Laser emission head and laser obstacle removing device

Abstract

The invention relates to a laser emission head and a laser obstacle removing device. The laser emitting head comprises a laser emitting mechanism, an aiming mechanism and an adjusting mechanism, the laser emitting mechanism is provided with a laser optical axis, and the aiming mechanism is provided with an aiming optical axis. The adjusting mechanism is arranged on the aiming optical axis and used for adjusting the aiming optical axis; wherein the adjusting mechanism comprises at least two optical wedges arranged along the aiming optical axis, and the optical wedges can rotate in a plane forming an included angle with the aiming optical axis so as to adjust the aiming optical axis in at least two directions forming the included angle until the aiming optical axis is parallel to the laser optical axis. By rotating the optical wedge in the plane forming the included angle with the aiming optical axis, the aiming optical axis is adjusted in at least two directions forming the included angle, the purpose of correcting the extending direction of the aiming optical axis is achieved, and then the aiming optical axis and the laser optical axis are in a parallel state. The optical wedge is simple in structure, the rotation angle of the rotation motion is easier to control, and the adjustment precision can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of power equipment, and in particular to a laser transmitter head and a laser obstacle removal device. Background Art

[0002] Transmission and distribution lines are mostly bare metal wires, unprotected by insulation, secured to poles and towers by insulators to transmit power. However, floating foreign objects, such as tree branches, can easily come into contact with the lines, causing faults such as short circuits between metal conductors or single-phase grounding, resulting in power outages and damage to the transmission lines. Therefore, timely removal of foreign objects from transmission lines is crucial for power supply safety.

[0003] A laser obstacle removal device uses lasers to remotely remove foreign objects from overhead power lines. The laser's photothermal effect melts, burns, or dislodges foreign objects from the lines. The device consists of a laser transmitter and an aiming mechanism. The optical axes of the laser transmitter and aiming mechanisms must be aligned for accurate aiming and laser clearance. However, traditional laser obstacle removal devices suffer from complex adjustment mechanisms and low precision. Summary of the Invention

[0004] Based on this, it is necessary to provide a laser transmitter head and a laser obstacle removal device, which can quickly and accurately adjust the aiming optical axis to be parallel to the laser optical axis by setting an optical wedge.

[0005] In a first aspect, the present application provides a laser emitting head, the laser emitting head comprising:

[0006] A laser emitting mechanism having a laser optical axis;

[0007] an aiming mechanism having an aiming optical axis;

[0008] An adjustment mechanism is provided on the aiming optical axis and is used to adjust the aiming optical axis; wherein the adjustment mechanism includes at least two optical wedges arranged along the aiming optical axis, and the optical wedges can rotate in a plane at an angle to the aiming optical axis to adjust the aiming optical axis in at least two directions at the angle until the aiming optical axis is parallel to the laser optical axis.

[0009] In some embodiments, two optical wedges are provided, each having a first surface and a second surface, wherein the first surface is perpendicular to the thickness direction of the optical wedge, and the second surface forms an angle with the thickness direction of the optical wedge; wherein the second surfaces of the two optical wedges are arranged face to face.

[0010] In some embodiments, the first surface of the optical wedge is perpendicular to the laser optical axis, and the optical wedge rotates in a plane perpendicular to the laser optical axis; and / or,

[0011] The two optical wedges adjust the aiming optical axis in a first direction and a second direction perpendicular to each other, respectively.

[0012] In some embodiments, in the first direction, the pixel difference between the pixel value of the laser action point of the laser emitting mechanism deviating from the theoretical aiming point of the aiming mechanism and the pixel value of the laser action point deviating from the actual aiming point is X; in the second direction, the pixel difference between the pixel value of the laser action point of the laser emitting mechanism deviating from the theoretical aiming point of the aiming mechanism and the pixel value of the laser action point deviating from the actual aiming point is Y; the distance from the laser emitting mechanism to the target is D;

[0013] In the first direction, the deviation angle Θ between the aiming optical axis and the laser optical axis is arctan (a*X / D); in the second direction, the deviation angle Φ between the aiming optical axis and the laser optical axis is arctan (b*Y / D).

[0014] In some embodiments, the optical wedges are respectively a first optical wedge and a second optical wedge, wherein the wedge angle of the first optical wedge is α1, the refractive index of the first optical wedge is n1, the wedge angle of the second optical wedge is α2, and the refractive index of the second optical wedge is n2;

[0015] According to Θ, Φ, α1, n1, α2, and n2, the rotation angle θ1 of the first optical wedge and the rotation angle θ2 of the second optical wedge are calculated.

[0016] In some embodiments, the calculation process of θ1 and θ2 is:

[0017] The first step is to calculate: 11 =-cos(α1)+sqrt(n1^2-sin(α1)^2),

[0018] p=-sqrt(n2^2-n1^2+(Γ 11 *cos(α1)+1)^2),

[0019] g=1-n2^2-[(cosΦ+b) / cosα2]^2,

[0020] h=cosα2 / 2(cosΦ+p),

[0021] i=cosα2*p,

[0022] j=—Γ 11 *sinα1*sinα2;

[0023] The second step is to calculate g, h, i, and j based on the calculated values:

[0024] Δθ=arccos((g*h+i) / j);

[0025] The third step is to calculate: k=-1*Γ 11 *sin(α1)*sin(α2)*cos(Δθ),

[0026] m=cosα2*sqrt(n2^2-n1^2+(Γ 11 *cosα1+1)^2),

[0027] r=k+m,

[0028] Γ 22 =sqrt(1-n2^2+r^2)-r,

[0029] The fourth step is to calculate k, m, r, Γ 22 , we calculate:

[0030] Ψ0=arctan((Γ 22 *sin(α2)*sin(Δθ)) / (-1*Γ11*sin(α1)+Γ 22 *sin(α2)*cos(Δθ)));

[0031] Step 5: Based on the calculated Δθ and Ψ0, we can deduce:

[0032] θ1=Θ-Ψ0,

[0033] θ2=θ1–Δθ.

[0034] In some embodiments, the optical wedge is configured to be circular, and the axis of the circle is parallel to the laser optical axis.

[0035] In some embodiments, the adjustment mechanism further comprises:

[0036] a mounting tube, wherein the aiming optical axis passes through the mounting tube, and the optical wedge is rotatably disposed in the mounting tube;

[0037] The optical wedge driver is configured to drive the optical wedge to rotate in the mounting tube; the optical wedge driver includes a power member and a transmission member, the fixed end of the power member is set on the mounting tube, the transmission member connects the driving end of the power member and the optical wedge, and the power member drives the optical wedge to rotate through the transmission member.

[0038] In some embodiments, the transmission member includes a meshing driving gear and a driven gear, the driving gear is connected to the driving end of the power member and can be driven to rotate by the power member; the driven gear is connected to the optical wedge and can drive the optical wedge to rotate synchronously.

[0039] In a second aspect, the present application also provides a laser obstacle removal device, comprising a laser and a laser emitting head as proposed in any of the above embodiments, wherein the laser is optically connected to the laser emitting mechanism to provide a laser beam to the laser emitting head.

[0040] The aforementioned laser transmitter and laser obstacle-clearing device utilizes an adjustment mechanism to align the aiming optical axis parallel to the laser optical axis, facilitating subsequent accurate observation and laser obstacle clearance of the target. This adjustment mechanism incorporates at least two optical wedges arranged along the aiming optical axis. By rotating the optical wedges within a plane angled with the aiming optical axis, the aiming optical axis is adjusted in at least two angular directions, thereby correcting the extension direction of the aiming optical axis and thereby aligning the aiming optical axis and the laser optical axis. The optical wedges offer a simple structure, and the rotation angle is easily controlled, which improves adjustment accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a schematic structural diagram of a laser obstacle removal device provided in one embodiment of the present application;

[0042] Figure 2 This is a schematic diagram of the internal structure of a laser transmitter provided in one embodiment of the present application;

[0043] Figure 3 This is a schematic cross-sectional structural diagram of a laser transmitter head provided in one embodiment of the present application;

[0044] Figure 4 for Figure 3 The enlarged structure diagram at E in the middle;

[0045] Figure 5 This is a schematic structural diagram of an optical wedge provided in one embodiment of the present application;

[0046] Figure 6 This is a schematic diagram of a partial structure of a laser transmitter head provided in one embodiment of the present application;

[0047] Figure 7 This is a schematic diagram of the aiming optical axis and the laser optical axis provided in an embodiment of the present application in a parallel state;

[0048] Figure 8 This is a schematic diagram of the deviation between the laser action point and the theoretical aiming point provided in the embodiment of the present application;

[0049] Figure 9 This is a schematic diagram of the aiming optical axis and the laser optical axis provided in an embodiment of the present application in a non-parallel state;

[0050] Figure 10 This is a schematic diagram of the deviation between the laser action point and the actual aiming point provided in the embodiment of the present application;

[0051] Figure 11 Schematic diagram of the adjustment of the aiming optical axis by the optical wedge provided in an embodiment of the present application.

[0052] Description of reference numerals:

[0053] 100, laser transmitter head; 200, laser; 210, laser body; 220, optical fiber; 300, target;

[0054] 1. Laser emitting mechanism; 10. Laser optical axis;

[0055] 2. Aiming mechanism; 20. Aiming optical axis; 201. Deflection optical axis; 202. Correction optical axis;

[0056] 3. Adjustment mechanism; 31. Optical wedge; 3101. First optical wedge; 3102. Second optical wedge; 311. First surface; 312. Second surface; 32. Mounting cylinder; 33. Optical wedge driver; 331. Power member; 332. Transmission member; 3321. Driving gear; 3322. Driven gear; 34. Support frame; 341. Frame body; 342. Gland; 35. Pressing ring; 36. Locking ring;

[0057] 4. Control panel;

[0058] 5. Shell. DETAILED DESCRIPTION

[0059] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0060] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0061] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0062] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0063] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0064] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0065] See Figure 1 , Figure 1The figure shows a schematic diagram of the structure of a laser obstacle removal device provided in one embodiment of the present application. This embodiment of the present application provides a laser obstacle removal device, comprising a laser 200 and a laser emitting head 100. The laser 200 is optically connected to the laser emitting head 100 and is used to provide a laser beam to the laser emitting head 100. The laser emitting head 100 emits a laser beam to fuse and burn foreign objects on the power transmission and distribution lines, thereby achieving the purpose of obstacle removal. Of course, the laser obstacle removal device is not limited to removing foreign objects from power transmission and distribution lines, and can also be applied to other scenarios as needed.

[0066] Specifically, the laser 200 includes a laser body 210 and an optical fiber 220. The optical fiber 220 connects the laser body 210 and the laser emitting head 100. The laser beam generated by the laser body 210 is transmitted to the laser emitting head 100 via the optical fiber 220. The laser 200 can adopt any conventional laser structure, which will not be described in detail here. In the embodiments of the present application, the structure of the laser emitting head 100 is mainly improved.

[0067] See below Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of the internal structure of a laser transmitter provided in one embodiment of the present application; Figure 3 This is a schematic cross-sectional structural diagram of a laser transmitter head provided in one embodiment of the present application.

[0068] The embodiment of the present application provides a laser emitting head 100, which includes a laser emitting mechanism 1, an aiming mechanism 2 and an adjustment mechanism 3. The laser emitting mechanism 1 has a laser optical axis 10, and the aiming mechanism 2 has an aiming optical axis 20 (refer to Figure 7 The adjustment mechanism 3 is disposed on the aiming optical axis 20 and is used to adjust the aiming optical axis 20. The adjustment mechanism 3 includes at least two optical wedges 31 arranged along the aiming optical axis 20. The optical wedges 31 can rotate within a plane that forms an angle with the aiming optical axis 20 to adjust the aiming optical axis 20 in at least two angular directions until the aiming optical axis 20 is parallel to the laser optical axis 10.

[0069] The laser transmitter head 100 provided in an embodiment of the present application adjusts the aiming optical axis 20 to a state parallel to the laser optical axis 10 by providing an adjustment mechanism 3, thereby facilitating subsequent accurate observation and laser obstacle removal of the target. The adjustment mechanism 3 is provided with at least two optical wedges 31 arranged along the aiming optical axis 20. By rotating the optical wedges 31 within a plane at an angle to the aiming optical axis 20, the aiming optical axis 20 is adjusted in at least two angular directions, thereby correcting the extension direction of the aiming optical axis 20 and thereby achieving a state parallel to the laser optical axis 10. The optical wedge 31 has a simple structure, and the rotation angle of the rotational motion is easier to control, which is conducive to improving the adjustment accuracy.

[0070] Specifically, if Figure 2 As shown, Figure 2 The figure shows the perpendicular directions A, B, and C. In this embodiment, the laser emitting mechanism 1 and the aiming mechanism 2 are arranged along the C direction, while the adjustment mechanism 3 and the aiming mechanism 2 are arranged along the B direction. The laser optical axis 10 of the laser emitting mechanism 1 extends along the B direction. The aiming optical axis 20 of the aiming mechanism 2 should theoretically extend along the B direction. However, in practice, the aiming optical axis 20 may be deflected. The structural design of the adjustment mechanism 3 corrects the aiming optical axis 20 in the A and B directions, respectively, so that the aiming optical axis 20 extends along the B direction.

[0071] Alternatively, as Figure 3 As shown, the laser emitting head 100 further includes a housing 5 , which covers the laser emitting mechanism 1 , the aiming mechanism 2 and the adjusting mechanism 3 to provide good protection for each mechanism.

[0072] See also Figure 4 and Figure 5 , Figure 4 for Figure 3 The enlarged structure diagram at E in the middle; Figure 5 Schematic diagram of the structure of the optical wedge 31 provided in one embodiment of the present application.

[0073] In some embodiments, two optical wedges 31 are provided, each having a first surface 311 and a second surface 312 . The first surface 311 is perpendicular to the thickness direction of the optical wedge 31 , and the second surface 312 is at an angle to the thickness direction of the optical wedge 31 . The second surfaces 312 of the two optical wedges 31 are arranged face to face.

[0074] Specifically, the first surface 311 of the optical wedge 31 is perpendicular to the laser optical axis 10, and the optical wedge 31 rotates within a plane perpendicular to the laser optical axis 10; and / or, the two optical wedges 31 adjust the aiming optical axis 20 in a first and second perpendicular direction, respectively. The first direction is direction A, and the second direction is direction C. It is understood that in other embodiments, the first and second directions may also be at other angles to each other, still enabling the aiming optical axis 20 to be adjusted parallel to the laser optical axis 10.

[0075] Optionally, the two optical wedges 31 are respectively a first optical wedge 3101 and a second optical wedge 3102 , and the first optical wedge 3101 is closer to the aiming mechanism 2 than the second optical wedge 3102 .

[0076] Optionally, the optical wedge 31 is arranged in a circular shape, and the axis of the circle is arranged parallel to the laser optical axis 10. When the optical wedge 31 rotates, it rotates around its axis.

[0077] See also Figure 4 and Figure 6 , Figure 6 This is a partial structural diagram of a laser transmitter head 100 provided in one embodiment of the present application. In some embodiments, the adjustment mechanism 3 further includes a mounting tube 32 and an optical wedge driver 33. The aiming optical axis 20 is disposed through the mounting tube 32, and the optical wedge 31 is rotatably mounted within the mounting tube 32. The optical wedge driver 33 is configured to drive the optical wedge 31 to rotate within the mounting tube 32. The optical wedge driver 33 includes a power member 331 and a transmission member 332. The fixed end of the power member 331 is disposed within the mounting tube 32, and the transmission member 332 connects the driving end of the power member 331 to the optical wedge 31. The power member 331 drives the optical wedge 31 to rotate via the transmission member 332. The mounting tube 32 provides mounting support for the optical wedge 31 and the power member 331. The power member 331, via the transmission member 332, drives the optical wedge 31 to rotate relative to the mounting tube 32. Each optical wedge 31 is provided with a separate optical wedge driver 33, which drives the optical wedge 31 to rotate by a desired angle.

[0078] Specifically, the transmission member 332 includes a meshing driving gear 3321 and a driven gear 3322. The driving gear 3321 is connected to the driving end of the power member 331 and can be driven to rotate by the power member 331. The driven gear 3322 is connected to the optical wedge 31 and can drive the optical wedge 31 to rotate synchronously. Specifically, the power member 331 can be a motor.

[0079] Furthermore, the laser emission head 100 also includes a control board 4, which is arranged in the housing 5 and is located on the side of the aiming mechanism 2 away from the adjustment mechanism 3. The power member 331 is electrically connected to the control board 4 to control the rotation angle of the power member 331 through the control board 4.

[0080] Optionally, see Figure 4 To achieve the rotational connection of the optical wedge 31 within the mounting tube 32, the adjustment mechanism 3 also includes a support frame 34, which is rotatably connected to the mounting tube 32 via a bearing. A cavity is provided within the support frame 34, and the optical wedge 31 is fixedly disposed within the cavity of the support frame 34 so as to be able to rotate synchronously with the support frame 34. The aforementioned driven gear 3322 is fixedly disposed on the outer side of the support frame 34, so that the power member 331 can drive the support frame 34 to rotate via the driving gear 3321 and the driven gear 3322, thereby driving the synchronous rotation of the optical wedge 31. The support frame 34 and the driven gear 3322 can be configured as an integrated structure to improve processing convenience and connection strength.

[0081] Specifically, support frame 34 includes a frame body 341 and a pressure cap 342. Optical wedge 31 is mounted within frame body 341, and a driven gear 3322 is mounted on the exterior of frame body 341. Mounting tube 32 has a slot formed on its inner wall, into which frame body 341 is rotatably mounted via a bearing. Pressure cap 342 blocks frame body 341, ensuring secure installation.

[0082] See also Figure 4 and Figure 5 To securely mount the optical wedge 31 within the frame body 341, the adjustment mechanism also includes a pressure ring 35 and a locking ring 36. Each optical wedge 31 is provided with one pressure ring 35 and one locking ring 36. The pressure ring 35 is positioned on the side of the optical wedge 31 facing the other optical wedge 31, complementing the wedge-shaped optical wedge 31 and forming a cylindrical outer wall to enhance secure mounting within the frame body 341. The locking ring 36 is positioned on the side of the pressure ring 35 facing away from the corresponding optical wedge 31 to further enhance secure mounting of the optical wedge 31 and the pressure ring 35.

[0083] The following will calculate the required rotation angles of the first optical wedge 3101 and the second optical wedge 3102 with reference to the accompanying drawings.

[0084] See also Figure 7 and Figure 8 , Figure 7 Schematic diagram of the aiming optical axis 20 and the laser optical axis 10 provided in an embodiment of the present application in a parallel state; Figure 8 This is a schematic diagram of the deviation between the laser action point and the theoretical aiming point provided in the embodiment of the present application. The laser emitting mechanism 1 forms a laser action point on the action target 300, and the aiming mechanism 2 forms an aiming point on the action target 300. The laser action point is displayed as "+" and the aiming point is displayed as "○" on the terminal display. Figure 8 As shown, when the aiming optical axis 20 is parallel to the laser optical axis 10, the aiming point is the theoretical aiming point. In the C direction, the pixel value of the laser action point deviating from the theoretical aiming point is Y1; similarly, in the A direction, the pixel value of the laser action point deviating from the theoretical aiming point is X1.

[0085] See also Figure 9 and Figure 10 , Figure 9 Schematic diagram of the aiming optical axis 20 and the laser optical axis 10 provided in an embodiment of the present application in a non-parallel state; Figure 10 This is a schematic diagram of the deviation between the laser action point and the actual aiming point provided in the embodiments of this application. When the aiming optical axis 20 is not parallel to the laser optical axis 10, the actual aiming point deviates from the theoretical aiming point. In the C direction, the pixel value by which the laser action point deviates from the actual aiming point is Y2. Similarly, in the A direction, the pixel value by which the laser action point deviates from the actual aiming point is X2.

[0086] In the first direction (direction A), the pixel difference between the pixel value of the laser action point of the laser emitting mechanism 1 deviating from the theoretical aiming point of the aiming mechanism 2 and the pixel value of the laser action point deviating from the actual aiming point is X; in the second direction (direction C), the pixel difference between the pixel value of the laser action point of the laser emitting mechanism 1 deviating from the theoretical aiming point of the aiming mechanism 2 and the pixel value of the laser action point deviating from the actual aiming point is Y; where X=X2-X1, Y=Y2-Y1;

[0087] The distance between the laser emitting mechanism 1 and the target 300 is D;

[0088] It can be concluded that in direction A, the deviation angle θ between the aiming optical axis 20 and the laser optical axis 10 is arctan(a*X / D); in direction C, the deviation angle Φ between the aiming optical axis 20 and the laser optical axis 10 is arctan(b*Y / D). Coefficients a and b are equipment parameters and can be measured in advance.

[0089] Furthermore, assuming that the wedge angle of first optical wedge 3101 is α1, the refractive index of first optical wedge 3101 is n1, the wedge angle of second optical wedge 3102 is α2, and the refractive index of second optical wedge 3102 is n2; based on Θ, Φ, α1, n1, α2, and n2, the rotation angle θ1 of first optical wedge 3101 and the rotation angle θ2 of second optical wedge 3102 can be calculated.

[0090] Specifically, the calculation process of θ1 and θ2 is:

[0091] The first step is to calculate: 11 =-cos(α1)+sqrt(n1^2-sin(α1)^2),

[0092] p=-sqrt(n2^2-n1^2+(Γ 11 *cos(α1)+1)^2),

[0093] g=1-n2^2-[(cosΦ+b) / cosα2]^2,

[0094] h=cosα2 / 2(cosΦ+p),

[0095] i=cosα2*p,

[0096] j=—Γ 11 *sinα1*sinα2;

[0097] The second step is to calculate g, h, i, and j based on the calculated values:

[0098] Δθ=arccos((g*h+i) / j);

[0099] The third step is to calculate: k=-1*Γ 11 *sin(α1)*sin(α2)*cos(Δθ),

[0100] m=cosα2*sqrt(n2^2-n1^2+(Γ 11 *cosα1+1)^2),

[0101] r=k+m,

[0102] Γ 22 =sqrt(1-n2^2+r^2)-r,

[0103] The fourth step is to calculate k, m, r, Γ 22 , we calculate:

[0104] Ψ0=arctan((Γ 22 *sin(α2)*sin(Δθ)) / (-1*Γ11*sin(α1)+Γ 22 *sin(α2)*cos(Δθ)));

[0105] Step 5: Based on the calculated Δθ and Ψ0, we can deduce:

[0106] θ1=Θ-Ψ0,

[0107] θ2=θ1–Δθ.

[0108] See also Figure 11 , Figure 11 This diagram illustrates how the optical wedge 31 adjusts the aiming optical axis 20 in an embodiment of the present application. The aiming optical axis 20 includes a deflection optical axis 201 and a correction optical axis 202. The deflection optical axis 201 forms an angle with the laser optical axis 10, making the two non-parallel. After the first optical wedge 3101 and the second optical wedge 3102 rotate by angles θ1 and θ2, respectively, the aiming optical axis 20 is adjusted to the correction optical axis 202, which is parallel to the laser optical axis 10.

[0109] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A laser emitting head, characterized in that: The laser transmitter head comprises: A laser emitting mechanism (1) having a laser optical axis (10); An aiming mechanism (2) having an aiming optical axis (20); An adjustment mechanism (3) is provided on the aiming optical axis (20) and is used to adjust the aiming optical axis (20); wherein the adjustment mechanism (3) comprises at least two optical wedges (31) arranged along the aiming optical axis (20), and the optical wedges (31) are capable of rotating in a plane that is angled with the aiming optical axis (20) to adjust the aiming optical axis (20) in at least two directions that are angled with each other until the aiming optical axis (20) is parallel to the laser optical axis (10).

2. The laser transmitter head according to claim 1, wherein: Two optical wedges (31) are provided, and the optical wedges (31) have a first surface (311) and a second surface (312), the first surface (311) is perpendicular to the thickness direction of the optical wedge (31), and the second surface (312) forms an angle with the thickness direction of the optical wedge (31); wherein the second surfaces (312) of the two optical wedges (31) are arranged face to face.

3. The laser transmitting head according to claim 2, characterized in that: The first surface (311) of the optical wedge (31) is perpendicular to the laser optical axis (10), and the optical wedge (31) rotates in a plane perpendicular to the laser optical axis (10); and / or, The two optical wedges (31) respectively adjust the aiming optical axis (20) in a first direction and a second direction perpendicular to each other.

4. The laser transmitting head according to claim 3, characterized in that: In the first direction, the pixel difference between the pixel value of the laser action point of the laser emitting mechanism (1) deviating from the theoretical aiming point of the aiming mechanism (2) and the pixel value of the laser action point deviating from the actual aiming point is X; in the second direction, the pixel difference between the pixel value of the laser action point of the laser emitting mechanism (1) deviating from the theoretical aiming point of the aiming mechanism (2) and the pixel value of the laser action point deviating from the actual aiming point is Y; the distance from the laser emitting mechanism (1) to the target (300) is D; Wherein, in the first direction, the deviation angle Θ between the aiming optical axis (20) and the laser optical axis (10) is arctan (a*X / D); and in the second direction, the deviation angle Φ between the aiming optical axis (20) and the laser optical axis (10) is arctan (b*Y / D).

5. The laser emitting head according to claim 4, characterized in that: The optical wedges (31) are respectively a first optical wedge (3101) and a second optical wedge (3102), wherein the wedge angle of the first optical wedge (3101) is α1, and the refractive index of the first optical wedge (3101) is n1; the wedge angle of the second optical wedge (3102) is α2, and the refractive index of the second optical wedge (3102) is n2; According to the Θ, Φ, α1, n1, α2 and n2, the rotation angle θ1 of the first optical wedge (3101) and the rotation angle θ2 of the second optical wedge (3102) are calculated.

6. The laser emitting head according to claim 5, characterized in that: The calculation process of θ1 and θ2 is: The first step is to calculate: 11 =-cos(α1)+sqrt(n1^2-sin(α1)^2), The second step is to calculate g, h, i, and j based on the calculated values: Δθ=arccos((g*h+i) / j); The third step is to calculate: k=-1*Γ 11 *sin(α1)*sin(α2)*cos(Δθ), m=cosα2*sqrt(n2^2-n1^2+(Γ) 11 *cosα1+1)^2), r=k+m, Γ 22 =sqrt(1-n2^2+r^2)-r, The fourth step is to calculate k, m, r, Γ 22 , we calculate: Ψ0=arctan((Γ 22 *sin(α2)*sin(Δθ)) / (-1*Γ11*sin(α1)+Γ 22 *sin(α2)*cos(Δθ)); Step 5: Based on the calculated Δθ and Ψ0, we can deduce: θ1=Θ-Ψ0, θ2=θ1–Δθ.

7. The laser transmitting head according to any one of claims 1 to 6, characterized in that: The optical wedge (31) is arranged in a circular shape, and the axis of the circle is arranged parallel to the laser optical axis (10).

8. The laser transmitting head according to any one of claims 1 to 6, characterized in that: The regulating mechanism (3) further comprises: A mounting tube (32), wherein the aiming optical axis (20) passes through the mounting tube (32), and the optical wedge (31) is rotatably disposed in the mounting tube (32); The optical wedge driving member (33) is configured to drive the optical wedge (31) to rotate in the mounting tube (32); the optical wedge driving member (33) includes a power member (331) and a transmission member (332), wherein a fixed end of the power member (331) is arranged on the mounting tube (32), and the transmission member (332) connects the driving end of the power member (331) and the optical wedge (31), and the power member (331) drives the optical wedge (31) to rotate via the transmission member (332).

9. The laser emitting head according to claim 8, characterized in that: The transmission member (332) includes a driving gear (3321) and a driven gear (3322) that are meshed with each other. The driving gear (3321) is connected to the driving end of the power member (331) and can be driven to rotate by the power member (331); the driven gear (3322) is connected to the optical wedge (31) and can drive the optical wedge (31) to rotate synchronously.

10. A laser obstacle removal device, characterized in that: It comprises a laser (200) and a laser emitting head according to any one of claims 1 to 9, wherein the laser (200) is optically connected to the laser emitting mechanism (1) and is used to provide a laser beam for the laser emitting head.

Images