal laser scanner opto-mechanical system of claim 3,
the control unit is used for controlling the rotary scanning speed of the driving motor;
the incremental encoder is used for detecting the rotation angle and the real-time scanning speed of the driving motor.
5. The multi-modal laser scanner opto-mechanical system of claim 4,
when the initial phases of the two groups of rotary scanning mechanisms are the same, the control unit controls the rotary scanning speed of the driving motor to realize multiple scanning modes.
6. The multi-modal laser scanner opto-mechanical system of claim 5,
when the rotating speeds of the two groups of rotating scanning mechanisms are different, the control unit controls the driving motor to realize rose petal scanning.
7. The multi-modal laser scanner opto-mechanical system of claim 5,
when the rotating speeds of the two groups of rotating scanning mechanisms are the same but the rotating directions are different, the control unit controls the driving motor to realize linear scanning.
8. The multi-modal laser scanner opto-mechanical system of claim 5,
when the two groups of rotary scanning mechanisms have different rotating directions and the scanning speed of one group of rotary scanning mechanism is half of that of the other group of rotary scanning mechanism, the control unit controls the driving motor to realize asymmetric scanning.
9. A multi-modal laser scanner opto-mechanical device, comprising: a mounting structure and a multi-modal laser scanner opto-mechanical system as claimed in any one of claims 1 to 8; the assembling structure comprises an integral supporting structure, and the integral supporting structure is used for coaxially assembling and locking all units in the multi-mode laser scanner optical mechanical system.
10. The multi-modal laser scanner opto-mechanical device of claim 9,
the fitting structure further includes: the light sensor comprises a wave plate adjusting structure and a light sensitive unit adjusting structure;
the wave plate adjusting structure is used for adjusting the installation angle of the wave plate; the light sensitive unit adjusting structure is used for adjusting the installation position and the angle of the light sensitive unit.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113985420A (en) * | 2021-12-28 | 2022-01-28 | 四川吉埃智能科技有限公司 | Method for compensating scanning light path error of laser radar inclined by 45 degrees |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113985420A (en) * | 2021-12-28 | 2022-01-28 | 四川吉埃智能科技有限公司 | Method for compensating scanning light path error of laser radar inclined by 45 degrees |
| CN113985420B (en) * | 2021-12-28 | 2022-05-03 | 四川吉埃智能科技有限公司 | Method for compensating scanning light path error of laser radar inclined by 45 degrees |
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