A rotating reflective head and laser scanning device

Abstract

The embodiment of the present invention provides a rotating reflective head and a laser scanning device; the rotating reflective head includes at least one rotating head body that can rotate along a rotating axis, and each rotating head body is provided with N curved side reflective surfaces arranged along the circumference of the rotating axis, wherein N is a positive integer not equal to zero; and at least one side reflective surface is a reflective surface that forms a preset angle with the rotating axis. The above technical solution proposes a rotating reflective head and a laser scanning device, which can increase the scanning range through a rotating reflective head with a more reasonable structure, thereby improving the efficiency of detection.

Description

Technical Field

[0001] The present invention relates to the field of electronic technology, and in particular to a rotating reflective head and a laser scanning device. Background Art

[0002] Lidar is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. Its working principle is to emit a detection signal (laser beam) to the target, and then compare the received signal reflected from the target (target echo) with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, height, speed, attitude, and even shape parameters, so as to detect, track and identify targets such as aircraft and missiles. It consists of a laser transmitter, an optical receiver, a turntable and an information processing system. The laser converts electrical pulses into light pulses and emits them. The optical receiver then converts the light pulses reflected from the target into electrical pulses and sends them to the display.

[0003] The existing traditional mechanical optical scanning mechanisms include: galvanometer scanning and prism scanning:

[0004] The galvanometer scanning structure uses two reciprocating reflectors, wherein the laser beam first enters the first reflector, and is reflected by the first reflector and then captured by the second reflector, and then is reflected by the second reflector and enters the scanning area; wherein the first reflector can rotate around the first axis, and the second reflector can rotate around the second axis, and the first axis and the second axis form a preset angle; such a structure enables the two reflectors to cooperate with each other to reflect the incoming laser beam to different positions when they rotate around their axes, so that a scanning area of ​​a predetermined area can be detected separately. Each reflector of this galvanometer scanning structure needs to rotate around its axis, so if you want to achieve more accurate detection, the overall equipment needs to be very stable, so the requirements for the environment are relatively high, and it cannot be used in a vehicle environment or a more complex environment.

[0005] Conventional mirror prism scanning can be Figure 1 , Figure 3 As shown, a rotating reflective head with N side reflective surfaces is provided to reflect the incident laser beam to the scanning area; multiple side reflective surfaces are provided to improve the detection efficiency and expand the scanning area. Specifically, as Figure 1 , Figure 3 The figure shows a laser reflective head having six side reflective surfaces (ie, N=6), that is, each side reflective surface forms a 60° fan-shaped central angle relative to the central rotation axis. Figure 1 , Figure 3As shown, when the incident light remains unchanged and the rotating reflective head rotates around its central axis, each side reflective surface with a fan-shaped central angle of 60° can reflect the incident light into a horizontal scanning range with a central angle of 120°, as shown in FIG. Figure 3 shown. Summary of the invention

[0006] In the prior art, the scanning area formed by the incident light after being reflected by the rotating reflective head is about 120°, resulting in an insufficient detection range. The purpose of the embodiment of the present invention is to provide a rotating reflective head and a laser scanning device with a simple and reasonable structure and a larger detection range.

[0007] In order to solve the above problems, an embodiment of the present invention proposes a rotating reflective head, which includes at least one rotating head body that can rotate along a rotation axis, and wherein each rotating head body is provided with N curved side reflective surfaces arranged along the circumference of the rotation axis, wherein N is a positive integer not equal to zero; and wherein at least one side reflective surface is a reflective surface that forms a preset angle with the rotation axis.

[0008] Further, the side reflection surface is a complete side surface of the rotating reflection head; or

[0009] A portion of a side surface of the rotating reflective head body; the side surface includes R×S side reflective surfaces, wherein R≥1 and S≥1.

[0010] Furthermore, the side reflection surface has a preset shape, and the position between the incident light and the rotation axis of the rotating head body is relatively fixed; when the side reflection surface rotates around the rotation axis, the incident light sequentially enters each reflection point of a side reflection surface and is reflected to the scanning area respectively; when the rotating head body rotates, the shape of the side reflection surface satisfies the following conditions: when the rotating head body rotates to a predetermined position so that the incident light shines on a reflection point, the normal of the reflection point faces a predetermined direction.

[0011] Furthermore, the side reflection surface has a preset shape, and the position between the incident light and the rotation axis is relatively fixed, and the extension line of the incident light intersects with the rotation axis. When the side reflection surface rotates around the rotation axis, the incident light sequentially enters each preset reflection point of the current side reflection surface and is reflected to the scanning area respectively to form at least two reflected light rays, wherein the projection of each reflected light ray on the first reference plane has an angle with the second reference plane that is a fixed value, wherein the first reference plane is the plane formed by the incident light ray and the rotation axis, and wherein the second reference plane is a plane perpendicular to the first reference plane.

[0012] Furthermore, the side reflection surface has a preset shape, and the position between the incident light and the rotation axis is relatively fixed. When the side reflection surface rotates around the rotation axis, the incident light sequentially enters each preset reflection point of the current side reflection surface and is reflected to the scanning area respectively to form at least two reflected light rays, wherein the projection of each reflected light ray on the first reference plane has an angle with the second reference plane that is a fixed value, wherein the first reference plane is a plane that is parallel to both the incident light ray and the rotation axis, and wherein the second reference plane is a plane perpendicular to the first reference plane.

[0013] Furthermore, the side reflection surface has a preset shape, and the position between the incident light and the rotation axis is relatively fixed. When the side reflection surface rotates around the rotation axis, the incident light sequentially enters each preset reflection point of the current side reflection surface and is respectively reflected to the scanning area to form at least two reflected light rays, wherein the projection of each reflected light ray on the first reference plane has an angle with the second reference plane that is a fixed value, wherein the first reference plane is a plane parallel to the rotation axis and extending in the direction of the scanning area, or the first reference plane is a plane extending in the direction of the scanning area where the rotation axis is located, wherein the second reference plane is a plane perpendicular to the first reference plane.

[0014] Furthermore, the N curved side reflection surfaces of the rotating head body arranged along the circumference of the rotating axis respectively form the same or different or completely different preset angles with the rotating axis;

[0015] or

[0016] When N≥2, at least two of the N side reflection surfaces have different preset angles with the rotation axis.

[0017] Furthermore, the side reflection surface of the rotating head body is a concave curved surface or a convex curved surface.

[0018] Furthermore, the rotating reflective head also includes a rotation driving mechanism for driving the rotating head body to rotate around the rotation axis, and the rotation driving mechanism drives the rotating head body to rotate around the rotation axis so that the incident light is reflected to the scanning area through each side reflection surface of the rotating head body in sequence.

[0019] Furthermore, the rotating reflective head further comprises a moving driving mechanism for driving the rotating head body to move along the rotating axis, and the moving driving mechanism drives the rotating head body to move along the rotating axis.

[0020] Furthermore, the surface shape of the side reflective surface is obtained by the following method:

[0021] 1) Establish a three-dimensional rectangular coordinate system O-xyz, with o as the origin, and use a vector starting from the origin and passing through the xoz plane as the incident light representation vector, denoted as vector OA = {x1, 0, z1}, and the direction angle of the vector is α1, β1, γ1; wherein α1 is set as the angle between the incident light and the second reference plane, β1 = 0, and γ1 is set as the angle between the incident light and the rotation axis; use vector OB = {x2, y2, z2} as the desired outgoing light representation vector when the projection on the second reference plane has the largest angle with the first reference plane, and its direction angle is α2, β2, γ2; use vector OC = {x0, y0, z0} to represent the normal vector of the reflector corresponding to the outgoing light and the incident light, and its direction angle is α, β, γ;

[0022] 2) Since OA, OB, and OC are coplanar, the determinant is

[0023]

[0024] Since the angles between OC, OA and OB are equal, then

[0025] (cosα1·cosα2)cosα+(cosβ1·cosβ2)cosβ+

[0026] (cosγ1-cosγ2)cosγ=0

[0027] and

[0028] cos 2 α+cos 2 β+cos 2 γ=1

[0029] 3) Since vectors OA and OB are known vectors, α, β, and γ can be calculated according to the above three equations; that is, the normal vector of the desired outgoing light ray when the projection of the outgoing light ray on the second reference plane and the first reference plane have the largest angle when the side reflection surface rotates around the rotation axis can be obtained;

[0030] 4) With the yoz plane as the mirror reflection plane and OA as the incident light vector, the outgoing light vector is located on the surface xoz, which is recorded as OD; the angle between OD and the surface xoy, that is, the angle between OD and the x-axis, is set to the desired angle between the projection of the outgoing light on the first reference plane and the second reference plane;

[0031] 5) dividing a layer of the side reflective surface into W segments of sub-surfaces, setting the normal direction of the first sub-surface to OD, and setting the normal direction of the Wth sub-surface to OC; and performing a gradual fitting of the normals of other surfaces in the W segments of sub-surfaces from the OD direction to the OC direction, so as to obtain the shape of a layer of the side reflective surface;

[0032] 6) The shape of the curved surface of the side reflective surface is fitted using the fitted shape of each layer.

[0033] Furthermore, the surface shape of the side reflective surface is obtained by the following method:

[0034] 1) Use 3D modeling software to establish a first reference plane, a second reference plane and a rotation axis, and set the incident light. Select a point on the incident light on the first reference plane as the first reflection point A; draw a line segment AB on the first reference plane with point A as the starting point; take the surface passing through the line segment AB and orthogonal to the first reference plane as the reflection surface, and adjust the direction of the line segment so that the angle between the outgoing light with point A as the reflection point (located on the first reference plane) and the second reference plane is the desired angle θ; the angle between the line segment AB and the second reference plane is γ;

[0035] 2) Draw a straight line segment or curve AC perpendicular to the first reference plane starting from point A;

[0036] 3) In the 3D modeling software, line AB and line AC are synchronously rotated around the rotation axis so that point C is located on the first reference plane;

[0037] 4) Take point C as the starting point on the first reference plane and draw a line segment CD with the same length as line segment AB along the direction of the angle θ with the second reference plane; the angle between the line segment and the second plane is denoted as θ1;

[0038] 5) Use 3D modeling software to construct surface ABCD in 3D space;

[0039] 6) Importing the curved surface ABCD into the optical simulation software; and establishing the first and second reference planes and the incident light in the optical simulation software;

[0040] 7) When the surface ABCD is rotated along the rotation axis in the optical software, when point C is located on the first reference plane, the angle between the projection of the incident light on the surface ABCD on the first reference plane and the second reference plane is recorded as β;

[0041] 8) If β is inconsistent with θ, θ1 is adjusted in the 3D modeling software, and the surface ABCD is reconstructed, and at this time, the angles between all the lines from line segment AB to line segment CD on the surface ABCD and the second reference plane are set to gradually change from γ to θ1;

[0042] 9) Update the surface ABCD into the optical simulation software and remeasure β;

[0043] 10) Repeat steps 7) to 9) until β = θ;

[0044] 11) The curved surface ABCD is the surface shape of the side reflection surface.

[0045] Furthermore, the surface shape of the side reflective surface is obtained by the following method:

[0046] A layer of the side reflection surface is divided into W segments of sub-surfaces, and a reflection point in each sub-surface is determined; wherein a preset interval is provided between the reflection points on two sub-surfaces; and a normal line of a reflection point on each sub-surface is determined according to an angle between the side reflection surface and the incident light, so that when the rotating head body rotates until the incident light irradiates the reflection point, the normal line of the reflection point faces a preset direction;

[0047] Using the determined shape of the W-segment surface, the shape of a layer of the side reflective surface is fitted;

[0048] The shape of the curved surface of the side reflection surface is fitted using the fitted shape of each layer.

[0049] Furthermore, the rotating reflective head includes at least two rotating head bodies, and all the rotating head bodies are stacked.

[0050] At the same time, an embodiment of the present invention also proposes a laser scanning device, including a rotating reflection head and an incident light emitting mechanism, wherein the structure of the rotating reflection head is the rotating reflection head described in any of the previous items, and the light emitting mechanism is used to emit the incident light.

[0051] The beneficial effects of the above technical solution of the present invention are as follows: The above technical solution proposes a rotating reflective head and a laser scanning device, which can expand the scanning range through a more reasonable structure, thereby improving the efficiency of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a schematic diagram of the effect of mirror-rotated polyhedron;

[0053] Figure 2 This is a schematic diagram of the effect of rotating a standard arc-surface polyhedron;

[0054] Figure 3 This is a schematic diagram of the reflection angle of a 6-prism face;

[0055] Figure 4 Schematic diagram of reflection angles of 6 curved surfaces of the present invention;

[0056] Figure 5 It is a schematic diagram of the single curved surface structure and horizontal plane scanning of the present invention;

[0057] Figure 6 It is a schematic diagram of vertical scanning of a single curved surface body according to the present invention when the incident angle is changed;

[0058] Figure 7 It is a schematic diagram of the hyperbolic body structure and horizontal and vertical scanning of the present invention;

[0059] Figure 8 It is a schematic diagram of the three-curved body structure and horizontal and vertical scanning of the present invention;

[0060] Fig. 9 It is a schematic diagram of a 5-sided curved body and horizontal and vertical scanning of the present invention;

[0061] Fig.10 It is a schematic diagram of a four-sided curved body and horizontal and vertical scanning of the present invention;

[0062] Fig.11 It is a schematic diagram of a 6-sided curved body and horizontal and vertical scanning of the present invention;

[0063] Fig.12 It is a schematic diagram of an 8-sided curved body and horizontal and vertical scanning of the present invention;

[0064] Fig.13 It is a schematic diagram of a 12-sided curved body and horizontal and vertical scanning of the present invention;

[0065] Fig.14 8 honeycomb curved body and horizontal and vertical scanning schematic diagram of the present invention;

[0066] Fig.15 It is a schematic diagram of a stacked structure of multiple curved bodies and horizontal and vertical scanning of the present invention;

[0067] Fig.16 It is a plane or standard arc surface rotating polyhedron, a schematic diagram of the vertical emission angle difference between the starting and ending positions of the reflection point of the reflected light beam;

[0068] Fig.17 It is a schematic diagram of the vertical emission angle of the starting and ending positions of the reflection point of the present invention;

[0069] Fig.18 It is a schematic diagram of a method for determining a first reference plane and a second reference plane in an embodiment of the present invention.

[0070] Description of the accompanying symbols:

[0071] 1. Desired outgoing light beam; 2. Measured outgoing light beam; 3. Angle difference in the vertical direction; 4. First reference plane; 5. Second reference plane. DETAILED DESCRIPTION

[0072] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0073] The rotating reflection heads in the prior art all use a flat side reflection surface. Such a structure of the rotating reflection head leads to the problem of limited contribution to the horizontal scanning range of the rotating reflection head. An embodiment of the present invention proposes a rotating reflection head to better increase the range of the horizontal scanning area generated when the incident light passes through the rotating reflection head and is reflected to the scanning area.

[0074] like Figure 4 As shown, an embodiment of the present invention proposes a rotating reflective head, which includes at least one rotating head body capable of rotating along a rotation axis, and wherein each rotating head body is provided with N curved side reflective surfaces arranged along the circumference of the rotation axis; and wherein at least one side reflective surface is a reflective surface forming a preset angle with the rotation axis.

[0075] In an embodiment of the present invention, the preset angle is greater than 0°, that is, at least one side reflection surface is an inclined side reflection surface that forms an angle not equal to 0° with the vertical plane. In another embodiment of the present invention, the preset angle is greater than or equal to 0°, that is, one or more side reflection surfaces may be parallel to the rotation axis, and the preset angle between the other side reflection surfaces and the rotation axis is not limited and may be 0° or other angles; that is, one or more side reflection surfaces are vertical planes, and the other side reflection surfaces may be inclined planes or vertical planes.

[0076] In the above-mentioned embodiment of the present invention, the use of a curved side reflector can better increase the horizontal range of the scanning area. Improving the detection range of the laser radar is extremely important for cost control. Figure 4 As shown, after adopting the curved side reflector, the scanning range is increased without increasing the central angle of one side reflector. Figure 1-Figure 3 The structure shown in the figure has six side reflection surfaces as an example, wherein each side reflection surface forms a 60° fan-shaped central angle relative to the central rotation axis. As described in the background technology, when the incident light remains unchanged and the rotating reflection head rotates around its central axis, each side reflection surface with a fan-shaped central angle of 60° can reflect the incident light into a horizontal scanning range with a central angle of 120°. Figure 3 As shown. The structure of the curved side reflective surface in the embodiment of the present invention is adopted, as shown Figure 4 As shown, it is found through experiments that the scanning range can be expanded to 140°-160°. At the same time, at least two of the N arc-shaped side reflection surfaces have different preset tilt angles, which enables the rotating reflection head to detect different horizontal detection ranges through the side reflection surfaces with different preset tilt angles when rotating; this principle will be explained later.

[0077] In the embodiment of the present invention, the side reflection surface described in the whole text is defined as: the side reflection surface can be a Figure 5-Figure 13 As shown, the side reflection surface is a complete side surface of the rotating reflection head; the side reflection surface can also be a Fig.14 The figure shows a part of a complete side surface of the rotating reflective head. Fig.14 As shown, the side reflection surface is a part of a side surface of the rotating reflection head body, that is, the side surface includes R×S side reflection surfaces, where R≥1 and S≥1. Fig.14 The rotating reflective head comprises a plurality of side surfaces, wherein each side surface comprises R×S side reflective surfaces, and each side reflective surface is curved, and each side reflective surface can be an inclined side reflective surface having a preset angle with the rotation axis.

[0078] Furthermore, the N curved side reflection surfaces of the rotating head body arranged along the circumference of the rotating axis respectively form the same or different or completely different preset angles with the rotating axis;

[0079] or

[0080] When N≥2, at least two of the N side reflection surfaces have different preset tilt angles.

[0081] The N curved side reflection surfaces of the rotating head body arranged along the circumference of the rotating axis respectively form the same, not completely the same, or completely different preset angles with the rotating axis. That is to say, the side reflection surfaces respectively form the same preset angles with the rotating axis, which means: if the rotating head body has multiple side reflection surfaces, the inclination angles of these side reflection surfaces can be the same. The side reflection surfaces respectively form not completely the same preset angles with the rotating axis, which means: if the rotating head body has multiple side reflection surfaces, the inclination angles of these side reflection surfaces can be partially the same, while the other parts are different; for example, the inclination angles of two surfaces are θ1, while the angles of the other surfaces are θ2, θ3, θ4... . The side reflection surfaces respectively form completely different preset angles with the rotating axis, which means: if the rotating head body has multiple side reflection surfaces, the inclination angles of these side reflection surfaces are all different; for example, the inclination angles of N side reflection surfaces are θ1, θ2, θ3, θ4... θN. Of course, the following situations may also be included: if the rotating head body has multiple side reflection surfaces, some of these side reflection surfaces are inclined, while others are not inclined; for example, the inclination angle of one surface is θ1=0, while the angles of the other surfaces are θ2, θ3, θ4, etc., which are not equal to 0. The inclination angles of these inclined side reflection surfaces may be as described above. Of course, the preset angles of all side reflection surfaces and the rotation axis may also be 0°, and the embodiments of the present invention do not limit this.

[0082] When N≥2, at least two of the N curved side reflection surfaces have different preset tilt angles. That is, when the rotating head body of the rotating reflection head has two or more side reflection surfaces, the tilt angles of all the side reflection surfaces of the rotating reflection heads are not exactly the same.

[0083] It can be understood that each side reflection surface of the rotating reflection head can reflect the incident light to a scanning area; of course, the rotating reflection head is rotating, and since the position between the incident light and the rotation axis is relatively fixed, as the rotating reflection head rotates, the incident light will sequentially hit the predetermined multiple L reflection points on the curved side reflection surface, thereby forming L reflected light rays. Figure 5-Figure 15 As shown, in order to more clearly illustrate the technical solution of the embodiment of the present invention, a virtual or real detection reference surface is shown in each figure, so that the L reflected light rays form a light spot on the detection reference surface. Figure 5-Figure 15 As shown, the L reflection points of each side reflection surface reflect the incident light to form L reflected light rays, and the L reflected light rays form L light spots on the detection reference surface.

[0084] Since the position between the incident light and the rotation axis is relatively fixed, when the rotating head body rotates, the incident light will sequentially enter the predetermined multiple L reflection points of each side reflection surface. Since the rotating head body is provided with N curved side reflection surfaces, each curved side reflection surface will form L reflection light rays; therefore, each time the rotating head body rotates one circle, N×L reflection light rays will be formed. When the N curved side reflection surfaces have different inclination angles, each side reflection surface can form L reflection light rays of different heights, such as Figure 8-Figure 13 What is shown is N layers of reflected light formed after the rotating head body with N curved side reflective surfaces rotates one circle, and each layer has Ln reflected light rays; wherein N in Ln ≥ n ≥ 1. For each side reflective surface, the corresponding L reflected light rays may be the same or different, that is to say, adjusting the incident frequency of the incident light or adjusting the rotation speed of the rotating head body can achieve: different side reflective surfaces have different numbers of reflected light rays. In an embodiment of the present invention, two or more side reflective surfaces may have the same inclination angle, so that the side reflective surfaces with the same inclination angle will scan the same layer. In specific applications, two or more side reflective surfaces with the same inclination angle may be set for more important parts to increase the scanning frequency of the layer. Of course, the inclination angles of all side reflective surfaces may also be different to scan the corresponding surface scanning areas one by one.

[0085] In the embodiment of the present invention, the position between the incident light and the rotation axis is relatively fixed, which means that the three-dimensional angle between the incident light and the rotation axis will not change during the period when the incident light sweeps across a side reflection surface, so a unique first reference plane can be formed between the incident light and the rotation axis. This ensures that after the incident light is reflected by the same side reflection surface, it forms a Figure 5-Figure 15 L reflected light rays of any layer shown. In the embodiment of the present invention, it is defined that the incident light ray is relatively fixed to the rotation axis when scanning the same side reflection surface; in this way, the L reflected light rays formed by the same side reflection surface are in the same layer to improve the controllability of the detection. Of course, it can also be set that during one rotation of the rotating head body, the incident light ray is relatively fixed to the rotation axis, that is, the three-dimensional angles remain unchanged. In one embodiment of the present invention, in order to generate multiple layers of reflected light rays through a rotating head body, the position between the incident light ray and the rotating head body can be changed once after the rotating head body rotates one circle. That is, Figure 8-Figure 13 As shown, after one rotation, N layers of reflected light are formed; then Figure 6 As shown, the incident light changes the incident angle so that the incident light hits different positions of the N side reflection surfaces, thereby forming another N layers of reflection light with different heights, so that each time the incident angle of the incident light is changed in the vertical direction, N layers of incident light are formed through the N side reflection surfaces; in this way, the incident light of N×P layers of scanning can be generated by changing the position of the incident light, where P is the number of times the incident angle of the incident light changes. Of course, the position of the rotating head body can also be changed while the incident light remains unchanged, so as to form the incident light of N×P layers of scanning through the N side reflection surfaces; that is, after the rotating head body rotates one circle, the rotating head body is controlled to rise / fall to a predetermined height, so that the incident light hits different height positions of each side reflection surface when the rotating head body rotates the next circle to generate the incident light of N×P layers of scanning, where P is the number of times the incident angle of the incident light changes; in this example, P is the number of times the rotating head body rises / falls.

[0086] Of course, the incident light changes its angle while the rotating head body does not rise / fall, or the incident light remains unchanged while the rotating head body rises / falls. In these two structures, the position between the incident light and the rotating axis is fixed to each other. Of course, those skilled in the art will understand that other methods can also be used to change the relative position between the incident light and the rotating axis to change the relative position between the incident light and a side reflection surface, and these other methods are within the protection scope of the present invention. At the same time, the rotating head body in the embodiment of the present invention refers to a relationship in which the rotating head body and the incident light have a positional rotation relationship, that is, the incident light remains stationary and the rotating head body rotates so that the incident light sequentially enters each side reflection surface of the rotating head body; or the rotating head body remains stationary and the incident light rotates around the rotating head body so that the incident light sequentially enters each side reflection surface of the rotating head body; or the rotating head body and the incident light both move and there is a relative position change between the two, so that the incident light sequentially enters each side reflection surface of the rotating head body. These other methods are within the protection scope of the present invention.

[0087] At the same time, if Figure 1-Figure 3 The existing structure using a planar side reflector has another problem: when the rotating reflector head rotates, the scanning range formed by the planar side reflector is not a plane. Fig.16 As shown, the vertical emission angle of the reflected light beam is different from the vertical emission angle of the reflection point at the starting and ending positions of the surface, and there is an angle difference. The actually measured emission light beam 1 is recorded as γ and the expected emission light beam 2 is recorded as ε, which results in an angle difference 3 in the vertical direction recorded as θ, that is, θ=ε-γ.

[0088] This is because when the side reflective surface is facing the scanning area, the incident light hits a reflection point on the side reflective surface, and the normal of the reflection point forms a certain angle α1 with the scanning area, which is generally vertical, α1 = 90°. Since the side reflective surface is a plane, when the rotating reflective head rotates, the normal of other reflection points forms a certain angle αn with the scanning area that is definitely not equal to α1. This causes the scanning area formed by the incident light after it is reflected by the entire side reflective surface to be deformed as the rotating reflective head rotates. Fig.16 As shown, after the incident light is reflected by the rotating reflective head, the light spot formed on a detection reference surface is a scanning area where the middle position and the two side positions are not on the same straight line. In the experiment, the inventor found that the deformation can reach θ≈20°. It can be understood that if the detection reference surface is farther away from the rotating reflective head, the distance between the light spots formed by the reflected light with an angle of 20° is greater, that is, the deformation between the two side positions and the middle position is more serious.

[0089] In one embodiment of the present invention, each of the curved side reflection surfaces has a preset shape. When the side reflection surface rotates around the rotation axis, the incident light sequentially hits each reflection point of a side reflection surface and is reflected to the scanning area respectively; when the rotating head body rotates, the shape of the side reflection surface satisfies the following conditions: when the rotating head body rotates to a predetermined position so that the incident light shines on a reflection point, the normal of the reflection point faces a predetermined direction. In this embodiment, the shape of this curved surface can be fitted in many ways, so that each reflection point on a cross section of a side reflection surface of the rotating reflection head, when the incident light shines on the reflection point, the normal of the reflection point faces the same direction. In this case, when the rotating reflection head rotates, the incident light sequentially hits multiple reflection points and is reflected to the scanning area to form a plurality of reflected light rays, forming a shape such as Figure 5 The L bar shown reflects light.

[0090] In another embodiment of the present invention, each of the curved side reflective surfaces has a preset shape. When the side reflective surface rotates around the rotation axis, the incident light sequentially enters each preset reflection point of the current side reflective surface and is reflected to the scanning area to form at least two reflected light rays, wherein the projection of each reflected light ray on the first reference plane 4 and the angle between the projection and the second reference plane 5 are a fixed value, wherein the first reference plane 4 is the plane formed by the incident light ray and the rotation axis, and the second reference plane 5 is a plane perpendicular to the first reference plane 4. Fig.18 As shown, this curved side reflection surface can reflect the reflected light to the detection area at the same angle, which well solves the problem that the plane side reflection surface in the prior art forms L reflected light rays as shown in FIG. Fig.16 The problem of forming a divergence angle as shown. That is to say, the structure of the embodiment of the present invention can ensure that the projections of the L reflected light rays formed by the reflection of each side reflection surface on the first reference plane 4 are parallel to each other, unlike the L reflected light rays formed in the prior art where there is a certain angle between them. In this way, even if there is a small height difference between the L reflected light rays, even if the detection reference surface is far away from the rotating reflection head, it will not cause the L reflected light rays to diverge; and in the prior art, since there is an angle between the L reflected light rays, the farther the detection reference surface is, the greater the distance between the L reflected light rays. In the present embodiment, the first reference plane 4 is the plane formed by the incident light ray and the rotation axis, that is, the incident light ray must have an intersection with the rotation axis, so that the incident light ray and the rotation axis can be coplanar to form the first reference plane 4.

[0091] In another embodiment of the present invention, each curved side reflection surface has a preset shape. The side reflection surface has a preset shape, and the position between the incident light and the rotation axis is relatively fixed. When the side reflection surface rotates around the rotation axis, the incident light sequentially enters each preset reflection point of the current side reflection surface and is reflected to the scanning area respectively to form at least two reflected light rays, wherein the projection of each reflected light on the first reference plane 4 and the angle between the second reference plane 5 are a fixed value, wherein the first reference plane 4 is a plane parallel to the incident light and the rotation axis at the same time, wherein the second reference plane 5 is a plane perpendicular to the first reference plane 4. In this embodiment, when the incident light has no intersection with the rotation axis, it means that the incident light is not coplanar with the rotation axis. The first reference plane 4 is a plane parallel to the incident light and the rotation axis at the same time, which can be determined. That is to say, since the incident light must be reflected by the side reflection surface before entering the detection area, the first reference plane 4 is a plane formed along the direction of the rotation axis and extending toward the detection area. Of course, when the first reference plane 4 extends toward the center of the detection area, the distance between the L reflected light rays is the smallest, that is, the light spots formed by the L reflected light rays of the same layer on the detection reference plane are closer to a straight line. Of course, the embodiment of the present invention does not limit the first reference plane 4 to extending toward the center of the detection area, and it can also form a predetermined angle with the center; however, it can be understood that as the angle increases, the distance between the L reflected light rays will also increase, and the light spots formed by the L reflected light rays of the same layer on the detection reference plane will also be more deformed. Of course, these structures are all within the protection scope of the present invention.

[0092] In yet another embodiment of the present invention, each of the curved side reflection surfaces has a preset shape. The side reflection surface has a preset shape, and the position between the incident light and the rotation axis is relatively fixed. When the side reflection surface rotates around the rotation axis, the incident light sequentially enters each preset reflection point of the current side reflection surface and is reflected to the scanning area respectively to form at least two reflected light rays, wherein the projection of each reflected light ray on the first reference plane 4 and the angle between the second reference plane 5 are a fixed value, wherein the first reference plane 4 is a plane extending in the direction of the detection area where the rotation axis is located, and the second reference plane 5 is a plane perpendicular to the first reference plane 4. In this embodiment, the first reference plane 4 is when the incident light ray has no intersection with the rotation axis, which means that the incident light ray is not coplanar with the rotation axis. That is to say, the first reference plane 4 is a surface formed along the direction of the rotation axis and extending toward the detection area. Of course, when the first reference plane 4 extends toward the center of the detection area, the distance between the L reflected light rays is the smallest, that is, the light spots formed by the L reflected light rays of the same layer on the detection reference plane are closer to a straight line. Of course, the embodiment of the present invention does not limit the first reference plane 4 to extending toward the center of the detection area, and it can also form a predetermined angle with the center; however, it can be understood that as the angle increases, the distance between the L reflected light rays will also increase, and the light spots formed by the L reflected light rays of the same layer on the detection reference plane will also be more deformed. Of course, these structures are all within the protection scope of the present invention.

[0093] When the rotating reflective head rotates to a side reflective surface, as the rotating reflective head rotates, the incident light rays sequentially enter the reflection points of the current side reflective surface, and these reflection points are called preset reflection points.

[0094] In the embodiment of the present invention, the curved surface of the side reflective surface can be obtained by many methods, which are not limited in the embodiment of the present invention. The following are several possible implementation methods in the embodiment of the present invention, which are described as examples so that those skilled in the art can understand that these methods can fit the shape of the curved surface of the side reflective surface required in the embodiment of the present invention. Of course, these several possible implementation methods are all examples, and there are many ways to fit the shape of the curved surface, and the embodiment of the present invention does not limit which method is used to fit the shape of the curved surface.

[0095] One of the methods is the exhaustive method: that is, when the incident light is incident on a layer of a side reflective surface, the normal of each point on the layer is calculated to adjust the shape of the point so that when the rotating head body rotates to the incident light irradiates the reflection point, the normal of the reflection point is oriented to the preset method. After determining the shape of each point of each layer, the shape of the curve of the layer can be fitted; after determining the shape of the curve of each layer, the shape of the entire curved side reflective surface can be fitted.

[0096] Another method is the segmented exhaustive method, that is, according to the rotation speed of the rotating reflective head or the frequency of the incident light, a layer of the side reflective surface is divided into W segments, wherein the center point of each segment is a reflection point, and there is a preset interval between two reflection points; according to the angle between the side reflective surface and the incident light, the normal of the reflection point in each segment is determined, so that when the rotating head body rotates until the incident light irradiates the reflection point, the normal of the reflection point is oriented to the preset method; the shape of a layer of the side reflective surface is fitted using the shape of the determined W segments. Then, the shape of each layer is used to fit the shape of the curved surface of the side reflective surface.

[0097] Another method is to fit the shape of the curved surface of the side reflector by the following formula:

[0098] 1) Establish a three-dimensional rectangular coordinate system O-xyz, with o as the origin, and use a vector starting from the origin and passing through the xoz plane as the incident light representation vector, denoted as vector OA = {x1, 0, z1}, and the direction angle of the vector is α1, β1, γ1; wherein α1 is set as the angle between the incident light and the second reference plane, β1 = 0, and γ1 is set as the angle between the incident light and the rotation axis; use vector OB = {x2, y2, z2} as the desired outgoing light representation vector when the projection on the second reference plane has the largest angle with the first reference plane, and its direction angle is α2, β2, γ2; use vector OC = {x0, y0, z0} to represent the normal vector of the reflector corresponding to the outgoing light and the incident light, and its direction angle is α, β, γ;

[0099] 2) Since OA, OB, and OC are coplanar, the determinant is

[0100]

[0101] Since the angles between OC, OA and OB are equal, then

[0102] (cosα1-cosα2)cosα+(cosβ1·cosβ2)cosβ+

[0103] (cosγ1-cosγ2)cosγ=0

[0104] and

[0105] cos 2 α+cos 2 β+cos 2 γ=1

[0106] 3) Since vectors OA and OB are known vectors, α, β, and γ can be calculated according to the above three equations; that is, the normal vector of the desired outgoing light ray when the projection of the outgoing light ray on the second reference plane and the first reference plane have the largest angle when the side reflection surface rotates around the rotation axis can be obtained;

[0107] 4) With the yoz plane as the mirror reflection plane and OA as the incident light vector, the outgoing light vector is located on the surface xoz, which is recorded as OD; the angle between OD and the surface xoy, that is, the angle between OD and the x-axis, is set to the desired angle between the projection of the outgoing light on the first reference plane and the second reference plane;

[0108] 5) dividing a layer of the side reflective surface into W segments of sub-surfaces, setting the normal direction of the first sub-surface to OD, and setting the normal direction of the Wth sub-surface to OC; and performing a gradual fitting of the normals of other surfaces in the W segments of sub-surfaces from the OD direction to the OC direction, so as to obtain the shape of a layer of the side reflective surface;

[0109] 6) The shape of the curved surface of the side reflective surface is fitted using the fitted shape of each layer.

[0110] Yet another method is to fit the curved shape of the side reflective surface using existing software:

[0111] 1) Use 3D modeling software to establish a first reference plane, a second reference plane and a rotation axis, and set the incident light. Select a point on the incident light on the first reference plane as the first reflection point A; draw a line segment AB on the first reference plane with point A as the starting point; take the surface passing through the line segment AB and orthogonal to the first reference plane as the reflection surface, and adjust the direction of the line segment so that the angle between the outgoing light with point A as the reflection point (located on the first reference plane) and the second reference plane is the desired angle θ; the angle between the line segment AB and the second reference plane is γ;

[0112] 2) Draw a straight line segment or curve AC perpendicular to the first reference plane starting from point A;

[0113] 3) In the 3D modeling software, line AB and line AC are synchronously rotated around the rotation axis so that point C is located on the first reference plane;

[0114] 4) Take point C as the starting point on the first reference plane and draw a line segment CD with the same length as line segment AB along the direction of the angle θ with the second reference plane; the angle between the line segment and the second plane is denoted as θ1;

[0115] 5) Use 3D modeling software to construct surface ABCD in 3D space;

[0116] 6) Importing the curved surface ABCD into the optical simulation software; and establishing the first and second reference planes and the incident light in the optical simulation software;

[0117] 7) When the surface ABCD is rotated along the rotation axis in the optical software, when point C is located on the first reference plane, the angle between the projection of the incident light on the surface ABCD on the first reference plane and the second reference plane is recorded as β;

[0118] 8) If β is inconsistent with θ, θ1 is adjusted in the 3D modeling software, and the surface ABCD is reconstructed, and at this time, the angles between all the lines from line segment AB to line segment CD on the surface ABCD and the second reference plane are set to gradually change from γ to θ1;

[0119] 9) Update the surface ABCD into the optical simulation software and remeasure β;

[0120] 10) Repeat steps 7) to 9) until β = θ;

[0121] 11) The curved surface ABCD is the surface shape of the side reflection surface.

[0122] Those skilled in the art will appreciate that the above three methods can all fit the shape of a curved surface. Of course, these three methods are only examples and are not intended to limit the scope of the embodiments of the present invention.

[0123] In the embodiment of the present invention, the side reflective surface may be a Figure 5-Figure 13 As shown, the side reflection surface is a complete side surface of the rotating reflection head; or the side reflection surface can be a Fig.14 As shown, this is a portion of a complete side surface of the rotating reflective head. Fig.14 As shown, a side surface of the rotating reflective head of this structure may include R×S side reflective surfaces, where R≥1 and S≥1. By slightly modifying the above segmented exhaustive method, the following can be obtained: Fig.14 The rotating reflective head shown in the figure, that is, each segment becomes a side reflective surface, and multiple segments together are directly used as R×S side reflective surfaces that jointly form a side surface of the rotating reflective head without fitting. Of course, the exhaustive method can also be used to obtain Fig.14 The rotating reflectance head shown in FIG. 1 and the two embodiments using algorithms and using software can also be used to obtain Fig.14 The rotating reflector head shown.

[0124] like Figure 5The figure shows the case where the incident light remains unchanged; when the rotating reflective head rotates around the rotation axis, the incident light is reflected to the scanning area to form multiple reflected light rays when it hits multiple different reflection points on one of the W cross sections of the arc-shaped side reflective surface. The L reflection lines formed by each side reflective surface in a reflection process form a plane, or two or more parallel planes in the detection area. Figure 5 As shown, the detection points form a straight line, or a plurality of straight lines parallel to each other.

[0125] Under ideal conditions, a perfect side reflection surface can be fitted so that the light spots formed by each reflected light on the predetermined surface are on the same straight line. However, based on efficiency and cost considerations, if the light spots formed by each reflected light on the predetermined surface formed by the same side reflection surface are on two or more parallel straight lines, and the distance between the straight lines is less than the light spots, it can be used in vehicle-mounted radar and other detection fields that do not require extremely precise detection. In fact, except for laboratory environments, other engineering implementation fields do not require such extremely precise detection results. Through experiments by the inventor, it was found that, taking vehicle-mounted radar as an example, under the detection distance required for industrial implementation, the light spot formed by the reflected light formed in the detection area on the plane corresponding to the limit detection distance is generally about 2mm, and the reflected light at the center position of the side reflection surface and the reflected light formed on both sides, even if they are not on the same plane, the distance between them will not exceed 0.2mm parallel light. In particular, the reflected light formed in the prior art usually forms an angle between the reflected light formed by the reflected light at the center position of the side reflection surface and the reflected light formed on both sides, so that the longer the distance, the greater the distance difference formed by the angle. In the present invention, the reflected light rays are parallel to each other, so no matter how far away they are, the distance between the reflected light rays is constant, and the scanning accuracy is greatly improved. Generally speaking, the reflected light rays formed by the incident light irradiating the center position and the two sides of the arc-shaped side reflection surface may not be on the same plane, but because the normal direction of the incident light at each reflection point must be facing the same direction when irradiating the incident light; thus, the reflected light rays formed by the same side reflection surface in one rotation are also parallel, thereby ensuring the stability of the detection area.

[0126] In an embodiment of the present invention, the rotating head body of the rotating reflection head is provided with N arc-shaped side reflection surfaces arranged along the circumference of the rotation axis. Figure 6 The one shown has only one curved side reflector. Figure 7 The tetrahedron rotating reflective head shown has two side reflective surfaces: side reflective surface A and side reflective surface B; while the other two side surfaces are not side reflective surfaces. Figure 8 A rotating reflective head having three side reflective surfaces; Fig. 9It is a rotating reflective head with five side reflective surfaces; Fig.10 It is a rotating reflective head with four side reflective surfaces; Fig.11 A rotating reflective head having six side reflective surfaces; Fig.12 A rotating reflective head having eight side reflective surfaces; Fig.13 The rotating reflective head has 12 side reflective surfaces. In the above structures, each side reflective surface is a smoothly transitioned arc-shaped side reflective surface; Fig.14 The structure adopts a honeycomb-shaped side reflection surface, which has N=8 side reflection surfaces, and each side reflection surface has M layers, and the shape of each layer may not be exactly the same; in this way, different reflected light rays can be formed according to specific requirements for the detection area to form a light spot array.

[0127] like Figure 6 The figure shows that there is only one side reflection surface, and the incident light changes the incident angle; thus, when the rotating reflection head rotates, different straight detection points can be formed. Specifically, when the incident light irradiates a layer of the side reflection surface, the projections of the reflected light formed on the first reference plane are parallel to each other. Then, the incident angle of the incident light is changed, so that the incident light can irradiate layers at different heights of the side reflection surface; the incident light can also remain unchanged while the rotating reflection head is raised or lowered, so that the incident light can irradiate layers at different heights of the side reflection surface.

[0128] like Figure 7-Figure 14 The rotating reflective head is shown to have N side reflective surfaces, and N≥2. In the embodiment of the present invention, when N≥2, at least two of the N arc-shaped side reflective surfaces have different preset tilt angles.

[0129] The above Figure 7-Figure 14 The N side reflection surfaces of the rotating reflection head shown are all concave curved side reflection surfaces; however, those skilled in the art will appreciate that convex curved side reflection surfaces may also be used to implement the head; these structures all belong to the “curved side reflection surfaces” defined in the embodiments of the present invention.

[0130] Fig.15 This is an embodiment of a plurality of rotating reflection heads, which are coaxially arranged and directed toward the plurality of rotating reflection heads through corresponding plurality of incident light beams, thereby forming a plurality of straight lines formed by detection points at one time.

[0131] In one embodiment of the present invention, in order to make the scanning area not limited to the horizontal scanning range, the rotating reflective head can also move up and down, so that the incident light can be reflected to different layers, thereby forming a scanning area with a preset width and height. Figure 7-Figure 15The various rotating reflective heads can move up and down along the rotating axis, thereby changing the angle with the incident light, and different angles formed with the incident light will form straight lines composed of detection points at different heights. Therefore, by changing the height of the rotating reflective head, the angle between the incident light and the rotating reflective head can be changed. Of course, the angle between the incident light and the rotating reflective head can also be changed by changing the incident light; that is, Figure 6 The structure shown.

[0132] The N side surfaces of the rotating reflective head may all be side reflective surfaces, or may not all be side reflective surfaces.

[0133] like Figure 7 The rotating reflection head shown is a tetrahedron, and two of its faces are side reflection faces; in one embodiment of the present invention, the inclination angles of the two side reflection faces are different. Thus, when the rotating reflection head rotates, due to the different inclination angles of the two side reflection faces, the detection points generated behind the two side reflection faces with different inclination angles under the same incident angle can form two different straight lines. Figure 7 As shown, when the incident light hits a cross section of the side reflection surface A, a Figure 7 There are multiple detection points on a straight line corresponding to A shown in FIG. Then, when the rotating reflection head is rotated to the side reflection surface B facing the incident light, the following is formed: Figure 8 The B shown in FIG. 1 corresponds to a plurality of detection points on a straight line. In this way, when the rotating reflection head rotates continuously, detection points in a plurality of straight lines are formed through various surfaces.

[0134] like Figure 7-Figure 14 It is shown that the rotating reflective head has N side reflective surfaces. In the embodiment of the present invention, the shapes of the N side reflective surfaces may be the same or different. Specifically, in some embodiments, the N side reflective surfaces may not correspond to each other, that is, the areas of these side reflective surfaces are not completely the same, and the area of ​​one or several side surfaces is larger than that of other side surfaces; or the areas of all side surfaces are the same (that is, each side surface has the same fan-shaped angle relative to the rotation axis), forming a rotating reflective head of a regular N face. In some embodiments, the shapes of the arcuate surfaces of these side reflective surfaces may be the same or may not be completely the same. In some embodiments, the inclination angles of these side reflective surfaces may also be completely different.

[0135] Different side reflective surfaces have different inclination angles, which is also to achieve a change in the angle between the side reflective surface and the incident light. Figure 8 Taking the trihedron shown in the figure as an example, if the inclination angles of the three side reflection surfaces are different, when the rotating reflection head does not rise or fall but only rotates, the three different side reflection surfaces can be Figure 8As shown, three parallel surface scanning areas are formed by reflected light rays; and the distance between the surface scanning areas is determined by the difference between the inclination angles of the side reflection surfaces. Figure 7-Figure 15 As shown, the number of the formed surface scanning areas is related to the number of the side reflection surfaces of the rotating reflection head. When the rotating reflection head has N side reflection surfaces, the rotating reflection head forms N side reflection surfaces of the surface scanning area every time it rotates one circle. Of course, the surface scanning areas formed by the side reflection surfaces with different inclination angles are also different.

[0136] Of course, the embodiment of the present invention does not limit all side reflection surfaces to have different inclination angles; for example Figure 8 Taking the trihedron shown as an example, two side reflective surfaces may have the same inclination angle, while the third side reflective surface may have a different inclination angle. It can be understood that the surface scanning areas formed by the side reflective surfaces with the same inclination angle overlap. In this way, for a rotating reflective head with multiple side reflective surfaces, since the time for each rotation is relatively long, multiple side reflective surfaces with the same inclination angle and shape can be set for the inclination angle corresponding to the position of the key scanning area. In this way, the key scanning area can be scanned more frequently.

[0137] Of course, all of the above are optional methods in the embodiments of the present invention, and are not limited to these in the embodiments of the present invention.

[0138] The embodiment of the present invention is aimed at the core drawbacks of the existing prism scanning and galvanometer scanning. Different from the mirror prism scanning, the rotating reflection head is a multi-curved rotating device. The multi-curved rotating device of the embodiment of the present invention includes one or more curved side reflection surfaces arranged around the rotation axis. These curved side reflection surfaces are used to reflect the incident light beam, and each curved side reflection surface has a plurality of preset reflection points. When the rotating reflection head rotates around the rotation axis until the incident light shines on a reflection point, the normal direction of the reflection point is toward a predetermined direction. In other words, the reflected light formed after the incident light shines on any preset reflection point must be extended toward a predetermined direction.

[0139] The rotating polyhedron device can realize the following functions:

[0140] When the rotating reflective head moves around the rotation axis, the same incident light beam is incident on each reflective curved surface respectively, so that a larger horizontal scanning range can be obtained compared with the flat side reflective surface in the prior art.

[0141] like Figure 4 As shown, after reflection from the 6-curved body, the central angle of the area scanned in the horizontal direction can exceed 180 degrees, which greatly increases the scanning range of the mirror prism.

[0142] like Figure 5 As shown in the figure, the rotating reflective head structure and horizontal plane scanning of this embodiment, the rotating reflective head includes a rotating axis and a curved side reflective surface. The rotating reflective head rotates around the rotating axis, and the incident light beam irradiates the surface of the curved body. When the device rotates, it can perform linear point-by-point scanning in the horizontal direction to achieve horizontal plane scanning. By setting the shape of the reflective curved surface, the scanning range in the horizontal and vertical directions can be expanded.

[0143] like Figure 6 As shown, the rotating reflective head of this embodiment does not rise or fall, but changes the angle of the incident light, so that the incident light can be irradiated on "layers" of different heights of the side reflective surface of the rotating reflective head, thereby achieving a side reflective surface forming multiple layers of reflected light whose projections on the first reference plane are parallel to each other.

[0144] like Figure 7 As shown, the rotating reflective head of this embodiment includes a rotating axis and two reflective curved surfaces, and the rotating reflective head moves around the rotating axis. The rotating reflective head rotates around the axis, and the incident light beam is incident on different side reflective surfaces of the rotating reflective head in sequence. In one embodiment of the present invention, the angles between the two side reflective surfaces and the rotating axis are not exactly the same, so that two layers of reflected light can be formed when the rotating reflective head rotates one circle, that is, each side reflective surface forms a layer of reflected light. Then, by adjusting the angle of the incident light or adjusting the height of the rotating reflective head, after each adjustment, two layers of reflected light at different heights can be formed after the rotating reflective head rotates one circle.

[0145] like Figure 8-9 As shown in FIG. 1 , the rotating reflective head of the embodiment is a 3-curved surface and a 5-curved surface body. Figure 10-13 As shown, there are 4-facet, 6-facet, 8-facet and 12-facet rotating reflection heads in this embodiment.

[0146] like Fig.14 As shown, in this embodiment, 8 honeycomb curved surfaces and horizontal and vertical scanning, the rotating reflection head respectively includes a rotation axis and 8 honeycomb reflecting surfaces, and the rotating reflection head moves around the rotation axis.

[0147] The horizontal and vertical scanning of the honeycomb curved surface body in the present embodiment 8 is basically the same as that in the embodiment 4. By setting the concave and protruding shapes of each reflective curved surface, the scanning range in the horizontal and vertical directions is expanded.

[0148] like Fig.15As shown, a beam reflection device of multiple rotating reflection heads is superimposed. This embodiment uses three stacked 8-curved surface bodies, and the stacked curved surfaces are A surface, B surface, C surface, D surface, E surface, F surface, G surface, and H surface. The three stacked multi-curved surface bodies located on the A surface form three scanning tracks of the A surface after the three incident light sources are incident; when the stacked rotating body rotates to the B surface, three scanning tracks of the B surface are formed, and their positions are below the scanning tracks of the A surface; and then the scanning of the remaining reflective surfaces is completed in sequence.

[0149] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A rotating reflective head, characterized in that: The rotating reflective head comprises at least one rotating head body capable of rotating along a rotating axis, wherein each rotating head body is provided with N curved side reflective surfaces arranged along the circumference of the rotating axis, wherein N is a positive integer not equal to zero; and wherein at least one side reflective surface is a reflective surface forming a preset angle with the rotating axis; and the surface shape of the side reflective surface is obtained by the following method: 1) Establish a three-dimensional rectangular coordinate system O-xyz, with o as the origin, and use a vector starting from the origin and passing through the xoz plane as the incident light ray representation vector, denoted as vector OA={x1, 0, z1}, and the direction angles of the vector are α1, β1, γ1; wherein α1 is set as the angle between the incident light ray and the second reference plane, β1=0, and γ1 is set as the angle between the incident light ray and the rotation axis; use vector OB={x2, y2, z2} as the desired outgoing light ray representation vector when the angle between the projection on the second reference plane and the first reference plane is the largest, and its direction angles are α2, β2, γ2; use vector OC={x0, y0, z0} to represent the normal vector of the reflector surface corresponding to the outgoing light ray and the incident light ray, and its direction angles are α, β, γ; wherein the first reference plane is the plane formed by the incident light ray and the rotation axis, and the second reference plane is the plane perpendicular to the first reference plane; 2) Since OA, OB, and OC are coplanar, the determinant is Since the angles between OC, OA and OB are equal, then (cosα1-cosα2)cosα+(cos / β1-cosβ2)cosβ+(cosγ1-cosγ2)cosγ=0 and cos 2 α+cos 2 β+cos 2 γ=1 3) Since vectors OA and OB are known vectors, α, β, and γ can be calculated according to the above three equations; that is, the normal vector of the desired outgoing light ray when the projection of the outgoing light ray on the second reference plane and the first reference plane have the largest angle when the side reflection surface rotates around the rotation axis can be obtained; 4) With the yoz plane as the mirror reflection plane and OA as the incident light vector, the outgoing light vector is located on the surface xoz, which is recorded as OD; the angle between OD and the surface xoy, that is, the angle between OD and the x-axis, is set to the desired angle between the projection of the outgoing light on the first reference plane and the second reference plane; 5) dividing a layer of the side reflective surface into W segments of sub-surfaces, setting the normal direction of the first sub-surface to OD, and setting the normal direction of the Wth sub-surface to OC; and performing a gradual fitting of the normals of other surfaces in the W segments of sub-surfaces from the OD direction to the OC direction, so as to obtain the shape of a layer of the side reflective surface; 6) The shape of the curved surface of the side reflective surface is fitted using the fitted shape of each layer.

2. A rotating reflective head, characterized in that: The rotating reflective head comprises at least one rotating head body capable of rotating along a rotating axis, wherein each rotating head body is provided with N curved side reflective surfaces arranged along the circumference of the rotating axis, wherein N is a positive integer not equal to zero; and wherein at least one side reflective surface is a reflective surface forming a preset angle with the rotating axis; and the surface shape of the side reflective surface is obtained by the following method: 1) Use 3D modeling software to establish a first reference plane, a second reference plane and a rotation axis, set the incident light, and select a point on the incident light on the first reference plane as the first reflection point A; Draw a line segment AB on the first reference plane starting from point A; The plane passing through the line segment AB and being orthogonal to the first reference plane is taken as the reflection plane, and the direction of the line segment is adjusted so that the angle between the outgoing light with point A as the reflection point and the second reference plane is the desired angle θ, and the outgoing light is located on the first reference plane; the angle between the line segment AB and the second reference plane is γ; wherein the first reference plane is the plane formed by the incident light and the rotation axis, and the second reference plane is the plane perpendicular to the first reference plane; 2) Draw a straight line segment or curve AC perpendicular to the first reference plane starting from point A; 3) In the 3D modeling software, line AB and line AC are synchronously rotated around the rotation axis so that point C is located on the first reference plane; 4) Take point C as the starting point on the first reference plane and draw a line segment CD with the same length as line segment AB along the direction of the angle θ with the second reference plane; the angle between the line segment and the second plane is denoted as θ1; 5) Use 3D modeling software to construct surface ABCD in 3D space; 6) Importing the curved surface ABCD into the optical simulation software, and establishing the first and second reference planes and the incident light in the optical simulation software; 7) When the surface ABCD is rotated along the rotation axis in the optical software, when point C is located on the first reference plane, the angle between the projection of the incident light on the surface ABCD on the first reference plane and the second reference plane is recorded as β; 8) If β is inconsistent with θ, θ1 is adjusted in the 3D modeling software, and the surface ABCD is reconstructed, and at this time, the angles between all the lines from line segment AB to line segment CD on the surface ABCD and the second reference plane are set to gradually change from γ to θ1; 9) Update the surface ABCD into the optical simulation software and remeasure β; 10) Repeat steps 7) to 9) until β = θ; 11) The curved surface ABCD is the surface shape of the side reflection surface.

3. The rotating reflective head according to claim 1 or 2, characterized in that: The side reflection surface is a complete side surface of the rotating reflection head; or A portion of a side surface of the rotating reflective head; the side surface includes R×S side reflective surfaces, wherein R≥1 and S≥1.

4. The rotating reflective head according to any one of claims 1 to 3, characterized in that: The side reflection surface has a preset shape, and the position between the incident light and the rotation axis of the rotating head body is relatively fixed; when the side reflection surface rotates around the rotation axis, the incident light sequentially enters each reflection point of a side reflection surface and is reflected to the scanning area respectively; when the rotating head body rotates, the shape of the side reflection surface satisfies the following conditions: when the rotating head body rotates to a predetermined position so that the incident light shines on a reflection point, the normal of the reflection point faces a predetermined direction.

5. The rotating reflective head according to any one of claims 1 to 3, characterized in that: The side reflection surface has a preset shape, and the position between the incident light and the rotation axis is relatively fixed, and the extension line of the incident light intersects with the rotation axis. When the side reflection surface rotates around the rotation axis, the incident light sequentially enters each preset reflection point of the current side reflection surface and is reflected to the scanning area respectively to form at least two reflected light rays, wherein the projection of each reflected light ray on the first reference plane and the angle between the second reference plane is a fixed value.

6. The rotating reflective head according to any one of claims 1 to 3, characterized in that: The side reflection surface has a preset shape, and the position between the incident light and the rotation axis is relatively fixed. When the side reflection surface rotates around the rotation axis, the incident light sequentially enters each preset reflection point of the current side reflection surface and is reflected to the scanning area respectively to form at least two reflected light rays. The projection of each reflected light ray on the first reference plane has an angle with the second reference plane that is a fixed value. The first reference plane is a plane that is parallel to both the incident light ray and the rotation axis, and the second reference plane is a plane perpendicular to the first reference plane.

7. The rotating reflective head according to any one of claims 1 to 3, characterized in that: The side reflection surface has a preset shape, and the position between the incident light and the rotation axis is relatively fixed. When the side reflection surface rotates around the rotation axis, the incident light sequentially enters each preset reflection point of the current side reflection surface and is reflected to the scanning area respectively to form at least two reflected light rays. The projection of each reflected light ray on the first reference plane has an angle with the second reference plane that is a fixed value. The first reference plane is a plane parallel to the rotation axis and extending in the direction of the scanning area, or the first reference plane is a plane extending in the direction of the scanning area where the rotation axis is located. The second reference plane is a plane perpendicular to the first reference plane.

8. The rotating reflective head according to any one of claims 1 to 7, characterized in that: The N curved side reflection surfaces of the rotating head body arranged along the circumference of the rotating axis respectively form the same or different or completely different preset angles with the rotating axis; or When N≥2, at least two of the N side reflection surfaces have different preset angles with the rotation axis.

9. The rotating reflective head according to any one of claims 1 to 7, characterized in that: The side reflection surface of the rotating head body is in a concave curved surface shape or a convex curved surface shape.

10. The rotating reflective head according to any one of claims 1 to 7, characterized in that: The rotating reflective head further comprises a rotation driving mechanism for driving the rotating head body to rotate around the rotation axis, wherein the rotation driving mechanism drives the rotating head body to rotate around the rotation axis so that the incident light is sequentially reflected to a scanning area through each side reflection surface of the rotating head body.

11. The rotating reflective head according to any one of claims 1 to 7, characterized in that: The rotating reflective head further comprises a moving driving mechanism for driving the rotating head body to move along the rotating axis, and the moving driving mechanism drives the rotating head body to move along the rotating axis.

12. The rotating reflective head according to any one of claims 1 to 11, characterized in that: The rotating reflection head comprises at least two rotating head bodies, and all the rotating head bodies are stacked.

13. A laser scanning device, comprising a rotating reflection head and an incident light emitting mechanism, wherein the structure of the rotating reflection head is the rotating reflection head as described in any one of claims 1 to 12, and the light emitting mechanism is used to emit the incident light.

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