Rotary remote optical scanning device with adjustable scan range

Abstract

The application discloses a rotating remote optical scanning device with adjustable scanning range, which is characterized by the following technical scheme: a circumferential rotating motor drives a 360-degree rotation around the central axis of a rotating base; an automatic adjustment scanning device is arranged on the circumferential rotating base; a hollow rotating body comprises a scanning rotating motor arranged at one axial end of the hollow rotating body and a reflector arranged at the other axial end of the hollow rotating body; an alpha angle exists between the projection of the reflecting surface of the reflector and the projection of the rotating shaft of the hollow rotating body; the scanning rotating motor drives the hollow rotating body and the reflector to rotate around the rotating shaft, and cooperates with the rotating base to convert the laser output beam into a two-dimensional distributed annular scanning track which is in a hollow circular distribution and step-by-step operation at the scanned object, and a series of hollow conical light bodies with a top angle of beta are formed, and the two-dimensional scanning light ring is reflected on the surface of the detected object. The device can complete the function switching of multiple radars through one control action, and has few involved devices and reliable work.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field, and particularly relates to a rotary remote optical scanning device with adjustable scanning range. BACKGROUND

[0002] Laser radar is a laser scanning system that uses a laser beam to detect the position, direction, speed, and other characteristic quantities of a target. Its working principle is to send a detection beam to the target, compare the signal reflected from the target with the emitted signal, and obtain relevant information about the target, such as target distance, direction, height, speed, attitude, and even shape parameters. A conventional single-line radar scans a detected object once per revolution of the platform.

[0003] A multi-line laser radar is a type of laser radar that includes multiple laser emitters and uses a rotating platform structure to achieve scanning. Since multiple lasers work simultaneously, more information about the detected object can be obtained. However, the centralized arrangement of multiple lasers leads to insufficient internal installation space, excessively high precision requirements for device mounting surfaces, and high assembly difficulty and time consumption. Moreover, the overall structure is cumbersome, heavy, and affects the accuracy and speed of the radar.

[0004] Existing two-dimensional scanning radars use multiple scans of a single laser to achieve two-dimensional or three-dimensional image points. Since a planar rotating mechanism or a rotating mirror and galvanometer or MEMS micromirror structure is used to control the deflection of light, the planar rotating mechanism forms a reflection point for the target per revolution, which cannot form a reflection point map of the entire object. The rotating mirror and galvanometer or MEMS micromirror have slow gap swing motion due to mechanical action, thereby reducing scanning speed and accuracy and shortening service life.

[0005] Chinese patent CN202010227745 discloses a radar system that uses a rotating mirror to achieve 360-degree circumferential scanning and a galvanometer to achieve elevation and depression scanning. Chinese utility model patent CN202121432937 discloses a radar system that uses two upper and lower wedge-shaped mirrors to produce angular transformation scanning of light by rotating in opposite directions, and then uses a 45°-arranged 360°-rotating mirror to form circumferential and spatial scanning. Chinese application patent 201911419746.5 also discloses a method for controlling the deflection of light angles using double wedge-shaped mirrors. Although this method can achieve multi-angle scanning, it reduces the energy of the light beam due to the transformation of multiple wedge-shaped mirrors, and the fixed transformation angle and excessive rotating transmission structure increase the system design cost and operational failure rate.

[0006] A kind of authorized patent ZL201310109489.1 in China "a kind of laser rotary scanning illuminator and its application" discloses a kind of illuminator with rotating device driving mirror surface rotation, the light beam emitted by fiber coupling laser is irradiated on the mirror surface in divergent form, its mirror surface is connected with rotating base by fixed bolt and is adjusted the angle of incidence light beam by adjusting the angle of mirror surface normal and motor axis, to realize the rotary scanning reflection adjustment, then, realize the more uniform distribution of the illumination area of the reflected light beam in a larger range with less speckle and stripe, more uniform, illumination uniformity, complete a kind of illumination effect of large area amplification and laser homogenization speckle dissipation using small size laser beam.

[0007] However, when the illumination range needs to be changed or the bolt needs to be adjusted, the operation of the rotating motor or motor must be stopped, the motor inclination is adjusted by the bottom bolt, and the mirror angle is adjusted by the mirror seat bolt, and then the motor is continued to operate, so that the adjustment means is backward, the adjustment process is slow, and the operation is not convenient.

[0008] The information disclosed in this BACKGROUND section is only intended to increase an understanding of the general context in which the present application can be practiced. It is not admitted that this information constitutes prior art that is already known in the art. SUMMARY

[0009] The present application aims to provide a rotating remote optical scanning device with adjustable scanning range, so as to overcome the defects in the prior art.

[0010] To achieve the above-mentioned purpose, the present application provides a rotating remote optical scanning device with adjustable scanning range, comprising:

[0011] The circumferential rotating seat is driven by the circumferential rotating motor to rotate around the central axis of the rotating seat by 360 degrees.

[0012] The bracket is arranged on the circumferential rotating seat, and the scanning motor is installed on the bracket to drive the automatic adjustment of the scanning device.

[0013] The laser light source, the beam collimator and the compressed air source are installed below the circumferential rotating seat and transmit the laser beam through the central hole of the circumferential rotating seat.

[0014] Or the laser light source and the beam collimator are installed on the circumferential rotating seat, and the air source is installed below the circumferential rotating seat and transmits compressed air through the central hole of the circumferential rotating seat.

[0015] The scanning rotary motor drives the hollow rotary body and the mirror to rotate around the rotary shaft, and cooperates with the rotary base to convert the output light beam of the laser collimated by the light beam collimator into a two-dimensional hollow circular distribution, step-by-step moving and continuous point-shaped scanning track on the scanned object, to form a series of hollow conical light bodies with a vertex angle β composed of point-shaped light spots, and the point-shaped light ring is reflected when irradiated to the surface of the detected object;

[0016] The hollow rotary body comprises an adjusting device arranged in the cavity of the hollow rotary body and a mirror arranged at the other end of the axial direction of the hollow rotary body, and the projection of the reflecting surface of the mirror and the projection of the rotary shaft of the hollow rotary body have an angle α: α = 50-90° or 75-90°.

[0017] The adjusting device is a pneumatic piston, and the hinge device arranged near the center of the mirror drives the change of the angle α of the mirror, thereby realizing the change of the vertex angle β of the scanning hollow conical light body.

[0018] The gas source required by the pneumatic piston reaches the gas inlet of the pneumatic piston through the circumferential rotary seat central hole and the hollow shaft behind the scanning rotary motor.

[0019] In this way, the air compressor does not need to rotate with the scanning device, and only one gas source pipeline is required. By controlling the pressure of the gas source, the adjustment change of the angle α of the mirror can be realized, and the adjustment change of the vertex angle β of the scanning hollow conical light body can be realized.

[0020] Preferably, in the above technical solution, the hollow rotary body is a hollow cylindrical structure, and the adjusting device is arranged inside for controlling the angle α of the mirror.

[0021] Preferably, in the above technical solution, the laser is preferably a pulse light beam output laser, and the light beam collimator makes the output light beam of the laser form a nearly parallel output light beam, reduces the divergence angle of the light beam, and ensures that the irradiation light spot at the detected object is circular, thereby improving the energy of the scanning single-beam light beam and increasing the detection sensitivity and accuracy.

[0022] Preferably, in the above technical solution, when the circumferential rotary motor drives the circumferential rotary base to rotate 360°, and the scanning rotary motor drives the hollow rotary body and the mirror to rotate 360° around the rotary shaft, the output light beam forms a two-dimensional scanning light beam of a spiral advancing hollow conical light body with a vertex angle β; and the β = 360-4α (0°≤α≤90°). Figure 5

[0023] Preferably, in the above technical solution, the side of the mirror is connected to the outside of the rotary body through the first hinge, and the adjusting device is arranged inside the hollow rotary body and near the rotary shaft, and the center of gravity of the adjusting device is preferably arranged on the rotary shaft.​

[0024] Preferably, in the above technical solution, a second hinge device is arranged near the intersection of the projection of the mirror and the rotation axis, and the adjusting device is connected to the mirror through the second hinge device, so that when the adjusting device is adjusted, the second hinge device is actuated to cause the mirror to be angularly deflected around the first hinge, thereby achieving adjustment of α.

[0025] Preferably, in the above technical solution, the adjusting device is composed of a pneumatic linear motion piston and a return spring, the scanning rotary motor is a hollow shaft rotary motor, and the air source required by the linear pneumatic element is connected to the hollow shaft of the scanning rotary motor through a rotary joint and then reaches the linear pneumatic element.

[0026] Preferably, in the above technical solution, the circumferential rotary motor is preferably a hollow shaft motor, and the air source required by the pneumatic piston is connected to the hollow shaft of the circumferential rotary motor through a rotary joint and then reaches the linear pneumatic element.

[0027] Alternatively, the circumferential rotary seat has a central hole, the circumferential rotary motor drives the circumferential rotary seat to rotate through a belt or a gear transmission, and the air source required by the pneumatic piston is connected to the hollow shaft of the scanning rotary motor through the central hole of the rotary seat and then reaches the linear pneumatic element through a rotary joint.

[0028] In this way, the angle of the mirror can be adjusted by controlling the size of the air pressure of the air source, and the required devices are few, no electrical connection is required, and the operation is reliable (when the rotary seat is running, electrical connection is prone to problems of signal transmission and conversion)

[0029] Technical effects:

[0030] ①When the angle α is less than or greater than 90°, the output light beam forms a conical scanning feature with an apex angle β, which can realize rapid two-dimensional scanning.

[0031] Controlling the size of the β apex angle of the scanning cone can switch between early warning scanning and tracking scanning.

[0032] The device can complete the function switching of multiple radars with one control action, involves few devices, and works reliably.

[0033] In this way, when the angle α is 90°, the output light beam does not form a conical scanning feature, realizing ordinary and conventional single-line scanning.

[0034] ②The adjusting device is arranged near the rotation axis of the hollow rotating body, which can reduce the damage to the dynamic rotation balance of the high-speed rotating hollow rotating body caused by the arrangement of the adjusting device, thereby ensuring that the hollow rotating body rotates at a very high speed and obtaining more and more intensive light beam output and reflection point signals.

[0035] ③Due to less control devices and the gravity center near the rotating shaft, it is suitable for high speed rotation of the hollow rotating body, so that more light beams and denser light spots can be obtained, and meanwhile, the light beam collimator can ensure that the light beam projected on the detected object has sufficient energy, thereby increasing the detection sensitivity.

[0036] Preferably, in the above technical solution, the rotation angular velocity R1 of the scanning rotary motor, the rotation angular velocity R2 of the circumferential rotary motor, the detection effective distance radius D, the scanning of the scanning rotary light beam for one round, the forward distance L = V2*T = ПDR2 / R1, and the ratio R2 / R1 of the rotation angular velocities of the circumferential rotary motor and the scanning rotary motor are set to realize the control of the scanning accuracy.

[0037] Preferably, in the above technical solution, the laser has a pulsating scanning working state and a long-lighting tracking working state. The pulsating scanning working state is further divided into a low-duty-ratio pulsating light beam output state, a high-duty-ratio pulsating light beam output state, and a variable-duty-ratio pulsating light beam output state.

[0038] Each working state corresponds to different conventional detection, scanning of long-distance targets, discovery of short-distance targets, or tracking of targets.

[0039] The low-duty-ratio pulsating light beam output has a duty ratio P1 = 1-35%, which is a relatively energy-saving conventional detection state.

[0040] The variable-duty-ratio pulsating light beam output has P1 and P2 alternately, which is a state of increasing detection energy for long-distance targets after the long-distance targets are discovered.

[0041] The high-duty-ratio pulsating light beam output has a duty ratio P2 = 35-75%, which is a state of increasing detection energy for short-distance targets after the short-distance targets are discovered.

[0042] A rotating long-distance optical scanning device with adjustable scanning range comprises a rotating base, a circumferential rotary motor for driving the circumferential rotating base to rotate in a 360° horizontal circumferential direction, a support arranged on the rotating base, a rotating body and a reflecting surface / mirror mounted on the support, a scanning rotary motor for driving the rotating body, and a pitch controller.

[0043] The hollow rotating body comprises a reflecting mirror arranged at one end of the rotating body, and an angle α exists between the projection of the reflecting mirror and the projection of the rotating shaft.

[0044] The tilt controller is fixed on the bracket through the side shaft of the scanning rotary motor, and is arranged at the tail end or side of the scanning rotary motor.

[0045] The scanning rotary motor drives the hollow rotary body to drive the reflector to rotate around the rotary shaft, converts the input light beam into a circumferentially distributed scanning light ring, and forms a hollow conical light body with an apex angle β.

[0046] In this way, on the basis of the conical light beam scanning formed by the rotary scanning motor, the tilt controller is used to control the θ incident angle between the reflector and the output light beam of the laser, so that the tilt angle of the rotary body is adjusted, and a larger range of space scanning is realized.

[0047] Preferably, in the above technical solution, the tilt controller is composed of an energized coil fixed on the bracket and a concave magnet fixed at the tail end or side of the scanning rotary motor, preferably at the tail end of the scanning rotary motor. When the coil is energized, an electric current flows through the coil conductor between the two magnetic poles. Since the coil is fixed to the bracket, the counterforce of the ampere force causes the magnetic pole to drive the tail end of the scanning rotary motor to deflect up and down around the side shaft, thereby causing the rotary body outside the side shaft and the reflector to change the up-and-down tilt angle. In this way, a larger range of scanning is achieved.

[0048] In this way, the coil works as the stator winding of the tilt controller, and the cable does not need to connect the coil and the power source through a sliding connector (slip ring, graphite, etc.).

[0049] Preferably, in the above technical solution, a hollow reflector and a sensor are arranged below the central hole of the circumferential rotary seat. The center of the hollow reflector is provided with a light beam passing hole. The light beam emitted by the laser passes through the reflector center hole and irradiates the reflector surface at the end of the hollow rotary body after passing through the light beam collimator.

[0050] The reflected light of the detected object is reflected by the reflector and the hollow reflector, and is received by the sensor.

[0051] In this way, the laser, the light beam collimator, the hollow reflector and the sensor do not need to rotate with the rotary base, so that the structure of the system is simplified, the connection of the power line, the control line and the signal line is simplified, and the probability of failure is reduced. At the same time, the stability of the receiving sensor and the laser emission is also improved.

[0052] Preferably, in the above technical solution, the hollow mirror is preferably an arc surface hollow mirror, the reflected light of the detected object is converged through the arc surface to increase the energy density, and the sensor is arranged near the focal point of the arc surface hollow mirror to receive the reflected light, thereby improving the sensitivity of the sensor.

[0053] Preferably, in the above technical solution, at least one converging lens is further included, the reflected light of the detected object is converged by the converging lens after being reflected by the mirror and the hollow mirror, and the sensor is arranged near the focal point of the converging lens to receive the reflected light. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 : System composition schematic diagram;

[0055] Figure 2 : Hollow rotating body and adjusting device schematic diagram;

[0056] Figure 3 : Point-like annular scanning track schematic diagram;

[0057] Figure 4 : Light beam collimation principle schematic diagram;

[0058] Figure 5 : Hollow rotating body driving output light beam scanning angle change schematic diagram;

[0059] Figure 6 : Adjusting device schematic diagram;

[0060] Figure 7 : Compressed air driving system schematic diagram;

[0061] Figure 8 : Scanning track schematic diagram;

[0062] Figure 9 : Pulse schematic diagram;

[0063] Figure 10 : Structure schematic diagram of embodiment 2;

[0064] Figure 11 : Magnetic field control schematic diagram;

[0065] Figure 12 : Structure schematic diagram of embodiment 3. DETAILED DESCRIPTION

[0066] The specific embodiments of the present application are described in detail below, but it should be understood that the protection scope of the present application is not limited by the specific embodiments.

[0067] Unless specifically stated otherwise, throughout the specification and claims, the term "comprise" or variations such as "comprises" or "comprising" will be understood to imply the inclusion of a stated element or group of elements but not the exclusion of any other element or group of elements.

[0068] Embodiment 1

[0069] A rotating remote optical scanning device with adjustable scanning range, see Figure 1 :

[0070] A circumferential rotating base driven by a circumferential rotating motor to rotate 360° around a central axis;

[0071] An automatic adjustment scanning device, provided on the circumferential rotating base, including a laser light source, a light beam

[0072] A collimator, a support, and a hollow rotating body and a mirror mounted on the support, and a scanning rotating motor driving the hollow rotating body;

[0073] The hollow rotating body includes a scanning rotating motor provided at one axial end of the hollow rotating body, and a mirror provided at the other axial end of the hollow rotating body, and the projection of the reflecting surface of the mirror and the projection of the rotating shaft of the hollow rotating body have an angle α; α = 50-90°, preferably 75-90°; the hollow rotating body is a hollow cylindrical structure, and an adjustment device is provided inside for controlling the angle α of the mirror. Figure 2 )

[0074] The scanning rotating motor drives the hollow rotating body and the mirror to rotate around the rotating shaft, and cooperates with the rotating base to convert the laser output beam into a scanning light ring with hollow circular distribution, step-by-step, and two-dimensional distribution at the scanned object (such as Figure 3 ), forming a series of hollow conical light bodies with an apex angle β, and the scanning light ring is reflected on the surface of the detected object;

[0075] The laser is preferably a pulsed light beam output laser, and the light beam collimator makes the output beam of the laser form an almost parallel output beam, reduces the divergence angle of the light beam, and ensures that the irradiation spot at the detected object is circular in shape, thereby improving the energy of the scanning single beam, increasing the detection sensitivity and accuracy.

[0076] It also includes a circumferential rotating base and a circumferential rotating motor driving the circumferential rotating base to rotate 360° in the horizontal circumferential direction, and when the circumferential rotating motor drives the circumferential rotating base to rotate 360°, the scanning rotating motor drives the hollow rotating body and the mirror to rotate 360° around the rotating shaft, and the output beam forms a two-dimensional scanning light beam of a spiral advancing hollow conical light body with an apex angle β.

[0077] β = 360 - 4a Figure 5 )

[0078] The side of the mirror is connected with the outside side of the rotating body through the first hinge, and the adjusting device is arranged in the hollow rotating body and near the rotating shaft, and the gravity center of the adjusting device is preferably arranged on the rotating shaft.

[0079] The second hinge device is also arranged near the intersection of the projection of the mirror and the rotating shaft, and the adjusting device connects the mirror through the second hinge device, and when the adjusting device is adjusted, the second hinge device is driven to move, so that the mirror is angularly deflected around the first hinge, and the adjustment of a is realized.

[0080] The adjusting device is composed of a pneumatic linear motion piston and a return spring, the scanning rotating motor is preferably a hollow shaft rotating motor, the required gas source is connected to the hollow shaft of the scanning rotating motor through a rotating joint, and then reaches the linear pneumatic element.

[0081] The circumferential rotating motor is preferably a hollow shaft motor, the pneumatic piston, and the required gas source is connected to the hollow shaft of the circumferential rotating motor through a rotating joint, and then reaches the linear pneumatic element.

[0082] In this way, the angle of the mirror can be adjusted by controlling the size of the gas pressure of the gas source, and the required devices are few, without electrical connection, and the operation is reliable (when the rotating seat is running, the electrical connection is easy to appear the transmission and conversion of signals.

[0083] Technical effects:

[0084] ①When the angle a is less than or greater than 90°, the output light beam forms a conical scanning feature with a top angle β, which can realize fast two-dimensional scanning.

[0085] Controlling the size of the top angle β of the scanning cone can realize the switching of early warning scanning and tracking scanning.

[0086] The device can complete the function switching of multiple radars with one control action, involves few devices, and works reliably.

[0087] In this way, when the angle a is 90°, the output light beam does not form a conical scanning feature, and realizes ordinary and conventional single-line scanning.

[0088] ②The adjusting device is arranged near the rotating shaft center line of the hollow rotating body, which can reduce the damage to the dynamic balance of the high-speed rotating hollow rotating body caused by the arrangement of the adjusting device.

[0089] ③Since the control devices are few and the gravity center is near the rotating shaft, it is suitable for high-speed rotation of the hollow rotating body, so that more light beams and more dense light spots can be projected on the detected object, thereby increasing the detection accuracy.

[0090] The rotation angular velocity R1 of the scanning rotation motor, the rotation angular velocity R2 of the circumferential rotation motor, the detection effective distance radius D, the scanning of the scanning rotation beam for one round, the forward distance L = V2*T = ПDR2 / R1, the ratio R2 / R1 of the rotation angular velocities of the circumferential rotation motor and the scanning rotation motor are set, and the control of the scanning precision is realized.

[0091] The laser has a pulsating scanning working state and a long-lighting tracking working state. The pulsating scanning working state is further divided into a low-duty-ratio pulsating beam output state, a high-duty-ratio pulsating beam output state, and a variable-duty-ratio pulsating beam output state.

[0092] Each working state corresponds to different general detection, scanning of long-distance targets, discovery of short-distance targets, or tracking of targets.

[0093] The low-duty-ratio pulsating beam output has a duty ratio P1 = 1-35%, and is a relatively energy-saving general detection state;

[0094] The variable-duty-ratio pulsating beam output has P1 and P2 alternately, and is a state of increasing detection energy for detection of long-distance targets after discovery of the long-distance targets;

[0095] The high-duty-ratio pulsating beam output has a duty ratio P2 = 35-75%, and is a state of increasing detection energy for detection of short-distance targets after discovery of the short-distance targets;

[0096] The long-lighting beam output has a duty ratio 100%, and is a state of tracking of short-distance targets with all energy after discovery of the short-distance targets.

[0097] Embodiment 2

[0098] The embodiment comprises a rotating base, a circumferential rotation motor for driving the circumferential rotation base to rotate in a horizontal circumferential direction by 360°, a laser generating device arranged on the rotating base, a support, a receiving device, a rotating body and a reflecting surface / mirror arranged on the support, a scanning rotation motor for driving the rotating body, and a pitch controller.

[0099] The hollow rotating body comprises a reflecting mirror arranged at one end of the rotating body, and an angle α exists between the projection of the reflecting mirror and the projection of the rotating shaft of the rotating body.

[0100] The pitch controller is arranged at the tail end or the side surface of the scanning rotation motor, and when current passes through the coil, the scanning rotation motor and the rotating body are driven to deflect around the side shaft to realize control of the angle θ.

[0101] The scanning rotary motor drives the hollow rotary body to drive the mirror to rotate around the rotary shaft, and converts the input light beam into a circumferentially distributed scanning light ring, forming a hollow conical light body with an apex angle β, and the scanning light ring is reflected to the object to be detected;

[0102] In this way, on the basis of the rotary scanning motor constituting the conical light beam scanning, the θ incidence angle between the mirror and the laser output light beam is controlled by the pitch controller, the pitch angle of the rotary body is adjusted, and a larger range of space scanning is realized.

[0103] The pitch controller is composed of an energized coil fixed on the bracket and a concave magnet fixed on the tail end or side of the scanning rotary motor, preferably the tail end. One pole of the concave magnet passes through the coil, and when the coil is energized, an electric current flows through the coil conductor between the two magnetic poles. Due to the fixation of the coil and the bracket, the counterforce of the ampere force makes the magnetic pole drive the tail end of the scanning rotary motor to deflect up and down around the side shaft, thereby causing the side shaft outer rotary body and the mirror to change the up-and-down pitch angle. In this way, a larger range of scanning is achieved.

[0104] In this way, the coil works as the stator winding of the pitch controller, and the cable does not need to connect the coil and the power source through a sliding connector (slip ring, graphite, etc.).

[0105] Embodiment 3

[0106] It also includes a hollow mirror and a sensor arranged below the central hole of the circumferential rotary seat. The center of the hollow mirror is provided with a light beam passing hole. The light beam emitted by the laser passes through the mirror center hole and irradiates the mirror surface at the end of the hollow rotary body after passing through the beam collimator. The reflected light of the object to be detected is reflected by the mirror and the hollow mirror, and the sensor receives the reflected light. In this way, the laser, the beam collimator, the hollow mirror, and the sensor do not need to rotate with the rotary base, thus simplifying the structure of the system, simplifying the connection of power lines, control lines, and signal lines, and reducing the probability of failure. At the same time, the stability of the receiving sensor and the laser emission is also improved.

[0107] The hollow mirror is preferably a cambered hollow mirror. The reflected light of the object to be detected is concentrated after passing through the cambered surface, increasing the energy density. The sensor is arranged near the focal point of the cambered hollow mirror to receive the reflected light, improving the sensitivity of the sensor. It also includes at least one converging lens. The reflected light of the object to be detected is reflected by the mirror and the hollow mirror, and then converges through the converging lens. The sensor is arranged near the focal point of the converging lens to receive the reflected light.

[0108] The foregoing description of specific exemplary embodiments of the application has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the application to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teaching. It is intended that the scope of the application be limited not with this detailed description, but rather by the claims appended hereto.

Claims

1. A rotary remote optical scanning device with adjustable scan range, characterized in that, The application relates to a laser scanning device, which comprises the following parts: a circumferential rotating base driven by a circumferential rotating motor to rotate 360 degrees around a central axis of the rotating base; a support arranged on the circumferential rotating base, a scanning rotating motor for driving an automatic adjusting scanning device is arranged on the support; a laser light source, a light beam collimator and a compressed air source arranged below the circumferential rotating base and transmitting a laser beam through a central hole of the circumferential rotating base; or a laser light source and a light beam collimator arranged on the circumferential rotating base and a compressed air source arranged below the circumferential rotating base and transmitting compressed air through the central hole of the circumferential rotating base; the scanning rotating motor drives a hollow rotating body and a mirror to rotate around a rotating axis, cooperates with the rotating base, converts an output light beam of the laser collimated by the light beam collimator into a two-dimensional hollow circular distribution, step-by-step moving and continuous point-shaped scanning tracks on a scanned object, and forms a series of hollow conical light bodies with point-shaped light spots and a top angle of beta, the point-shaped light spots are reflected when irradiated on a surface of the detected object; the hollow rotating body comprises adjusting devices arranged in a cavity of the hollow rotating body and a mirror arranged at the other end of an axial direction of the hollow rotating body, a projection of a reflecting surface of the mirror and a projection of the rotating axis of the hollow rotating body have an alpha angle: alpha=50-90 degrees or 75-90 degrees; the adjusting devices are pneumatic pistons, the alpha angle of the mirror is changed by hinge devices arranged near the center of the mirror, and then the top angle beta of the scanning hollow conical light body is changed; a gas source required by the pneumatic pistons reaches an air inlet of the pneumatic pistons through the central hole of the circumferential rotating base and a hollow shaft behind the scanning rotating motor; a pitch controller, the scanning rotating motor is fixed on the support through a side shaft, the pitch controller is arranged at the tail end or the side of the scanning rotating motor, and the scanning rotating motor and the rotating body can be deflected around the side shaft when a current passes through the coil, so that the theta angle is controlled.

2. The rotating remote optical scanning device with adjustable scanning range according to claim 1, characterized in that: The hollow rotating body is a hollow cylindrical structure, the adjusting devices are arranged in the hollow rotating body and are used for controlling the alpha angle of the mirror.

3. The rotating remote optical scanning device with adjustable scanning range according to claim 1, characterized in that: The laser is preferably a laser with a pulse light beam output, the light beam collimator makes the output light beam of the laser form a nearly parallel output light beam, so that the light beam divergence angle is reduced, the light beam scanning distance is increased, and the sensitivity of remote scanning is improved.

4. The rotating remote optical scanning device with adjustable scanning range according to claim 1, characterized in that: When the circumferential rotating motor drives the circumferential rotating base to rotate 360 degrees, the scanning rotating motor drives the hollow rotating body and the mirror to rotate 360 degrees around the rotating axis, and the output light beam forms a two-dimensional scanning light beam of a spiral advancing hollow conical light body with the top angle beta; beta=360-4alpha.

5. The rotating remote optical scanning device with adjustable scanning range according to claim 2, characterized in that: The side of the mirror is connected with the outside of the rotating body through a first hinge, the adjusting devices are arranged in the hollow rotating body and near the rotating axis or the gravity center of the adjusting devices is arranged on the rotating axis.

6. The rotating remote optical scanning device with adjustable scanning range according to claim 2, characterized in that: A second hinge device is further arranged near the intersection point of the projection of the mirror and the rotating axis, the adjusting devices are connected with the mirror through the second hinge device, when the adjusting devices are adjusted, the second hinge device is driven to move, so that the mirror is angularly deflected around the first hinge, and the alpha is adjusted.

7. The rotating remote optical scanning device with adjustable scanning range according to claim 2, characterized in that: The adjusting device is composed of a pneumatic linear motion piston and a reset spring, the scanning rotary motor is a hollow shaft rotary motor, and the air source required by the pneumatic linear motion piston is connected to the hollow shaft of the scanning rotary motor through a rotary joint and then reaches the linear pneumatic element.

8. A rotary remote optical scanning device with adjustable scanning range according to claim 7, characterized in that: The circumferential rotary motor is a hollow shaft motor, the air source required by the pneumatic piston is connected to the hollow shaft of the circumferential rotary motor through a rotary joint and then reaches the linear pneumatic element; or the circumferential rotary seat has a central hole, the circumferential rotary motor drives the circumferential rotary seat to rotate through a belt or a gear transmission, the air source required by the pneumatic piston is connected to the hollow shaft of the scanning rotary motor through the central hole of the circumferential rotary seat through a rotary joint and then reaches the linear pneumatic element.

9. The scan range adjustable rotary remote optical scanning device according to claim 7, wherein: The rotation angular velocity R1 of the scanning rotary motor and the rotation angular velocity R2 of the circumferential rotary motor, the detection effective distance radius D, the scanning of the scanning rotary beam for one round, the forward distance L=V2*T=πDR2 / R1, and the ratio R2 / R1 of the rotation angular velocities of the circumferential rotary motor and the scanning rotary motor are set to realize the control of the scanning precision.

10. The rotating remote optical scanning device with adjustable scanning range according to claim 1 or 3, characterized in that: The laser has a pulsating scanning working state and a long-lighting tracking working state; the pulsating scanning working state is further divided into an output state of a low-duty-ratio pulsating beam, an output state of a high-duty-ratio pulsating beam, and an output state of a variable-duty-ratio pulsating beam. Each working state corresponds to different conventional detection, scanning of a long-distance target, discovery of a short-distance target, or tracking of a target. The output of the low-duty-ratio pulsating beam has a duty ratio P1=1%-35% and is a relatively energy-saving conventional detection state. The output of the variable-duty-ratio pulsating beam has P1 and P2 alternately and is a state of increasing detection energy for a long-distance target after the long-distance target is discovered. The output of the high-duty-ratio pulsating beam has a duty ratio P2=35%-75% and is a state of increasing detection energy for a short-distance target after the short-distance target is discovered.

11. The scan range adjustable rotary remote optical scanning device according to claim 1, wherein: The pitch controller is composed of an energized coil fixed on a support and a concave magnet fixed on the tail end or the side of the scanning rotary motor; the concave magnet can also be fixed on the tail end of the scanning rotary motor; one pole of the concave magnet passes through the coil, and when the coil is energized, the current flowing through the coil conductor between the two magnetic poles causes the tail end of the scanning rotary motor to deflect up and down around the side shaft due to the reaction force of the ampere force, thereby causing the side shaft outer rotating body and the reflector to change the up-and-down pitch angle.

12. The scan range adjustable rotary remote optical scanning device according to claim 1, wherein: The hollow reflector and the sensor are further arranged below the central hole of the circumferential rotary seat, the center of the hollow reflector is provided with a beam passing hole, and the laser beam emitted by the laser passes through the beam collimator and the central hole of the reflector to irradiate the reflector surface at the end of the hollow rotating body. The reflected light of the detected object is reflected by the reflector and the hollow reflector and is received by the sensor.

13. A rotary remote optical scanning device with adjustable scan extent according to claim 12, characterized in that: The hollow reflector is a preferential arc surface hollow reflector, the reflected light of the detected object is converged through the arc surface, the energy density is increased, the sensor is arranged near the focal point of the arc surface hollow reflector, and the reflected light is received, and the sensitivity of the sensor is improved.

14. The scan range adjustable rotary remote optical scanning device according to claim 12, wherein: The reflected light of the detected object is reflected through the reflector and the hollow reflector, the light beam is converged through the converging lens, and the sensor is arranged near the focal point of the converging lens and receives the reflected light.

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