Composite scanning device and control method

Abstract

The invention relates to a composite scanning device and a control method, and belongs to the technical field of optical elements, the composite scanning device comprises a rotating hinge component, a mounting base and a rotating table, the rotating hinge component is used for connecting the mounting base and the rotating table, and the mounting base is hinged to one end of the rotating hinge component in a self-rotating manner; the mounting base and the rotating hinge component can be connected in a pin shaft inserting mode, the rotating table is fixedly connected to the other end of the rotating hinge component, a flexible rotating hinge is arranged at the other end, away from the rotating hinge component, of the rotating table, and the flexible rotating hinge is arranged between the rotating table and the rotating table base. The mounting base rotates relative to the rotating hinge component, the rotating table rotates relative to the rotating table base through the flexible rotating hinge, and the combined scanning device has the beneficial effect that the combined scanning device can complete scanning of the whole three-dimensional space.

Description

Technical Field

[0001] The present invention belongs to the technical field of optical elements, and particularly relates to a composite scanning device and a control method. Background Art

[0002] Laser scanning technology is to adjust a laser scanner to perform all-round and high-precision scanning on a product to be scanned, so as to obtain the three-dimensional structure of the product. It is applicable to obtaining the overall three-dimensional structure of the product, providing basic data for image processing, digital archiving of the product, and establishment of the three-dimensional data model of the product.

[0003] Currently, there are already some laser scanning technologies, but these laser scanning technologies still have some deficiencies. Since traditional laser scanning technology mainly realizes scanning through a precision moving stage or a precision rotating stage, this method has the disadvantages of complex structure and large equipment volume, resulting in insufficient scanning accuracy of a large-angle scanning device; while scanning through a fast steering mirror has advantages such as simple structure and fast response. However, this scanning method not only has blind spots, but also the scanning spot will be distorted when the scanning target surface is a plane, resulting in a very small scanning angle range of a high-precision scanning device. Summary of the Invention

[0004] The present invention provides a composite scanning device and a control method, which are used to solve the technical problem that a scanning device cannot perform precise scanning. By rotating the mounting base relative to the rotating hinge member, and rotating the rotating table relative to the rotating table base through a flexible rotating hinge, the composite scanning device can complete the scanning of the entire three-dimensional space.

[0005] In order to achieve the above object, the present invention is realized through the following technical solutions:

[0006] A composite scanning device includes:

[0007] A rotating hinge member;

[0008] A mounting base, which is rotatably hinged to one end of the rotating hinge member;

[0009] A rotating table, which is fixedly connected to the other end of the rotating hinge member. A flexible rotating hinge is provided at the other end of the rotating table away from the rotating hinge member, and the flexible rotating hinge is arranged between the rotating table and the rotating table base;

[0010] By rotating the mounting base relative to the rotating hinge member, and rotating the rotating table relative to the rotating table base through the flexible rotating hinge, the composite scanning device can complete the scanning of the entire three-dimensional space.

[0011] Optionally, a mirror frame member capable of self-rotation is provided on the mounting base, and a reflecting mirror is fixedly provided on one end face of the mirror frame member for reflecting a laser beam.

[0012] Furthermore, a prism is provided inside the mounting base, and the prism is embedded between the other end face of the mirror frame member and the mounting base for scanning the inside of the composite scanning device with a laser beam.

[0013] Optionally, a third compensating mirror and a fourth compensating mirror are respectively provided on the two inner side walls of the mounting base, and a first compensating mirror and a second compensating mirror are respectively provided on the two outer side walls of the mirror frame member. The laser beam passes from the first compensating mirror through the third compensating mirror, the prism, and the fourth compensating mirror to the second compensating mirror in sequence.

[0014] Optionally, a piezoelectric ceramic driver is provided between the mounting base and the mirror frame member, and the piezoelectric ceramic driver can elongate or shorten along its axial direction.

[0015] Optionally, the laser passes through a longitudinal cylindrical lens and a transverse cylindrical lens in sequence and is docked to the composite scanning device.

[0016] A control method for a composite scanning device includes the following steps:

[0017] Step a: Control the pitching mechanism to rotate; wherein, control the mounting base to rotate around the rotating hinge member.

[0018] Step b: During the process of controlling the pitching mechanism to rotate, control the horizontal mechanism to rotate; wherein, control the rotating table to rotate.

[0019] Step c: Control the pitching mechanism to make the second compensating mirror face the center holes of the rotating table and the rotating table base.

[0020] Optionally, in step a, the rotation angle range of the pitching mechanism is set to 0° - 180°, and the rotation direction of the pitching mechanism is from one direction to another direction, or the rotation direction of the pitching mechanism is from another direction to one direction.

[0021] Optionally, in step b, taking 1° of rotation of the pitching mechanism as a rotation angle unit, for every 0.1° of rotation of the pitching mechanism, the horizontal mechanism rotates 360° in units of 0.1°, and this operation is repeated until the pitching mechanism rotates 1°.

[0022] Advantages of the present invention:

[0023] 1. In the present invention, the mounting base rotates relative to the rotary hinge member, and the turntable rotates relative to the turntable base through the flexible rotary hinge, enabling the composite scanning device to complete the scanning of the entire three-dimensional space. Specifically, the rotation angle of the mounting base around the rotary hinge member is 0° - 180°, and the rotation angle of the turntable is 0 - 360°, increasing the scanning angle range of the composite scanning device. In the present invention, every time the pitching mechanism rotates 0.1°, the horizontal mechanism rotates 360° in units of 0.1°, achieving the scanning accuracy of the large-angle scanning device.

[0024] 2. After the pitching mechanism of the present invention rotates 1° each time, the piezoelectric ceramic actuator can elongate or shorten along its axis direction to achieve fine adjustment scanning or boundary compensation scanning of the boundary (scanning range of each 1°). That is to say, the piezoelectric ceramic actuator 44 can be used for the adjustment or compensation of the scanning range of each 1° rotation of the pitching mechanism.

[0025] 3. In the present invention, after the laser passes through the third compensation mirror, prism, and fourth compensation mirror in sequence from the first compensation mirror and then leads to the second compensation mirror, for the laser scanning blind area, by adding a prism for laser scanning in the optical paths of the first compensation mirror, third compensation mirror, fourth compensation mirror, and second compensation mirror, the scanning of the self-occluded part or blind area of the composite scanning device is realized.

[0026] 4. In the present invention, by adjusting the internal structure of the longitudinal cylindrical lens (i.e., adjusting the distance between the two cylindrical lenses inside the longitudinal cylindrical lens), the spot size changes in the vertical direction. By adjusting the internal structure of the transverse cylindrical lens (i.e., adjusting the distance between the two cylindrical lenses inside the transverse cylindrical lens), the spot size changes in the horizontal direction. Through the adjustment of the longitudinal cylindrical lens and the transverse cylindrical lens, the situation where the scanning spot will produce distortion is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 It is a three-dimensional schematic diagram of the device structure of the present invention;

[0029] Figure 2 It is a sectional structure schematic diagram of the device structure of the present invention;

[0030] Figure 3 It is a schematic diagram of the blind area scanning principle of the device structure of the present invention;

[0031] Figure 4 This is the schematic diagram for controlling the spot shape on the cylindrical lens target surface of the present invention;

[0032] Figure 5 This is the schematic diagram of the working principle of the device of the present invention;

[0033] Figure 6 This is the schematic diagram of the scanning path of the present invention;

[0034] Figure 7 This is the schematic diagram of the working principle of the scanning path of the present invention.

[0035] Icons: 1 - Laser, 2 - Longitudinal cylindrical lens, 3 - Transverse cylindrical lens, 4 - Composite scanning device, 41 - Reflector, 42 - Mirror frame member, 43 - Rotary hinge member, 44 - Piezoelectric ceramic driver, 45 - First compensation mirror, 46 - Second compensation mirror, 47 - Prism, 48 - Third compensation mirror, 49 - Fourth compensation mirror, 50 - Mounting base, 51 - Rotary table, 52 - Flexible rotary hinge, 53 - Rotary table base. Specific embodiments

[0036] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0037] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0038] The terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "plurality" is two or more.

[0039] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be welding, bolt connection, or riveting; it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0040] Embodiment 1:

[0041] As Figure 1 - Figure 2 shown, a composite scanning device includes: a rotary hinge member 43, a mounting base 50, and a rotating table 51;

[0042] The rotary hinge member 43 is used to connect the mounting base 50 and the rotating table 51;

[0043] The mounting base 50 is pivotally connected to one end of the rotary hinge member 43 so as to be able to rotate itself. The mounting base 50 and the rotary hinge member 43 can be connected by inserting a pin shaft, that is, the pin shaft is in interference fit with the rotary hinge member 43, and the pin shaft is in transitional fit with the mounting base 50;

[0044] The rotating table 51 is fixedly connected to the other end of the rotary hinge member 43. A flexible rotary hinge 52 (the flexible rotary hinge 52 can be a thrust ball bearing, and the two outer end faces of the thrust ball bearing are respectively adhesively connected to the rotating table 51 and the rotating table base 53) is provided on the other end of the rotating table 51 away from the rotary hinge member 43. The flexible rotary hinge 52 is arranged between the rotating table 51 and the rotating table base 53;

[0045] By the rotation of the mounting base 50 relative to the rotary hinge member 43, and the rotation of the rotating table 51 relative to the rotating table base 53 through the flexible rotary hinge 52, the composite scanning device 4 can complete the scanning of the entire three-dimensional space.

[0046] Embodiment 2:

[0047] Based on Embodiment 1, as Figure 2 shown, specifically, a mirror frame member 42 capable of rotating itself is provided on the mounting base 50. A reflecting mirror 41 is fixedly provided on one end face of the mirror frame member 42. The reflecting mirror 41 is used to reflect the laser beam.

[0048] A prism 47 is provided inside the mounting base 50. The prism 47 is embedded between the other end face of the mirror frame member 42 and the mounting base 50. The prism 47 is used to scan the inside of the composite scanning device 4 with the laser beam, that is, as Figure 3As shown, the prism 47 is used inside the laser beam scanning compound scanning device 4 in a blind area, and the blind area is the central holes of the rotating table 51, the rotating hinge 52, and the rotating table base 53. The inner diameters of the three central holes are the same and the axes of the three central holes coincide.

[0049] As Figure 2 shown, a third compensation mirror 48 and a fourth compensation mirror 49 are respectively provided on the front and rear inner side walls of the mounting base 50, and a first compensation mirror 45 and a second compensation mirror 46 are respectively provided on the front and rear outer side walls of the mirror frame member 42. The laser passes from the first compensation mirror 45 through the third compensation mirror 48, the prism 47, and the fourth compensation mirror 49 to the second compensation mirror 46. Therefore, as Figure 3 shown, after the laser passes from the first compensation mirror 45 through the third compensation mirror 48, the prism 47, and the fourth compensation mirror 49 to the second compensation mirror 46, the laser scans the blind area. By adding a prism 47 for laser scanning in the optical paths of the first compensation mirror 45, the third compensation mirror 48, the fourth compensation mirror 49, and the second compensation mirror 46, the scanning of the part or blind area blocked by the compound scanning device 4 itself is realized.

[0050] A piezoelectric ceramic actuator 44 is provided between the mounting base 50 and the mirror frame member 42, and the piezoelectric ceramic actuator 44 can extend or contract along its axis direction. The piezoelectric ceramic actuator 44 drives the mirror 41 to achieve high-precision scanning. That is, when the mounting base 50 performs rough-precision scanning at a large angle and encounters a sudden boundary range, high-precision scanning is performed. That is to say, the piezoelectric ceramic actuator 44 can extend or contract along its axis direction to achieve fine adjustment scanning or compensation scanning of the boundary.

[0051] Embodiment 3:

[0052] Based on Embodiment 1 - Embodiment 2, as Figure 4 shown, the laser passes from the laser 1 through the longitudinal cylindrical lens 2 and the transverse cylindrical lens 3 in sequence and is docked to the compound scanning device 4.

[0053] Specifically, the position of the mounting base 50 on the compound scanning device 4 remains unchanged, and the laser emitted by the laser 1 passes through the longitudinal cylindrical lens 2 and the transverse cylindrical lens 3 in sequence and is projected onto the mirror 41 on the compound scanning device 4, and the mirror 41 emits the laser.

[0054] By adjusting the distance of the internal structure of the longitudinal cylindrical lens 2 (i.e., adjusting the distance between the two cylindrical lenses inside the longitudinal cylindrical lens 2), the spot size changes in the vertical direction. By adjusting the distance of the internal structure of the transverse cylindrical lens 3 (i.e., adjusting the distance between the two cylindrical lenses inside the transverse cylindrical lens 3), the spot size changes in the horizontal direction. The adjustment of the longitudinal cylindrical lens 2 and the transverse cylindrical lens 3 solves the problem of spot distortion during scanning.

[0055] Embodiment 4:

[0056] Based on Embodiments 1 - 3, as Figure 4 shown, this embodiment provides a control method for a composite scanning device. The implementation of this method is through a control system or, and includes the following steps:

[0057] Step a: Control the pitch mechanism to rotate; wherein, control the mounting base 50 to rotate around the rotary hinge member 43, and the rotation angle of the mounting base 50 rotating around the rotary hinge member 43 is 0° - 180°;

[0058] Step b: During the process of controlling the pitch mechanism to rotate, control the horizontal mechanism to rotate; wherein, control the turntable 51 to rotate, and the rotation angle of the turntable 51 is 0° - 360°;

[0059] Step c: Control the pitch mechanism to make the second compensation mirror 46 face the center holes of the turntable 51 and the turntable base 53, so as to realize the scanning of the blind area of the composite scanning device 4.

[0060] Further, in step a, the rotation angle range of the pitch mechanism (i.e., the mounting base 50 and the mechanism components on the mounting base 50) is set to 0° - 180°, and the rotation direction of the pitch mechanism is to rotate from one direction to another direction (clockwise rotation), or the rotation direction of the pitch mechanism is to rotate from another direction to one direction (counterclockwise rotation).

[0061] Further, as Figure 6 shown, in step b, taking 1° of the pitch mechanism rotation as a rotation angle unit, every time the pitch mechanism rotates 0.1°, the horizontal mechanism (which can be the turntable 51) rotates 360° in units of 0.1° until the pitch mechanism rotates 1°, and repeat the operation (repeat the operation that every time the pitch mechanism rotates 0.1°, the horizontal mechanism rotates 360° in units of 0.1°).

[0062] It should be noted here that every time the pitch mechanism rotates 0.1°, the horizontal mechanism rotates 360° in units of 0.1°, which realizes the scanning accuracy of the large-angle scanning device.

[0063] After the pitching mechanism rotates 1°, the piezoelectric ceramic actuator 44 can elongate or shorten along its axis direction, realizing fine adjustment scanning of the boundary (scanning range of every 1°) or compensation scanning of the boundary. That is to say, the piezoelectric ceramic actuator 44 can be used for the adjustment or compensation of the scanning range of every 1° rotation of the pitching mechanism.

[0064] The scanning angle range of the composite scanning device 4 is increased by the rotation angle of the mounting base 50 around the rotary hinge member 43 being 0° - 180° and the rotation angle of the turntable 51 being 0 - 360°.

[0065] Embodiment 5:

[0066] Based on Embodiment 4, as Figure 7 shown, a drive system is provided inside the composite scanning device 4, or the composite scanning device 4 is connected to a control system. The specific scanning operation calculation of the composite scanning device 4 is as follows:

[0067] The specific algorithm inside the drive system is as follows:

[0068] Set the center point of the mirror 41 as the coordinate origin O. The scanning step in the pitching direction (rotation direction of the pitching mechanism) is (when the pitching mechanism rotates 0.1° each time), and in the horizontal direction (rotation direction of the horizontal mechanism) is (when the horizontal mechanism rotates in units of 0.1°). As Figure 6 shown, the total number of point positions to be scanned is angles ( is the number of times the pitching mechanism rotates 0.1° each time, is the number of times the horizontal mechanism rotates in units of 0.1°). The angle range in the pitching direction is , and the angle range in the horizontal direction is . Let the scanning distance be (after the scanning distance is determined, the distance value remains unchanged during the scanning process). Then the coordinates of each scanning point in space can be respectively:

[0069] ;

[0070] ;

[0071] ;

[0072] Among them, as Figure 6 or Figure 7 shown, , and are respectively the coordinates of a certain space scanning point on the coordinate axis, on the The coordinates on the coordinate axes and the coordinates on the coordinate axes, , is the pitch mechanism with 0.1° as the rotation or step unit multiplied by the number of rotation or step units of the pitch mechanism to obtain the rotation angle of the pitch mechanism; , is the horizontal mechanism with 0.1° as the rotation or step unit multiplied by the number of rotation or step units of the horizontal mechanism to obtain the rotation angle of the horizontal mechanism.

[0073] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope recorded in the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims described.

Claims

1. A composite scanning device, characterized in that, Comprising: A rotary hinge member (43); A mounting base (50), which is pivotally connected to one end of the rotary hinge member (43) so as to be capable of self-rotation; A rotating table (51), which is fixedly connected to the other end of the rotary hinge member (43). A flexible rotary hinge (52) is provided on the other end of the rotating table (51) away from the rotary hinge member (43), and the flexible rotary hinge (52) is arranged between the rotating table (51) and a rotating table base (53); By the rotation of the mounting base (50) relative to the rotary hinge member (43) and the rotation of the rotating table (51) relative to the rotating table base (53) through the flexible rotary hinge (52), the composite scanning device (4) can complete the scanning of the entire three-dimensional space.

2. The composite scanning device according to claim 1, characterized in that, A mirror frame member (42) capable of self-rotation is provided on the mounting base (50), and a reflecting mirror (41) is fixedly provided on one end face of the mirror frame member (42), and the reflecting mirror (41) is used for reflecting a laser beam.

3. The composite scanning device according to claim 2, characterized in that, A prism (47) is provided inside the mounting base (50), and the prism (47) is embedded between the other end face of the mirror frame member (42) and the mounting base (50), and the prism (47) is used for scanning the inside of the composite scanning device (4) with a laser beam.

4. The composite scanning device according to claim 1, wherein A third compensation reflecting mirror (48) and a fourth compensation reflecting mirror (49) are respectively provided on two inner side walls of the mounting base (50), and a first compensation reflecting mirror (45) and a second compensation reflecting mirror (46) are respectively provided on two outer side walls of the mirror frame member (42). The laser beam passes from the first compensation reflecting mirror (45) through the third compensation reflecting mirror (48), the prism (47), the fourth compensation reflecting mirror (49) and then leads to the second compensation reflecting mirror (46).

5. A composite scanning device according to claim 1, characterized in that, A piezoelectric ceramic actuator (44) is provided between the mounting base (50) and the mirror frame member (42), and the piezoelectric ceramic actuator (44) can extend or contract along its axial direction.

6. The composite scanning device according to claim 1, wherein, From a laser (1), it is successively butt-connected to the composite scanning device (4) through a longitudinal cylindrical lens (2) and a transverse cylindrical lens (3).

7. A control method for a composite scanning device, which is used to execute a composite scanning device according to any one of claims 1-6, characterized in that, Comprising the following steps: Step a: Controlling the rotation of the pitching mechanism; wherein, controlling the mounting base (50) to rotate around the rotary hinge member (43); Step b: During the process of controlling the rotation of the pitching mechanism, controlling the rotation of the horizontal mechanism; wherein, controlling the rotating table (51) to rotate; Step c: Controlling the pitching mechanism to make the second compensation reflecting mirror (46) face the center hole of the rotating table (51) and the rotating table base (53).

8. According to the control method of a composite scanning device as claimed in claim 8, in the step a, the rotation angle range of the pitching mechanism is set to 0° - 180°, the rotation direction of the pitching mechanism is from one direction to another direction, or the rotation direction of the pitching mechanism is from another direction to one direction.

9. According to the control method of a composite scanning device as claimed in claim 8, in the step b, taking 1° rotation of the pitching mechanism as a rotation angle unit, every time the pitching mechanism rotates 0.1°, the horizontal mechanism rotates 360° in units of 0.1° until the pitching mechanism rotates 1°, and the operation is repeated.

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