Laser scanning device

Abstract

The invention discloses a laser scanning device. The laser scanning device comprises a long outer sleeve; a reflecting mirror frame with a reflecting mirror, wherein the reflecting mirror frame is rotatably held in the outer sleeve; an opening is formed in the head end part of the long gun barrel; in the assembled state, at least one part, starting from the head end of the gun barrel, of the gun barrel is inserted into the outer sleeve in the length direction of the outer sleeve till the head end of the gun barrel is adjacent to the reflecting mirror frame. The laser transmission line is used for transmitting laser; and the motor driving assembly is used for driving the reflecting mirror frame to rotate. In the working process, laser from the laser transmission line enters the reflecting mirror through the opening in the head end of the gun barrel, the reflecting mirror receives and reflects the incident laser, and emergent laser formed by reflection of the reflecting mirror is emergent at multiple different angles along with rotation of the reflecting mirror frame. Therefore, the emergent laser can carry out scanning operation in a preset scanning angle range.

Description

[0001] This application is a divisional application of the Chinese invention patent application with application date of August 17, 2024, application number 202411131370.9, and title “A Laser Scanning Device”. The entire contents of the original application are incorporated into this application by reference. Technical Field

[0002] The present application relates to an optical instrument or system, and in particular to a laser scanning device. Background Art

[0003] Closed industrial furnaces such as blast furnaces have high temperature, high pressure, high dust and other furnace environments, so it is difficult to observe through the observation window with human eyes. To this end, various detection devices have been proposed to obtain information inside the furnace, such as infrared cameras, microwave scanning, etc. Some of these detection devices are arranged outside the furnace shell and transmit and / or receive detection signals through the observation window, but this will hinder detection because the observation window is prone to dust accumulation. Therefore, people imagine that detection elements such as sensors such as cameras are arranged inside the furnace.

[0004] CN1156149C discloses an insertable furnace camera, which includes a camera gun, a tubular cooler, a sealing valve and a sealing sleeve. A camera and a temperature measuring element are installed at the front end of the camera gun. The camera gun passes through the sealing sleeve and the sealing valve until it reaches the front end of the tubular cooler, so that the camera and the temperature measuring element at the front end of the camera gun are located in the blast furnace. Since the camera gun is sealed by the sealing sleeve and the sealing valve, the sealing valve can be closed when the camera gun is pulled out between the sealing valve and the sealing sleeve during the blast furnace production process, and then the camera gun can be pulled out from the sealing sleeve for inspection and maintenance. It should be noted that there are no moving parts in the camera gun.

[0005] CN201540038U and CN206402324U improve the camera of CN1156149C, wherein a scraper or a scraper is provided in front of the camera window and dust is avoided by its reciprocating motion.

[0006] CN100424465C discloses using a laser trace formed by a divergent laser beam passing through the smoke or dust in the furnace to detect the furnace information of an industrial kiln, but it does not describe the details of the laser device that generates the laser beam. CN102382918B discloses using a laser to scan the material surface in the furnace to detect the material surface information of a blast furnace, and only generally mentions that its laser can be a laser scanner with a laser deflection device (reflector or prism), wherein the angle of the emitted laser is changed by rotating the deflection device. However, CN102382918B does not describe the detailed structure of the laser scanner, nor does it teach how to construct the laser scanner so that it is suitable for working in furnace environments such as high temperature, high pressure, and high dust. Summary of the invention

[0007] The purpose of this application is to provide a laser scanning device.

[0008] The laser scanning device comprises: an elongated outer sleeve, the outer sleeve extending in a length direction and having a head end and a tail end opposite to each other along the length direction; a reflector frame with a reflector, the reflector frame being rotatably held in the outer sleeve and adjacent to the head end of the outer sleeve; an elongated gun barrel, the head end of which has an opening; in an assembled state, at least a portion of the gun barrel starting from the head end is inserted into the outer sleeve along the length direction of the outer sleeve until the head end is adjacent to the reflector frame; a laser sensor for transmitting laser light A transmission line extends from the outside of the gun barrel into the gun barrel and extends along the gun barrel toward the head end thereof; a motor drive assembly is used to drive the reflector frame to rotate; wherein, during operation, the laser from the laser transmission line is incident on the reflector through the opening at the head end of the gun barrel, the reflector receives and reflects the incident laser, and the outgoing laser formed by reflection from the reflector is emitted along a plurality of different angles as the reflector frame rotates, so that the outgoing laser performs a scanning operation within a predetermined scanning angle range.

[0009] Optionally, the outer sleeve is formed with a slit, and the slit of the outer sleeve cooperates with the reflector frame so as to allow the outgoing laser from the reflector to be emitted to the outside of the outer sleeve through the slit within the scanning angle range in the assembled state.

[0010] Optionally, the reflective mirror frame can rotate around a rotation axis so that the emitted laser moves within a scanning plane to perform the scanning operation; the reflective mirror frame has a frame body for holding the reflective mirror.

[0011] Optionally, the reflective mirror frame also includes at least one scraper used as a cleaning device, which extends from the frame body and can rotate together with the frame body; wherein the length of the scraper extending from the frame body is sufficient to extend into the slit of the outer sleeve when the reflective mirror frame is rotated to a certain angle; and the width of the scraper matches the width of the slit, which is suitable for removing foreign matter that may be present in the slit when the scraper moves in the slit.

[0012] Optionally, the at least one scraper includes a first scraper, which extends laterally from the mirror frame body, and whose extension direction is substantially located in the scanning plane and substantially parallel to the reflector.

[0013] Optionally, the first scraper is fixedly connected to the frame body or is integrally formed with the frame body.

[0014] Optionally, the mirror frame body includes: a mirror seat for holding the reflector and exposing the front side of the reflector; a front protective wall facing the front side of the reflector and spaced apart from the reflector; optionally, within the rotation plane of the reflector frame, the size of the front protective wall decreases in the direction toward the reflector.

[0015] Optionally, the mirror frame body further comprises two side protective walls facing each other, which extend from two sides of the mirror base toward the front protective wall respectively, and the front protective wall is located between the two side protective walls and connected to each other.

[0016] Optionally, the at least one scraper comprises a second scraper formed by the front protective wall; wherein the front protective wall extends in a direction away from the reflector sufficient to enable the front protective wall to extend into the slit.

[0017] Optionally, the reflective mirror frame also includes a sealing portion, which extends from the mirror frame body and is adjacent to the first scraper; when the first scraper abuts against one end of the slit, the sealing portion extends between the first scraper and the other end of the slit to basically close the slit together with the first scraper.

[0018] Optionally, the outer sleeve includes a cooling sleeve, and the slit is formed at the cooling sleeve.

[0019] Optionally, a portion of the cooling jacket adjacent to the reflector frame is detachable.

[0020] Optionally, the motor drive assembly includes: a motor fixedly connected to the outer surface of the outer sleeve; and a transmission rod inserted into the outer sleeve and extending along the outer sleeve outside the gun barrel, and operably connected to the motor and the reflector frame; wherein the motor drives the reflector frame to rotate via the transmission rod; optionally, the motor is a linear motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 An embodiment of the laser detection device of the present application is shown;

[0022] Figure 2 Shows Figure 1 The laser gun of the laser detection device shown;

[0023] Figure 3 yes Figure 2 a perspective view of the reflector frame shown with the reflector omitted;

[0024] Figure 4 yes Figure 3a left side view of the reflector frame shown;

[0025] Figure 5 yes Figure 3 a right side view of the reflector frame shown;

[0026] Figure 6 yes Figure 4 A cross-sectional view of the reflector frame along line BB is shown;

[0027] Figure 7 Another embodiment of the laser detection device of the present application is shown, which is provided with a cleaning device;

[0028] Figure 8 Shows Figure 7 A portion of a laser detection device;

[0029] Fig. 9 Shows Figure 3 Another embodiment of the reflector frame shown has a reflector therein;

[0030] Fig.10 yes Fig. 9 A cross-sectional view of the reflector frame shown;

[0031] Fig.11 yes Fig. 9 A schematic diagram of the reflector frame shown in an assembled state;

[0032] Fig.12 Shows Fig.10 The reflector frame shown in its assembled state is undergoing cleaning operations;

[0033] Fig.13 Another embodiment of the laser detection device of the present application is shown;

[0034] Fig.14 yes Fig.13 a perspective view of the reflector frame shown with the reflector omitted;

[0035] Fig.15 yes Fig.14 a front view of the reflector frame shown;

[0036] Fig.16 yes Fig.15 a left side view of the reflector frame shown;

[0037] Fig.17 yes Fig.13 A partial enlarged view of the head end of the laser detection device shown;

[0038] Fig.18 Shows Fig.17 The reflector frame in the middle continues to rotate to a fully closed state. DETAILED DESCRIPTION

[0039] The technical solution of the present application is described in detail below in conjunction with the accompanying drawings and embodiments. In these drawings, the same or similar components are marked with the same or similar reference numerals.

[0040] like Figure 1 As shown, the laser detection device may include a laser gun 100 and an outer sleeve 200 inserted therein, both of which may be elongated. Figure 1 The left end of the outer sleeve 200 is called the tail end, and the right end is called the head end. The outer sleeve 200 may have an inner cavity extending along its length direction, for receiving the inserted laser gun 100 therein. The laser gun 100 may be inserted into the outer sleeve 200 from the tail end, and until the head end of the laser gun 100 reaches the head end of the outer sleeve 200, thereby forming a Figure 1 The laser detection device in an assembled state is shown in FIG. The tail end of the laser gun 100 can be exposed outside the outer sleeve 200, so that the laser gun 100 can be easily inserted and pulled out relative to the outer sleeve 200 while holding the tail end. Although the portion of the laser gun 100 inserted into the outer sleeve 200 is usually not visible from the outside, Figure 1 This portion is schematically drawn so that the arrangement of the laser gun 100 in the outer sleeve 200 can be more clearly seen.

[0041] Figure 1 The laser detection device shown can be installed on an industrial furnace such as a blast furnace, so that its head end extends into the furnace and the tail end is located outside the furnace. When working, the laser gun 100 can provide laser to scan the inside of the blast furnace to obtain information inside the furnace, and the outer sleeve 200 can protect the laser gun 100 and provide other auxiliary and supporting functions. Although the laser detection device will be described below in conjunction with the blast furnace scene as an example, it can be understood that the laser detection device can also be used in other types of industrial furnaces or other occasions where laser scanning is required.

[0042] like Figure 1As shown, the outer sleeve 200 of the laser detection device may include a cooling jacket 210 for cooling and lowering the temperature of the laser gun 100 inserted therein, so that the various components carried by the laser gun 100, such as optical fibers, lenses, etc., can maintain normal operation in the high temperature environment of the blast furnace. The cooling jacket 210 itself may be a part of the outer sleeve 200 or formed as a section of the outer sleeve 200, and a part of the inner cavity of the outer sleeve 200 is correspondingly provided to accommodate the laser gun 100. The cooling jacket 210 may have a hollow interlayer space 211, that is, the cooling jacket 210 may have an inner wall and an outer wall, and a coolant such as water may flow in the interlayer space 211 between the inner wall and the outer wall. The coolant may enter and leave the interlayer space 211 cyclically via an inlet 212 and an outlet 213. In Figure 1 Only one of the inlet 212 and the outlet 213 is shown in the figure, and the other one is not visible because it is located at the back of the figure. The outer sleeve 200 may have a flange 214. The inlet 212 and the outlet 213 may be formed on the side of the flange 214 opposite to the interlayer space 211, and respectively pass through the flange 214 to communicate with the interlayer space 211. In other embodiments, other cooling structures may also be used to replace the cooling jacket.

[0043] Figure 1 Also shown in the figure is a flange short tube 300, which may include a tube 301 and a flange 302 fixedly connected to each other. The flange short tube 300 can be used as a mounting base for the laser detection device and provide a passage through the furnace shell for it. In the actual installation process, the tube 301 of the flange short tube 300 can pass through the furnace shell of the blast furnace and be pre-fixed and installed (e.g., welded) on the furnace shell, and the flange 302 can be located outside the furnace shell. The laser detection device can be inserted into the flange short tube 300 until its flange 214 and 302 of the flange short tube 300 abut against each other and its head end passes through the tube 301 of the flange short tube 300 and enters the interior of the blast furnace. Then, the flanges 214 and 302 can be firmly connected to each other using fasteners such as bolts. Although not shown, it is understood that there may be sealing elements such as sealing rings and sealing gaskets between the flanges 214 and 302. It should be noted that the length of the tube 301 of the flange short tube 300 can be designed so that the head end of the laser detection device can be exposed outside the tube 301, such as Figure 1 As shown, the laser emission provided by the laser detection device is not interfered. The flange short pipe 300 can be regarded as an auxiliary installation tool of the laser detection device, and can also be regarded as a part of the laser detection device.

[0044] The outer sleeve 200 of the laser detection device is described below. The outer sleeve 200 may include a valve 220 for disconnecting and connecting the connectivity of the inner cavity of the outer sleeve 200 at the position of the valve 220. The valve 220 itself may be a part of the outer sleeve or formed as a section of the outer sleeve 200, and correspondingly provides a part of the inner cavity of the outer sleeve 200 to accommodate the laser gun 100. When the valve 220 is in an open position, the inner cavity of the valve 220 is connected to the inner cavities on both sides thereof to allow the laser gun 100 to be inserted or pulled out through the valve 220. In particular, after the laser gun 100 is pulled out of the outer sleeve 200 in the working state where the laser scanning device has been installed on the blast furnace, the valve 220 can be closed to cut off the connectivity between the inner space of the blast furnace and the outer space of the blast furnace through the outer sleeve, thereby preventing substances in the blast furnace, such as smoke and dust, from escaping to the outer space of the furnace through the outer sleeve 200. The valve 220 may be an on-off valve such as a ball valve.

[0045] A connecting pipe 230 may be provided between the valve 220 and the cooling jacket 210. The connecting pipe 230 itself may be a part of the outer sleeve 200 or formed as a section of the outer sleeve 200, and correspondingly provides a part of the inner cavity of the outer sleeve 200 to accommodate the laser gun 100. The connecting pipe 230 may be fixedly connected (e.g., welded) to the cooling jacket 210, and may be threadedly connected to the valve 220. The connecting pipe 230 may provide a suitable joint for installing the valve 220, and it itself may also be used to install other components. For example, Figure 1 As shown, a gas inlet 231 leading to the inner cavity of the connecting tube 230 can be formed in order to inject a gas such as nitrogen into the outer sleeve 200. It will be seen below that the injected gas can be used for cooling and / or purging, etc. In addition, the connecting tube 230 can have a required length according to the length of the laser gun 100 or other requirements.

[0046] The outer sleeve 200 may include a sealing sleeve 240 for sealing the gap between the laser gun 100 and the outer sleeve 200. The sealing sleeve 240 may be located at the entrance of the rear end of the outer sleeve 200. In other words, the sealing sleeve 240 may be formed as the entrance of the outer sleeve 200. During operation, the sealing sleeve 240 may prevent the smoke and dust in the blast furnace and / or the gas injected from the air inlet 231 from escaping outward through the gap between the laser gun 100 and the outer sleeve 200.

[0047] When the laser gun 100 is pulled out from the outer sleeve 200, the sealing sleeve 240 and the valve 220 can provide two seals along the pulling path of the laser gun. In this way, during the production process of the blast furnace, the head end of the laser gun 100 can be first pulled out to the position between the sealing sleeve 240 and the valve 220, then the valve 220 is closed, and finally the laser gun 100 is pulled out of the outer sleeve 200 as a whole through the sealing sleeve 240. Similarly, when inserting the laser gun 100, the head end of the laser gun 100 can first be inserted into the position between the sealing sleeve 240 and the valve 220, then the valve 220 is opened, and finally the laser gun 100 is further inserted into the outer sleeve 200 through the valve 220. This realizes the plugging and unplugging of the laser gun 100 during the production process of the blast furnace, while preventing the material in the furnace from escaping to the outside of the furnace through the outer sleeve 200.

[0048] The outer sleeve 200 and its cooling sleeve 210, valve 220, connecting pipe 230 and sealing sleeve 240 described above, the connection between the outer sleeve 200 and the flange short pipe 300 and the arrangement on the blast furnace are similar to the description in CN1156149C, CN201540038U and CN206402324U, and these three documents are introduced as references here. The difference from these three documents is that the outer sleeve of the present application inserts a laser gun for laser scanning, and the related changes and / or improvements made to achieve laser scanning. It should be understood that the outer sleeve 200 is only named based on its relative position relationship with the laser gun 100, and it does not mean that it necessarily includes the cooling sleeve 210, valve 220, connecting pipe 230 and sealing sleeve 240 mentioned in the present application. In other embodiments, when the functions of these components are not needed, the outer sleeve 200 can also be a simple cylindrical object, or only include one or more of these components, or can include components that realize other functions.

[0049] Figure 2 Shows Figure 1 The laser gun of the laser scanning device is used to provide a laser beam whose direction can be deflected. Figure 2 As shown, the laser gun 100 may include an elongated barrel 110. The barrel 110 may extend along a length direction and have a head end and a tail end opposite to each other along the length direction. Figure 1 For the sake of simplicity, the following will be Figure 2 The left end is called the tail end, and the right end is called the head end.

[0050] The laser transmission line 121 can extend from the outside of the barrel 110 into the barrel 110 and extend along the barrel 110 toward the head end thereof. Figure 1) can be transmitted to a desired location by a laser transmission line 121. The laser transmission line 121 can be one or more optical fibers.

[0051] The reflector frame 150 may include a reflector M for reflecting the laser. Figure 2 The portion filled with texture in the reflector frame 150 is schematically represented. The reflector frame 150 can be arranged adjacent to the head end of the laser transmission line 121 so as to receive the laser from the laser transmission line 121 and reflect it by the reflector M. The detailed structure of the reflector frame 150 will be described below in conjunction with Figure 3-Figure 6 The reflector frame 150 can be driven by the motor drive assembly 130 to rotate. In this way, during operation, the reflector M carried by the reflector frame 150 can receive and reflect the incident laser from the laser transmission line 121, and the outgoing laser formed by the reflection of the reflector M will be emitted along a plurality of different angles as the reflector frame 150 rotates, so that the outgoing laser performs laser scanning within a predetermined scanning angle range. The reflector frame 150 can rotate around the axis A in a plane, and the plane can be, for example, a plane perpendicular to the axis A (i.e., Figure 2 It is understood that in other embodiments, the reflector frame 150 can move in other ways together with the reflector M according to the scanning requirements, such as three-dimensional movement instead of two-dimensional movement in the plane.

[0052] In order to improve the quality of the laser, a collimator 122 optically connected to the head end of the laser transmission line 121 may be arranged in the barrel 110. The collimator 122 may be adjacent to the reflector frame 150 and held in the barrel 110 by the mounting seat 123. The laser from the laser transmission line 121 may be collimated by the collimator 122 and then incident on the reflector M carried by the reflector frame 150. In other embodiments, the collimator 122 may be omitted if the quality of the laser emitted from the laser transmission line 121 is good enough. In other embodiments, other optical components or electronic components other than the collimator 122 may be used to improve the quality of the laser.

[0053] The motor drive assembly 130 may include a transmission rod 131 and a motor 132 operatively connected thereto. The transmission rod 131 may be operatively connected to the reflector frame 150 and the motor 132, respectively, so that the motor 132 may drive the reflector frame 150 to rotate via the transmission rod 131. The operation of the motor 132 may be controlled by a motor controller 400 ( Figure 1) to control. In other embodiments, other suitable methods can also be used to drive the reflector frame 150. The motor 132 can be mounted to a motor bracket 133. The motor bracket 133 can be connected to the rear end of the gun barrel 110 outside the gun barrel 110.

[0054] The gun barrel 110 may have a rear end wall 111 at its rear end that is substantially transverse to or even perpendicular to its length direction, and the transmission rod 131 of the motor drive assembly 130 may enter the gun barrel 110 through the rear end wall 111 and extend substantially parallel to the gun barrel 110. In this way, the transmission rod 131 may reciprocate along a straight line in a direction parallel to the gun barrel 110 to drive the reflector frame 150 to rotate. At this time, the motor 132 may be a linear motor and its output shaft 133 may be connected to the transmission rod 131 to conveniently drive the transmission rod 131 to move in a straight line. This is also particularly suitable for driving the reflector frame 150 to rotate in a plane around the axis A. The laser transmission line 121 may also enter the gun barrel 110 from the rear end wall 111 of the gun barrel 110.

[0055] The reflector frame 150 may be arranged in the gun barrel 110. At this time, in order to allow the outgoing laser reflected by the reflector M carried by the reflector frame 150 to be emitted outside the gun barrel 110, the gun barrel 110 may have a notch 112. The notch 112 may be formed at a peripheral wall 113 of the gun barrel 110 around its length direction, and corresponds to or is adjacent to the position of the reflector frame 150. The size of the notch 112 is set to allow the outgoing laser to be emitted to the outside of the gun barrel 110 through the notch 112 within its predetermined scanning angle range. When the reflector frame 150 rotates in a plane around the axis A, the outgoing laser is also scanned in a plane. At this time, the notch 112 may be formed as a slit located in the scanning plane. Figure 2 As shown, the rotation axis A can be perpendicular to the length direction of the barrel 110 and can be parallel to the reflector M. In this case, the scanning plane of the emitted laser is perpendicular to the rotation axis A. Figure 1 and Figure 2 In the embodiment, the reflector frame 150 and the notch 112 are both located at or adjacent to the head end of the barrel 110. In one embodiment, the notch 112 may also continue to extend from the peripheral wall 113 of the barrel 110 to the front end wall of the barrel 110. In other embodiments, the reflector frame 150 and the notch 112 may also be located within the barrel 110 but away from the head end of the barrel 110 as required. Furthermore, in other embodiments described below, it can be seen that the reflector frame 150 may also be arranged outside the barrel 110.

[0056] exist Figure 2In the embodiment, the barrel 110, the components arranged in the barrel 110, and the components connected to the barrel 110 can form a long integral assembly, namely the laser gun 100. The laser gun 100 can be moved as a whole and inserted into or pulled out of the long outer sleeve 200 as a whole, such as Figure 1 It should be understood that, although the laser gun 100 can be used together with the outer sleeve 200 as a laser scanning device, in some application scenarios, such as in a non-high temperature, high pressure, high dust environment, the protection function provided by the outer sleeve 200 may not be needed, and the laser gun 100 can be used alone as a laser scanning device.

[0057] Figure 3-Figure 6 Shows Figure 2 1 , wherein the reflector M carried by the reflector frame 150 is omitted so as to more clearly show the reflector frame 150 itself. The reflector frame 150 may include a frame body 151, and the frame body may include a mirror seat 154 capable of holding the reflector M (not shown). The mirror seat 154 may form a slot 155, and the reflector M may be moved along the side ( Figure 6 The back side of the reflector M can be attached to the bottom surface 156 of the slot 155. Figure 4 As can be seen more clearly in the figure, the slot 155 can be open downward so that the front side or the reflecting surface of the reflector M can be exposed when the reflector M is in place. The slot 155 has a retaining effect on the reflector M, and the adhesion between the reflector M and the bottom surface 156 also has a retaining effect on the reflector M. These two retaining effects can together strengthen the retention of the reflector M by the mirror frame body 151 or its mirror seat 154. It can be understood that in other embodiments, the mirror seat 154 can retain the reflector M by only one of the above two retaining effects, or by other methods.

[0058] The mirror frame body 151 may include a front protective wall 152, which is positioned to face the front of the reflector M to be installed and is spaced apart from the reflector M. When the laser scanning device is working in a blast furnace, the front protective wall 152 can reduce the possibility of particulate matter in the blast furnace hitting and damaging the front of the reflector M. Although it is conventionally and naturally understood that any object adjacent to and facing the reflector may interfere with and hinder the incidence and emission of light, the inventor of the present application has found that in the laser scanning scenario of the present application, since the laser has good directivity, when the direction of the incident laser is maintained and the angle of the outgoing laser is deflected by rotating the reflector frame, even if the angle range required for the deflection of the outgoing laser is large enough, there is still a large enough area in the space facing the reflector that neither the incident laser nor the outgoing laser will pass through. Based on this discovery, the inventor of the present application sets a front protection wall 152 facing the reflector M, which does not hinder the propagation of the laser within the predetermined scanning angle range, and can greatly reduce the possibility of foreign matter entering the laser gun 100 and hitting the reflector M, which effectively protects the reflector and prolongs its service life. In the rotation plane of the reflector frame 150, that is, Figure 6 In the plane where the front protective wall 152 is located, the size of the front protective wall 152 can be reduced in the direction toward the reflector M, which further reduces the possibility of interference of the front protective wall 152 with the laser.

[0059] The mirror frame body 151 may also include two side protection walls 153 facing each other, extending from both sides of the mirror base 154 toward the front protection wall 152, for protecting the reflector M from the side, reducing the possibility of foreign matter such as external particles entering the laser gun 100 and hitting the reflector M. During operation, the incident laser entering the reflector frame 150 and the outgoing laser after being reflected by the reflector M will pass between the channels defined by the two side protection walls 153. In the rotation plane of the reflector frame 150, that is, Figure 6 In the plane where the side protection walls 153 are located, the size of the side protection walls 153 can be reduced in the direction away from the reflector M, which reduces the possibility of interference of the side protection walls 153 with the laser. The front protection wall 152 is located at the ends of the two side protection walls 153 away from the reflector M, and is connected to the two side protection walls 153 between them. Figure 6 It can be seen more clearly in the figure that, viewed in the direction perpendicular to the rotation plane of the reflector frame 150, the side protection wall 153 and the front protection wall 152 form a protection structure that is basically in the shape of a "W", which minimizes the interference with the emitted laser and maximizes the protection of the reflector M. The side protection wall 153, the front protection wall 152 and the mirror base 154 can be fixedly connected to each other or formed in one piece.

[0060] The mirror frame body 151 may further include an end face protection wall 158, which may be connected to the mirror seat 154 and may be located at the end face of the reflector M to be installed, so as to protect the end face of the reflector M during operation and reduce the possibility of foreign matter such as external particles entering the laser gun 100 and impacting the reflector M.

[0061] Figure 3 The rotation axis A of the reflector frame 150 is shown in FIG. Figure 2 As described above, the motor drive assembly 130 can drive the reflector frame 150 to rotate around the axis A. To this end, the frame body 151 of the reflector frame 150 can be formed with an axial hole 157, and the axial hole 157 can pass through the frame body 151 along the axis A. In the assembled state, a shaft (not shown) can pass through the axial hole 157, and the two ends of the shaft can be respectively held at Figure 2 The mirror frame 150 is provided with a mirror frame body 151, and the mirror frame body 151 is provided with a pin hole 159, which can penetrate the mirror frame body 151 in a direction parallel to the axis A. In the assembled state, a pin (not shown) can pass through the pin hole 159 and be operably connected with the transmission rod 131 of the motor drive assembly 130. In this way, during operation, the transmission rod 131 of the motor drive assembly 130 can push or pull the mirror frame 150 to rotate around the rotation axis A defined by the shaft hole 157 by means of the pin hole 159. In other embodiments, the shaft hole 157 and / or the pin hole 159 may not penetrate the entire mirror frame body 151, but be formed as a blind hole. In other embodiments, the shaft hole 157 and / or the pin hole 159 can be replaced by a protrusion extending from the mirror frame body 151, and matched with a corresponding recess or hole.

[0062] exist Figure 3 and Figure 6 It can be seen from the figure that the shaft hole 157 and the rotation axis A defined by the shaft hole 157 can be located on the side facing the reflector M and adjacent to the reflector M. As described above with respect to the front protection wall 152, the inventors of the present application have found that by arranging the rotation axis A in such a position, even if there is a rotation axis along the axis A in front of the reflector M, this will not hinder the propagation of the emitted laser within the predetermined scanning angle range, but such an arrangement will significantly reduce the volume of the frame body 151 of the reflector frame 150, so that it can be as shown in FIG. Figure 2 As shown, it is accommodated in a gun barrel 110 where space is limited.

[0063] return Figure 1 In the assembled state, the laser gun 100 or its barrel 110 ( Figure 2) can be inserted into the outer sleeve 200 along the length direction of the outer sleeve 200. As mentioned above, the tail end of the laser gun 100 is exposed outside the outer sleeve 200, so that the laser gun 100 can be conveniently inserted and pulled out relative to the outer sleeve 200 by holding the tail end. However, in other embodiments, if appropriate, the laser gun 100 or its barrel 110 can be entirely located in the outer sleeve 200.

[0064] As previously referenced Figure 2 As described, the laser gun 100 may provide a notch 112 at the peripheral wall 113 of the barrel 110 thereof, so that the outgoing laser reflected from the reflector M can be emitted out of the barrel 110. Correspondingly, as Figure 1 As shown, in order to allow the emitted laser to be emitted to the outside of the outer sleeve 200, the outer sleeve 200 may be formed with a notch 215. The notch 215 of the outer sleeve 200 may be Figure 2 The reflector frame 150 shown in FIG. 1 and the notch 112 of the barrel 110 cooperate with each other so as to allow the laser beam emitted from the reflector M to be emitted to the outside of the outer sleeve 200 through the notches 112 and 215 within a predetermined scanning angle range in the assembled state. Figure 1 In the embodiment, the notch 215 is formed at the cooling sleeve 210 of the outer sleeve 200 , but in other embodiments, the notch may also be formed at other appropriate positions of the outer sleeve 200 .

[0065] As mentioned above, when the reflector frame 150 rotates in a plane around the axis A, the emitted laser also scans in a plane. At this time, in order to maximize the avoidance of the laser gun 100 from being directly exposed to the harsh environment of the blast furnace, see Figure 1 , the notch 215 of the outer sleeve 200 can be formed as an elongated slit located in the scanning plane, and the length of the slit 215 can be set to allow the outgoing laser to pass through the slit 215 within its predetermined scanning angle range. In particular, when the rotation axis A is perpendicular to the length direction of the barrel 110 and the outer sleeve 200 and parallel to the reflector M, the scanning plane of the outgoing laser is perpendicular to the rotation axis A, and the slit 215 can extend along the length direction parallel to the outer sleeve 200. The length of the slit 215 can be set to be as short as possible without interfering with the outgoing laser.

[0066] Figure 1When the laser scanning device shown is working in a blast furnace, foreign matter such as dust and particles may enter and accumulate in the slit 215, which sometimes interferes with the emitted laser, thereby hindering the scanning operation. As mentioned above, a gas such as nitrogen can be injected into the outer sleeve 200 via the air inlet 231 of the connecting pipe 230. On the one hand, the injected gas can assist the cooling jacket 210 in cooling. On the other hand, when the gas flows from the inside of the outer sleeve 200 to the outside of the outer sleeve 200 via the slit 215, its purge of the slit 215 can also serve as a cleaning device to clean foreign matter. Therefore, the notch 215 of the outer sleeve 200 is formed in the form of a slit. On the one hand, it can maximize the avoidance of direct exposure of the laser gun 100 to the harsh environment of the blast furnace as mentioned above, and on the other hand, it can also increase the flow rate of the gas when it flows through the notch 215, thereby enhancing the cleaning effect of the gas on the notch or slit 215.

[0067] Figure 7 A laser detection device with a cleaning device is provided. Figure 7 The laser detection device shown is Figure 1 The devices shown are basically the same, except that the laser detection device additionally has a cleaning device 600, which can clean the slit 215 to remove foreign matter that may be present in the slit 215. The cleaning device 600 may include a scraper 601 that can move along the slit 215 in the slit 215, and the width of the scraper 601 may match the width of the slit 215 so that the scraper 601 can remove foreign matter in the slit 215 when moving in the slit 215.

[0068] Figure 8 Shown in a magnified view Figure 7 A portion of the laser detection device is shown to more clearly show the cleaning device 600. Figure 8 As shown, the cleaning device 600 may include a liner 602. The liner 602 may pass through the interlayer space 211 of the cooling jacket 210 along the length direction of the outer sleeve 200, thereby isolating a passage for the connecting rod 603 therein in the interlayer space 211. The connecting rod 603 may be inserted into and pass through the liner 602, and both the head end and the tail end thereof may extend out of the liner 602. The head end of the connecting rod 603 may be connected to the scraper 601, and the tail end may be operably connected to the electric push rod 604. In this way, the electric push rod 604 may drive the scraper 601 to reciprocate in the slit 215 via the connecting rod 603 to clean possible foreign matter.

[0069] for Figure 7 and Figure 8 The laser detection device shown in the figure, the components or parts not described above can be referred to Figure 1 and Figure 2and the related description, especially the description of the components or parts with the same reference numerals.

[0070] Fig. 9 Shows Figure 3 Another embodiment of the reflector frame is shown, in which the reflector M is shown. The reflector frame 150A can replace Figure 1 and Figure 2 The reflector frame 150 in FIG. Figure 1 and Figure 2 as well as Figure 3-Figure 6 The reflector frame 150 shown in the figure may further include a scraper 601A used as a cleaning device. In order to distinguish the scraper mentioned below, the scraper 601A may be referred to as a first scraper 601A. Figure 7 and Figure 8 The scraper 601 driven by an additional device may extend from the mirror frame body 151 of the reflective mirror frame 150A and be able to rotate around the rotation axis A together with the mirror frame body 151. Fig.10 As can be seen more clearly in FIG. 1 , the first scraper 601A can extend from the mirror frame body 151 in the lateral direction, and its extension direction can be substantially located in a scanning plane perpendicular to the axis A and substantially parallel to the reflector M, so that the first scraper 601A will not substantially interfere with the outgoing laser of the reflector M. For the components or parts of the reflector frame 150A not described above, reference can be made to Figure 3-Figure 6 and the related description, especially the description of the components or parts with the same reference numerals.

[0071] Fig.11 The reflector frame 150A is schematically shown in an assembled state. For clarity, Fig.11 Only the reflector frame 150A with the reflector M, a portion of the cooling jacket 210 of the outer sleeve 200, and the drive rod 131 of the motor drive assembly 130 for driving the reflector frame 150A are shown. The remaining components or parts not shown and not described can be referred to in detail. Figure 1 and Figure 2 and the related description, especially the description of the parts or portions with the same reference numerals. Fig.11As shown, the reflector frame 150A can be operably connected to the transmission rod 131 so as to be driven to rotate. During operation, the reflector M carried by the reflector frame 150A can receive the incident laser and reflect it. When the reflector frame 150A rotates within a predetermined scanning rotation angle range, the outgoing laser formed by the reflection of the reflector M will be emitted along a plurality of different angles as the reflector frame 150A rotates, and will be emitted to the outside through the slit 215 of the outer sleeve 200 or the cooling sleeve 210, so that the outgoing laser can perform a laser scanning operation within the predetermined scanning angle range. In addition to the laser scanning operation, Fig.12 As shown, the motor drive assembly 130 can also drive the reflector frame 150A to further rotate beyond its predetermined scanning rotation angle range and enter the cleaning rotation angle range. In this cleaning rotation angle range, as the reflector frame 150A rotates, its first scraper 601A can move in the slit 215 to remove any foreign matter that may exist in the slit 215 on the path it passes through, so as to perform a cleaning operation. It should be understood that the scanning rotation angle range of the reflector frame 150A corresponds to the scanning angle range of the emitted laser, but the scanning rotation angle range of the reflector frame 150A and the cleaning rotation angle range may be partially overlapped. This means that when the reflector frame 150A is within its scanning rotation angle range, particularly at the end of the scanning rotation angle range, the first scraper 601A it carries may have begun to enter the slit 215 for cleaning operations. However, at least a portion of the angle range in the cleaning rotation angle range of the reflector frame 150A is outside its scanning rotation angle range.

[0072] In order for the first scraper 601A to perform cleaning operations, the length of the first scraper 601A extending from the mirror frame body 151 should be sufficient to be able to extend into the slit 215 of the outer sleeve 200 or the cooling sleeve 210 when the reflector frame 150A rotates to a certain angle. In addition, the width of the first scraper 601A can match the width of the slit 215 to be suitable for removing any foreign matter that may exist in the slit 215 when the first scraper 601A moves in the slit 215. Return to reference Fig. 9 and Fig.10 The first scraper 601A can be fixedly connected to the frame body 151 or can be integrally formed with the frame body 151.

[0073] Fig.13 Another embodiment of the laser detection device of the present application is shown. Figure 1 and Figure 2 In the laser detection device shown in FIG. 1 , the reflector frame 150 is located in the barrel 110 of the laser gun 100. Fig.13In the laser detection device, the reflector frame 150B is located in the cooling jacket 210 of the outer sleeve 200 and is held by the cooling jacket 210. For the sake of clarity, Fig.13 Only the outer sleeve 200 is shown, while the flange short tube 300 and the laser gun 100 to be inserted therein are omitted. These and other components or parts not shown and not described can be referred to in detail. Figure 1 and Figure 2 and the related description, especially the description of the components or parts with the same reference numerals.

[0074] like Fig.13 As shown, the laser scanning device may include an elongated outer sleeve 200, which may extend in a length direction and have a head end and a tail end opposite to each other in the length direction. The reflector frame 150B with the reflector M may be rotatably held by the outer sleeve 200 and adjacent to the head end of the outer sleeve 200. Fig.13 In the embodiment, the reflector frame 150B is accommodated and held by the cooling jacket 210 which is a section of the outer sleeve 200, but in other embodiments, the reflector frame 150B may be accommodated and held by other parts of the outer sleeve 200. The outer sleeve 200 or the cooling jacket 210 may be formed with a slit 215. The position and shape of the slit 215 may match the reflector frame 150B so as to allow the outgoing laser from the reflector M to be emitted to the outside of the outer sleeve 200 through the slit 215 within its scanning angle range in the assembled state. Fig.13 In the embodiment, a portion of the slit 215 may be formed in the peripheral wall of the outer sleeve 200 or the cooling jacket 210 , and another portion may be formed in the end wall of the outer sleeve 200 or the cooling jacket 210 .

[0075] The motor drive assembly 130 can drive the reflector frame 150B to rotate around the rotation axis A, so that the emitted laser from the reflector M can move in a scanning plane to perform a scanning operation. Although not shown, it is understood that the laser gun to be inserted into the outer sleeve 200 can be similar to Figure 2 The laser gun 100 is not provided with a reflector frame 150. The long barrel 110 of the laser gun can be inserted into the outer sleeve 200 along the length direction of the outer sleeve 200 from at least a portion of its head end until its head end is adjacent to the reflector frame 150B. When working, the incident laser from the laser gun (not shown) is incident on the reflector M carried by the reflector frame 150B, and the reflector M receives and reflects the incident laser. The outgoing laser formed by the reflection of the reflector M is emitted at multiple different angles as the reflector frame 150 rotates, and is emitted to the outside of the laser scanning device through the slit 215 of the outer sleeve 200 or the cooling jacket 210, so that the outgoing laser performs scanning within a predetermined scanning angle range.

[0076] Figure 14-16 Shows Fig.13 The reflector frame 150B in the figure is omitted, wherein the reflector M carried by it is omitted so as to more clearly show the reflector frame 150B itself. The reflector frame 150B may have a frame body 151 for holding the reflector M and a first scraper 601B extending from the frame body 151. The first scraper 601B may rotate around the rotation axis A together with the frame body 151 and the reflector M held by it. The first scraper 601B may extend laterally from the frame body 151, and its extension direction may be substantially located in a scanning plane perpendicular to the axis A and substantially parallel to the reflector M. The first scraper 601B may be similar to the combination Figure 9-12 A first scraper 601A of the mirror frame 150A is depicted.

[0077] Different from the reflector frame 150A, the reflector frame 150B may also have a second scraper 601C. The second scraper 601C may be formed by the front protection wall 152B of the reflector frame 150B. Figure 3-Figure 6 as well as Fig. 9 and Fig.10 The front protective wall 152 shown in the figure can continue to extend in a direction away from the reflector M or the mirror frame body 151, which is sufficient to allow the front protective wall 152 to extend into the reflector frame 150B when the reflector frame 150B is rotated to a certain angle. Fig.13 In other words, the front protective wall 152B can extend to substantially the same radial position as the first scraper relative to the rotation axis A. The width of the second scraper 601C can match the width of the slit 215 so that it can remove foreign matter that may be present in the slit 215 when it moves in the slit 215.

[0078] Different from the reflector frame 150A, the reflector frame 150B may further include a blocking portion 160. The blocking portion 160 may extend from the frame body 151 and abut against the first scraper 601B. Fig.17 and Fig.18 As shown more clearly, the blocking portion 160 can be used to close the slit 215. Fig.17 yes Fig.13 The partial enlarged view of the region D of FIG. 1 shows that during the clockwise rotation of the mirror frame 150B, the second scraper 601C has passed through the slit 215 and entered the interior of the outer sleeve 200, and the first scraper 601B is moving in the slit 215. Fig.17 The reflector frame 150B in Fig.18In the embodiment of the present invention, the reflector frame 150B further rotates clockwise until the first scraper 601B abuts against the left end of the slit 215. When the first scraper 601B abuts against the left end of the slit 215, the blocking portion 160 extends between the first scraper 601B and the right end of the slit 215, thereby substantially completely closing the slit 215 together with the first scraper 601B. During the period when the laser scanning device is not working, the slit 215 can be closed, so that the reflector frame 150B is in a state of being closed. Fig.18 The closed position is shown in order to provide maximum protection for the laser scanning device from adverse influences of the external environment.

[0079] The first scraper 601B, the second scraper 601C and / or the blocking portion 160 may be fixedly connected to the mirror frame body 151 or integrally formed with the mirror frame body 151. In this embodiment, the first scraper 601B and the second scraper 601C are used together as a cleaning device, but in other embodiments, only one of the first scraper 601B and the second scraper 601C may be included and used as a cleaning device. For components or parts of the reflective mirror frame 150B not described above, reference may be made to Figure 3-Figure 6 as well as Figure 9-12 and the related description, especially the description of the components or parts with the same reference numerals.

[0080] return Fig.13 Since the reflector frame 150B and its reflector M are located outside the laser gun to be inserted in this embodiment, Figure 2 Ignoring the reflector frame 150, the long barrel 110 of the laser gun 100 should have an opening at its head end, especially in the head end wall, so that the laser transmitted by the laser transmission line 121 can be incident on the reflector M of the reflector frame 150B through the opening. Moreover, in this embodiment, since the reflector frame 150B cannot be pulled out from the outer sleeve 200 as a part of the laser gun 100, in order to facilitate the maintenance of the reflector frame 150B, a part of the outer sleeve 200 or the cooling jacket 210 adjacent to the reflector frame 150B can be detachable to form a detachable cover 216.

[0081] In addition, in this embodiment, Fig.13 As shown, the motor drive assembly 130 is not Figure 1 and Figure 2 As shown in the figure, the laser gun 100 is not formed as a part of the laser gun 100, but is integrally mounted on the outer sleeve 200 as a part of the outer sleeve 200. Fig.13As shown, the motor drive assembly 130 may include a motor 132, which may be fixedly connected to the outer surface of the outer sleeve 200, particularly to the outer surface of the connecting tube 230. A transmission rod 131 may be inserted into the cooling jacket 210 of the outer sleeve 200 and extend along the outer sleeve 200. It is understood that the transmission rod 131 may be located outside the laser gun and its barrel to be inserted, and between the barrel of the laser gun and the cooling jacket. The two ends of the transmission rod 131 may be operably connected to the motor 132 and the reflector frame 150B, respectively. In this way, the motor 132 may drive the reflector frame 150B to rotate via the transmission rod 131. The motor 132 may be a linear motor.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention is described in detail with reference to the embodiments, it should be understood by those skilled in the art that any modification or equivalent replacement of the technical solutions of the present invention does not depart from the spirit and scope of the technical solutions of the present invention and should be included in the scope of the claims of the present invention.

Claims

1. A laser scanning device, comprising: An elongated outer sleeve extending in a length direction and having a head end and a tail end opposite to each other in the length direction; a reflector frame with a reflector, the reflector frame being rotatably held within the outer sleeve and adjacent to the head end of the outer sleeve; An elongated gun barrel, the head end of which has an opening; in the assembled state, at least a portion of the gun barrel starting from the head end is inserted into the outer sleeve along the length direction of the outer sleeve until the head end is adjacent to the reflector frame; A laser transmission line for transmitting laser light, which extends from the outside of the gun barrel into the gun barrel and extends along the gun barrel toward the head end thereof; A motor drive assembly, used for driving the reflector frame to rotate; Wherein, during operation, the laser from the laser transmission line is incident on the reflector through the opening at the head end of the gun barrel, and the reflector receives and reflects the incident laser. Moreover, the outgoing laser formed by reflection from the reflector is emitted along a plurality of different angles as the reflector frame rotates, so that the outgoing laser performs scanning operations within a predetermined scanning angle range.

2. The laser scanning device according to claim 1, characterized in that: The outer sleeve is formed with a slit, and the slit of the outer sleeve cooperates with the reflector frame so as to allow the outgoing laser from the reflector to be emitted to the outside of the outer sleeve through the slit within the scanning angle range in the assembled state.

3. The laser scanning device according to claim 2, characterized in that: The reflective mirror frame can rotate around a rotation axis so that the emitted laser moves within a scanning plane to perform the scanning operation; The reflector frame has a frame body for holding the reflector.

4. The laser scanning device according to claim 3, characterized in that: The reflective mirror frame further comprises at least one scraper used as a cleaning device, the scraper extending from the mirror frame body and being capable of rotating together with the mirror frame body; The length of the scraper extending from the frame body is sufficient to extend into the slit of the outer sleeve when the reflective frame is rotated to a certain angle; and the width of the scraper matches the width of the slit, which is suitable for removing foreign matter that may exist in the slit when the scraper moves in the slit.

5. The laser scanning device according to claim 4, characterized in that: The at least one scraper includes a first scraper extending laterally from the mirror frame body, and an extending direction of the first scraper is substantially located in the scanning plane and substantially parallel to the reflecting mirror.

6. The laser scanning device according to claim 5, characterized in that: The first scraper is fixedly connected to the lens frame body or is integrally formed with the lens frame body.

7. The laser scanning device according to any one of claims 4 to 6, characterized in that: The mirror frame body comprises: A mirror holder, used for holding the reflector and exposing the front side of the reflector; a front protection wall, facing the front side of the reflector and spaced apart from the reflector; Optionally, within the rotation plane of the reflector frame, the size of the front protective wall decreases in a direction toward the reflector.

8. The laser scanning device according to claim 7, characterized in that: The mirror frame body also includes two side protection walls facing each other, which extend from both sides of the mirror base toward the front protection wall respectively, and the front protection wall is located between the two side protection walls and connected to each other.

9. The laser scanning device according to any one of claims 7 to 8, characterized in that: The at least one scraper includes a second scraper formed by the front protective wall; wherein the front protective wall extends in a direction away from the reflector sufficient to enable the front protective wall to extend into the slit.

10. The laser scanning device according to any one of claims 5 to 9, characterized in that: The reflective mirror frame also includes a blocking portion extending from the mirror frame body and adjacent to the first scraper; when the first scraper abuts against one end of the slit, the blocking portion extends between the first scraper and the other end of the slit to basically close the slit together with the first scraper.

11. The laser scanning device according to any one of claims 2 to 10, characterized in that: The outer sleeve includes a cooling jacket, and the slit is formed at the cooling jacket.

12. The laser scanning device according to claim 11, characterized in that: A portion of the cooling jacket adjacent to the reflector frame is detachable.

13. The laser scanning device according to claim 1, characterized in that: The motor drive assembly comprises: a motor fixedly connected to the outer surface of the outer sleeve; and A transmission rod, inserted into the outer sleeve and extending along the outer sleeve outside the gun barrel, and operably connected to the motor and the reflector frame; Wherein, the motor drives the reflector frame to rotate via the transmission rod; optionally, the motor is a linear motor.

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