Following type laser scanning device

Abstract

The invention discloses a following type laser scanning device. The following type laser scanning device comprises a rotating platform, a transmitting end and a receiving end, the rotating platform is arranged on the rack through a spindle bearing and driven by an orientation driver to rotate, and mounting holes are formed in the two sides of the rotating platform. The transmitting end comprises a primary mirror 1, a reflecting mirror 1, a pitching driver and a substrate with a laser transmitting head, the receiving end comprises a primary mirror 2, a reflecting mirror 2, a pitching driver and a substrate with a detector, and the substrate is driven by a following driver. The pitching driver and the following driver respectively have two driving modes, and the following driver drives the substrate to rotate so as to track the deflection of the primary mirror and keep the same rotation angle and phase.

Description

Technical Field

[0001] This invention belongs to the field of flight target detection technology, and specifically relates to a follow-up laser scanning device. Background Technology

[0002] In the fields of aviation safety and low-altitude security, the detection and tracking of UAV targets and airport bird targets have always faced many technical challenges. Existing detection methods are insufficient to fully meet the application requirements of real-time performance, full airspace coverage, and high sensitivity. Specific problems are as follows: Current mainstream radar detection solutions have significant performance limitations when dealing with low-speed, small-sized targets with low radar cross-section (RCS). On one hand, radar's sensitivity to slow-moving targets is insufficient, often resulting in missed detections because the target's speed is below the radar's detection threshold. On the other hand, the material properties of drones and birds further weaken radar detection effectiveness—drones are mostly made of radar-transparent materials such as balsa wood and composite materials, with only a few components like motors, batteries, and wiring made of metal; birds, being organic, both have extremely low RCS values. Furthermore, the generally small size of these targets (drones are typically a few centimeters to a few meters in size, and birds are even smaller) significantly reduces the radar's detection range and the probability of detection, directly compressing the reaction time of ground-based air defense systems and making it difficult to respond to sudden low-altitude intrusions.

[0003] On the other hand, when facing large-scale high-speed drone swarms (flying at speeds of 50-80 km / h and above), the limitations of detection azimuth and pitch angles often exacerbate the deficiencies in real-time performance and overall limitations. This is especially true against drones that penetrate overhead or behind the defenses, leaving the defenses completely defenseless. Even with signal integration through multi-source detection platforms, it remains impossible to overcome the multiple challenges posed by low target detectability, high-speed movement, and large-scale swarm intrusions, making it difficult to meet the real-time monitoring needs for high-density, high-speed, and large-scale swarm intrusions.

[0004] To compensate for the shortcomings of radar detection, the industry has gradually developed laser-based detection technologies, but existing solutions still have room for improvement in terms of full airspace coverage, scanning efficiency, and engineering implementation difficulty. The inventor's previous patent applications (2024103275917 "An Optical System for Laser Dot Detection" and 202410327604.0 "A Laser Dot Scanning Radar Device") proposed a technical route for achieving space detection by scanning a dot-shaped laser beam using a high-speed rotating prism. While this solution possesses certain feasibility and high-speed detection capabilities, it relies on ultra-high-speed rotation (often exceeding 10,000 RPM) of mechanical axes or wedge-shaped mirrors to ensure scanning density and response speed when dealing with high real-time application scenarios (such as high-speed UAV swarm detection). This design feature not only significantly increases the technical difficulty but also imposes stringent requirements on precise control of high-speed mechanical rotation, mechanical dynamic balance design, and elimination of mechanical vibration. This increases the equipment failure rate and maintenance costs, and these shortcomings ultimately limit its large-scale application in high-speed, high-reliability, and real-time detection scenarios.

[0005] Chinese authorized patent 202110788413.0, "A multi-line lidar based on multiple lasers and a method for detection using the same," proposes a technical solution for multi-line laser scanning via a rotating platform. This solution employs a rotating platform comprising a rotor, stator, and central shaft, integrating multiple lasers, optical collimators, and optical receivers. Circular scanning is achieved through a 360° rotation of the platform. This multi-line laser configuration significantly reduces the rotational speed requirement of the platform, representing a certain advancement in multi-line scanning technology.

[0006] However, this technical solution has key functional deficiencies and performance shortcomings: First, it cannot achieve full-angle scanning with a pitch angle of 0-90°, and can only cover a certain pitch angle area. It does not have the "over-the-top scanning" function, which results in the detection range being limited to a ring-shaped area and unable to cover the airspace above the target. Due to the limited airspace coverage, the device can only achieve "semi-area detection". Once an object (such as a drone or bird) enters the airspace above, it will be unable to be detected due to the blind spot. In scenarios such as airports and important venues that require full airspace control, there are serious safety hazards and application limitations.

[0007] Secondly, even if the laser array is rotated at high speed to achieve scanning within the 0-90° range, the laser array, mounted on a rotating platform, rotates at high speed along with the platform while simultaneously undergoing its own high-speed up-and-down rotation. This reduces the lifespan of the laser and increases the difficulty of signal control, processing, and signal transmission to the control center. Thirdly, if the rotating platform and elevation mirror scanning scheme used in the inventor's patent application 2024116162565 is adopted, the multi-line laser array suffers from beam tilting issues when scanning externally through the elevation mirror—that is, the beam array is prone to tilting as the scanning angle changes, resulting in reduced scanning efficiency and detection accuracy. In summary, existing laser detection technologies cannot simultaneously meet the core requirements of "full airspace coverage, high real-time performance, and low engineering difficulty." There is an urgent need to develop a new technical solution that can overcome the above bottlenecks and achieve full airspace, high-precision, and rapid detection of UAVs and airport birds.

[0008] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0009] The purpose of this invention is to provide an optical scanning device for performing full-area (overhead) scanning detection with higher real-time requirements, thereby overcoming the defects in the prior art.

[0010] To achieve the above objectives, a follow-up laser scanning device includes a rotating platform, a transmitting end, and a receiving end; the rotating platform is rotatably mounted on a frame via a spindle bearing and is driven to rotate around a rotating spindle by an orientation driver; the rotating platform has two mounting holes on both sides of the rotating spindle. The transmitter includes: a main mirror-1, a reflector-1, and a pitch driver disposed on one side of the rotating platform; a follower driver, a shaping unit, a substrate, and a laser emitter array disposed on the other side of the rotating platform via a bearing through a mounting hole; the follower driver is used to drive the substrate to rotate. The receiving end includes: a main mirror-2, a reflector-2, and a pitch driver disposed on one side of the rotating platform; a follower driver, a shaping unit, a substrate, and a detector array disposed on the other side of the rotating platform via a bearing through a mounting hole; the follower driver is used to drive the substrate to rotate. The pitch actuator can be driven in one of the following ways: either the pitch actuator is set to drive the primary mirror-1 and the primary mirror-2 respectively; or the pitch actuator drives the primary mirror-1 and the primary mirror-2 simultaneously through the transmission unit. The following driving methods are: setting follower driver-1 and follower driver-2 to drive follower shaft-1 and follower shaft-2 respectively; or the follower driver drives follower shaft-1 and follower shaft-2 simultaneously through the follower transmission pair. The follower driver drives the substrates of the transmitter and receiver to rotate in order to track the deflection of the primary mirror, so that the substrates and the primary mirror maintain the same rotation angle and phase change.

[0011] More preferably, the substrate is an arc-shaped substrate or a strip-shaped substrate; wherein, the laser emitters or detectors on the arc-shaped substrate are arranged concentrically along the direction perpendicular to the tangent of the arc surface; and the laser emitters or detectors on the strip-shaped substrate are arranged along the vertical direction of the substrate.

[0012] More preferably, when the substrate is a strip substrate, the emitting end further includes a cylindrical lens, which is disposed in the optical path between the laser emitting head and the shaping unit, and is used to perform preliminary collimation or direction adjustment on the beam output by the laser emitting head.

[0013] More preferably, the laser emitting head includes: n lasers and their beam emitting heads disposed on the emitting end substrate, or n lasers and their n fiber optic emitting heads; the detectors are n, correspondingly disposed on the receiving end substrate, where n=1-500; the laser emitting heads and detectors are arranged in a corresponding array on their respective substrates.

[0014] In a further preferred embodiment, the laser beam emitted by the laser emitting head array at the transmitting end passes sequentially through: a collimation unit fixed on the substrate for collimation; and a shaping unit located at the beam convergence center axis for compression, compressing the total mounting angle β of the n laser emitting heads into a total divergence angle α, forming a strip beam array with each beam corresponding to a divergence angle of α / n.

[0015] More preferably, the n detector arrays at the receiving end form the same arrangement array as the transmitting end; the externally input beam array passes through the following in sequence: a shaping unit expands the total input angle α into a total diffusion angle β; a converging unit converges each beam onto the corresponding detector to form a light intensity signal detection array; wherein, the total divergence angle α of the transmitting end is equal to the total input angle α of the receiving end, and the total installation angle β of the transmitting end is equal to the total diffusion angle β of the receiving end.

[0016] More preferably, the pitch driver and the follower driver include at least one of the following driving forms: independently driven electric rotary motors, with the pitch driver driving the main mirror to rotate and the follower driver driving the substrate to rotate; two independent mechanical transmission pairs from the same power source, driving the rotating platform and the substrate respectively.

[0017] More preferably, the substrate is installed in one of the following ways: the substrate is fixedly connected to the rotating platform through a connecting device; the substrate is connected to a follower driver and rotated by the follower driver, and slip ring-1 and slip ring-2 are coaxially arranged with the follower axis for transmitting electrical signals during rotation.

[0018] More preferably, primary mirror-1 and primary mirror-2 are driven by corresponding pitch drivers to perform pitch scanning; both reflector-1 and reflector-2 are set at a 45° tilt angle in the output optical path of the corresponding primary mirror, the center line of the reflected beam between the primary mirror and the reflector is parallel to the center extension line of the pitch axis that drives the primary mirror to rotate, and the shaping unit is set in the reflected optical path of the reflector.

[0019] More preferably, follower axis-1 and follower axis-2 are symmetrically arranged on both sides of the central axis and form a plane, and the projection of the central axis in the plane is parallel to the axes of follower axis-1 and follower axis-2.

[0020] More preferably, the transmitting end and / or receiving end have the following operating state and corresponding workflow: When the pitch driver deflects at 90°, the planes -1 and -11 formed by the normals of primary mirror-1 and primary mirror-2 and the center lines of the reflected beams of reflectors-1 and reflectors-2 are perpendicular to the rotating platform surface. The array direction of the devices on the substrate is set by the corresponding angle of the rotating platform or driven by the driver to deflect the substrate, and after being reflected and transformed by the reflectors and primary mirrors, it is perpendicular to the planes -1 and -11. When the pitch driver deflection angle is 0°, the planes -2 and -22 formed by the normals of the primary mirror-1 and primary mirror-2 and the center lines of the reflected beams of the reflectors-1 and reflectors-2 are parallel to the surface of the rotating platform. The array direction of the devices on the substrate is set by the corresponding angle of the rotating platform or driven by the driver to deflect the substrate, and after being reflected and transformed by the reflectors and primary mirrors, it is perpendicular to the planes -2 and -22. When the pitch driver deflection angle is between 0 and 90°, the planes -3 and -33 formed by the normals of the primary mirrors -1 and -2 and the center lines of the reflected beams of the reflectors -1 and -2 form an angle with the surface of the rotating platform. The array direction of the devices on the substrate is set by the corresponding angle of the rotating platform or driven by the driver to deflect the substrate, and after being reflected and transformed by the reflectors and primary mirrors, it is perpendicular to the planes -3 and -33. The workflow and parameter settings are as follows: ① The total divergence angle of the emitted beam array is α, and the number of laser emitters is n. The pitch driver drives the main mirror to complete the α-angle deflection at an angular velocity of r. At the same time, the follow driver drives the rotating disk or substrate to complete the α-angle deflection at an angular velocity of r, keeping the angle of the laser emission and receiving array constant. During this period, the rotating platform rotates one revolution to complete a 360° horizontal scanning loop. The time for the rotating platform to complete one revolution is t=1 / R, and the time for the main mirror to complete the α-azimuth angle rotation at an angular velocity of r is t=α / (360×r), which satisfies α×R=360×r. The angular velocity of the azimuth driver is R=360×r / α. ② Laser emitter illumination frequency: The divergence angle of each laser beam = α / n, the time for the rotating platform to complete a 360° rotation is 1 / R, the corresponding number of laser beams is 360×n / α, and the laser operating frequency = (360×n×R) / α.

[0021] More preferably, the transmitting end and / or the receiving end have the following operating state two and corresponding operating process: When the pitch driver deflects at 90°, the planes -1 and -11 formed by the normals of primary mirror-1 and primary mirror-2 and the center lines of the reflected beams of reflectors-1 and reflectors-2 are perpendicular to the rotating platform surface. The array direction of the devices on the substrate is set by the corresponding angle of the rotating platform or driven by the driver to deflect the substrate, and after being reflected and transformed by the reflectors and primary mirrors, it is parallel to the planes -1 and -11. When the pitch driver deflection angle is 0°, the planes -2 and -22 formed by the normals of primary mirror-1 and primary mirror-2 and the center lines of the reflected beams of reflectors-1 and reflectors-2 are parallel to the rotating platform surface. The array direction of the devices on the substrate is set by the corresponding angle of the rotating platform or driven by the driver to deflect the substrate, and after being reflected and transformed by the reflectors and primary mirrors, it is parallel to the planes -2 and -22. When the pitch driver deflects at an angle between 0 and 90°, the planes -3 and -33 formed by the normals of primary mirror-1 and primary mirror-2 and the center lines of the reflected beams of reflectors-1 and reflectors-2 form an angle with the surface of the rotating platform. The array direction of the devices on the substrate is set by the corresponding angle of the rotating platform or driven by the driver to deflect the substrate, and after being reflected and transformed by the reflectors and primary mirrors, it becomes parallel to the planes -3 and -33. The workflow and parameter settings are as follows: ① The pitch driver drives the primary mirror to perform a 360° rotation scan at an angular velocity of r. The total pitch scan range is 0-90°-0-(-90°)-0. At the same time, the follow driver drives the rotating disk or substrate to complete a 360° rotation at an angular velocity of r, keeping the angle of the laser emission and receiving array constant. During this period, the primary mirror completes one vertical scanning loop of α° in one scan. Among them, the azimuth driver controls the rotating platform to complete the rotation of the azimuth angle α at an angular velocity of R. The time for the primary mirror to complete one rotation is t=1 / r. The time for the rotating platform to complete the α° deflection at an angular velocity of R is t=α / (360×R), which satisfies α×r=360×R. The angular velocity of the azimuth driver is R=α×r / 360. ② Laser emitter illumination frequency: The divergence angle of each laser beam = α / n, the time for the primary mirror to complete a 360° rotation is 1 / r, the corresponding number of laser beams is 360×n / α, and the laser operating frequency = (360×n×r) / α.

[0022] More preferably, the beam array at the transmitting end is reflected by reflectors-1, reflectors-2 and primary mirrors-1 and-2, and scans the external spherical space under the combined action of 360° azimuth rotation formed by the rotating platform and 360° pitch rotation driven by the pitch driver. Beneficial effects

[0023] 1. This invention proposes a scheme for omnidirectional detection of a spherical space using multi-line lasers, which has omnidirectional detection functions such as over-the-top detection and behind-the-back detection. The use of multi-line lasers reduces the rotation speed of the scanning device and lowers the cost.

[0024] 2. This invention ensures that the beam array is perpendicular or parallel to the primary mirror reflector at any pitch angle through the coordinated use of azimuth, pitch and follow drives. This avoids the problem of the scanning light band shortening with the change of scanning angle and causing a decrease in scanning efficiency, and achieves efficient and continuous spherical spatial scanning.

[0025] 3. Case 1 separates the transmitter and receiver, enabling "many-to-one" or "many-to-many" combinations between them, thereby improving detection accuracy and increasing anti-interference capabilities. Furthermore, the fixed mounting of the substrate and frame eliminates the need for substrate rotation, reducing the probability of damage caused by rotation of the laser transmitter and detector.

[0026] 4. Case 2 adopts a symmetrical integrated transmitter / receiver design. Although it requires controlled rotation of the substrate on which the laser transmitter and laser detector are installed compared to Case 1, this can be improved by improving the detection method. Attached Figure Description

[0027] Figure 1a Example 1 is a schematic diagram of the structure of an arc-shaped substrate; Figure 1b Example 1 is a schematic diagram of the structure of a strip substrate; Figure 2a Example 2 is a schematic diagram of the structure of an arc-shaped substrate; Figure 2b Example 2 is a schematic diagram of the structure of a strip substrate; Figure 3a A schematic diagram of a pitch actuator; Figure 3b A schematic diagram of the formation of a strip beam array in a laser emitting head at the transmitting end; Figure 3c A schematic diagram of the formation of a strip beam array in a laser emitting head at the transmitting end; Figure 4a A schematic diagram showing the convergence of an external strip beam array on the detector at the receiver. Figure 4b A schematic diagram showing the convergence of an external strip beam array on the detector at the receiver. Figure 5 : Schematic diagram of the following shaft with slip ring in Implementation Case 2; Figure 6a : A schematic diagram of the state when the primary mirror is deflected at 90° in state one; Figure 6b : A schematic diagram of the state when the primary mirror deflection angle is 0° in state one; Figure 6c : A schematic diagram of the state when the primary mirror deflection angle is between 0-90° in state one; Figure 6d Schematic diagram of the scanning ring; Figure 7a : A schematic diagram of the state when the primary mirror is deflected at 90° in state 2; Figure 7b : A schematic diagram of the state when the primary mirror deflection angle is 0° in state 2; Figure 7c : A schematic diagram of the state when the primary mirror deflection angle is 0-90° in state 2; Figure 7d State 2: Overall pitch diagram. Detailed Implementation

[0028] The specific embodiments of the present invention will be described in detail below, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0029] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0030] Example 1: Follower-type laser scanning device based on an arc-shaped substrate This embodiment provides a follower-type laser scanning device that employs an arc-shaped substrate and synchronously drives the pitch driver and follower driver via a transmission unit. Figure 1a The structure shown.

[0031] 1. Overall Structure The device includes a rotating platform, a transmitter, a receiver, and a frame.

[0032] Rotating platform: Connected to the frame via a spindle bearing, it can rotate 360° around the main spindle (vertical direction) and is driven by an orientation driver (using a servo motor) with a rotational angular velocity of R. The rotating platform has two symmetrical mounting holes (50mm diameter) on both sides of the main spindle for mounting the follower shafts of the transmitter and receiver.

[0033] The transmitter is located on one side of the rotating platform and includes a primary mirror-1 (a concave mirror with a diameter of 150mm), a reflector-1 (a plane mirror with a 45° tilt angle), a pitch driver (stepper motor), a follower driver (stepper motor), a shaping unit (composed of two cylindrical mirrors), an arc-shaped substrate (radius of 200mm and arc of 60°), and a laser transmitter array.

[0034] The primary mirror-1 and the reflector-1 are arranged sequentially along the optical path: the primary mirror-1 can rotate around the pitch axis (horizontal direction), the reflector-1 is fixed on the rotating platform, and its reflecting surface is at 45° with the outgoing optical path of the primary mirror-1. The center line of the reflected beam between the primary mirror-1 and the reflector-1 is parallel to the center extension line of the pitch axis.

[0035] The curved substrate is connected to the follower driver via a follower shaft (which passes through the mounting hole of the rotating platform and mates with the bearing). 100 laser emitters (n=100, using semiconductor lasers with a wavelength of 905nm and fiber optic emitters) are arrayed on the substrate. The laser emitters are arranged centripetally along the tangent of the curved surface of the substrate (the center angle between adjacent emitters is 0.6°, and the total mounting angle β=60°).

[0036] Receiver: Symmetrically positioned on the other side of the rotating platform, symmetrical to the transmitter, including main mirror-2 (same as main mirror-1), reflector-2 (same as reflector-1), pitch driver, follower driver, shaping unit, arc substrate and detector array (100 InGaAs detectors, arranged one-to-one with the laser transmitter head), with a structure symmetrical to the transmitter.

[0037] 2. Driving method Pitch drive: The transmitter and receiver share a pitch driver, which drives the main mirror-1 and main mirror-2 to rotate around their respective pitch axes simultaneously through a gear transmission unit (transmission ratio 1:1) to achieve synchronous pitch scanning.

[0038] Follow drive: The transmitter and receiver share a follow drive, which drives the transmitter's follow axis-1 and the receiver's follow axis-2 to rotate simultaneously through a synchronous belt drive pair (follow drive pair), so that the arc-shaped substrate maintains the same rotation angle and phase as the main mirror-1 and the main mirror-2 (i.e., when the main mirror deflects by an angle θ, the substrate deflects by an angle θ synchronously).

[0039] 3. Beam processing procedure Emitter: The laser beam emitted by the laser emitter array is first collimated by a collimating unit (collimating lens, focal length 10mm) fixed to an arc-shaped substrate, and then compressed by a shaping unit—compressing the total mounting angle β=60° to the total divergence angle α=30°, forming a strip beam array with a divergence angle of α / n=0.3° for each beam. Figure 3a ).

[0040] Receiver: The externally input strip beam array (total input angle α=30°) is expanded to a total diffusion angle β=60° by the shaping unit, and then focused onto the corresponding detector by the converging unit (focusing lens, focal length 20mm) to form a light intensity signal detection array. Figure 4a ).

[0041] 4. Work Status and Process (Taking Status 1 as an example) Status description: When the pitch driver deflects at 90°: the plane -1 / 11 formed by the normal of the primary mirror -1 / 2 and the center line of the reflected beam of the secondary mirror -1 / 2 is perpendicular to the plane of the rotating platform (horizontal plane). The direction of the laser emitter / detector array on the curved substrate, after being synchronously deflected by the follower driver, is transformed by the reflection of the secondary mirror and the primary mirror, and is perpendicular to the plane -1 / 11. Figure 7a -1).

[0042] When the pitch driver deflection angle is 0°: plane -2 / 22 is parallel to the rotating platform surface, and the array direction, after synchronous deflection, is perpendicular to plane -2 / 22. Figure 7b -1).

[0043] - When the pitch angle is 30° (between 0-90°): the plane -3 / 33 forms a 30° angle with the rotating platform surface, and the array direction, after synchronous deflection, is perpendicular to the plane -3 / 33. Figure 7c -1).

[0044] Workflow: ① Set the total divergence angle of the emitted beam α=30°, n=100, the pitch driver drives the main mirror to complete the α=30° deflection at an angular velocity of r=10° / s, and at the same time the follow driver drives the arc substrate to deflect synchronously at the same angular velocity to keep the array angle constant; the rotating platform rotates one revolution (360°) to complete the horizontal scanning ring.

[0045] From α×R=360×r, we get the angular velocity of the azimuth actuator R=(360×10° / s) / 30°=120° / s (i.e. 2r / s).

[0046] ② Laser emitter illumination frequency: Each beam divergence angle is 0.3°, the time for the rotating platform to complete 360° is 360° / 120° / s = 3s, the corresponding number of beams is 360×100 / 30 = 1200, so the laser operating frequency is 1200 / 3s = 400Hz.

[0047] Example 2: Follower-type laser scanning device based on strip substrate This embodiment provides a follow-type laser scanning device that uses a strip-shaped substrate and has independent pitch and follow drivers. Figure 2b The structure shown includes a cylindrical lens and a slip ring.

[0048] 1. Overall Structure Rotating platform: Same as in embodiment 1, the mounting holes on both sides of the rotating spindle are used to pass through the follower shaft with slip ring (Figure 6).

[0049] The transmitting end includes a main mirror-1 (same as in embodiment 1), a reflector-1 (same as in embodiment 1), a pitch driver-1 (independent stepper motor), a follower driver-1 (independent servo motor), a shaping unit, a strip substrate (300mm in length), a laser emitting head array, and a cylindrical lens.

[0050] The strip-shaped substrate is connected to the follower driver-1 via the follower shaft-1 (with a slip ring-1 set coaxially for rotating and transmitting laser drive signals). 50 laser emitters are arranged on the substrate along the vertical direction (n=50, total mounting angle β=45°, adjacent spacing 6mm).

[0051] A cylindrical lens (focal length 15mm) is positioned between the laser emitter and the shaping unit to perform preliminary collimation of the beam (compressing the vertical divergence angle).

[0052] Receiver: Symmetrical to the transmitter, including main mirror-2, reflector-2, pitch driver-2 (independent drive), follower driver-2 (independent drive), strip substrate (same as transmitter), 50 detectors (one-to-one correspondence) and slip ring-2 (transmitting detection signals).

[0053] 2. Driving method Pitch drive: Pitch driver-1 independently drives primary mirror-1, and pitch driver-2 independently drives primary mirror-2. The control system ensures that the deflection angle and phase of the two are consistent.

[0054] Follow drive: Follow driver-1 independently drives the transmitter follow axis-1, and follow driver-2 independently drives the receiver follow axis-2. Synchronous deflection of the substrate and the main mirror is achieved through encoder feedback (synchronization error ≤0.1°).

[0055] 3. Beam processing procedure Emitter: After the laser beam is initially collimated by the cylindrical lens, it is further collimated by the collimation unit (same as in Example 1), and then the shaping unit compresses the total installation angle β=45° to the total divergence angle α=15°, forming a strip array with a divergence angle of 0.3° for each beam.

[0056] Receiver: The external beam array (total input angle α=15°) is expanded to a total diffusion angle β=45° by the shaping unit and then focused by the converging unit to the corresponding detector.

[0057] 4. Work Status and Process (Taking Status Two as an Example) Status description: When the pitch angle is 90°: plane -1 / 11 is perpendicular to the rotating platform surface, and the direction of the strip substrate array, after being followed and driven, is parallel to plane -1 / 11. Figure 7a -2).

[0058] When the pitch angle is 0°: Plane -2 / 22 is parallel to the rotating platform surface, and the array direction is parallel to plane -2 / 22. Figure 7b -2).

[0059] Workflow: ① The pitch driver drives the main mirror to rotate 360° at an angular velocity of r=15° / s (scanning range 0-90°-0-(-90°)-0), and the follow driver drives the substrate to rotate synchronously 360°; the rotating platform completes the azimuth angle deflection of α=20° at an angular velocity of R.

[0060] From α×r=360×R, we get R=(20°×15° / s) / 360°≈0.83° / s.

[0061] ② Laser emitter frequency: The divergence angle of each beam is 0.3°. The time for the primary mirror to rotate one revolution is 360° / 15° / s = 24s. The corresponding number of beams is 360×50 / 20 = 900. Therefore, the frequency is 900 / 24s = 37.5Hz.

[0062] 5. Spherical spatial scanning implementation In the two embodiments described above, after the beam array at the transmitting end is reflected by the reflector -1 / 2 and the primary mirror -1 / 2, it can cover the external spherical space (azimuth angle 0-360°, pitch angle -90°-90°) under the synergistic effect of the 360° azimuth rotation of the rotating platform and the 360° pitch rotation of the pitch driver, thus realizing full-space laser scanning.

[0063] The above embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention. All modifications and equivalent substitutions based on the principles of this invention should be included within the scope of protection.

Claims

1. A follow-up laser scanning device, characterized in that, It includes a rotating platform, a transmitter, and a receiver; the rotating platform is rotatably mounted on the frame via a main shaft bearing and is driven to rotate around the main shaft by an orientation driver; the main shaft of the rotating platform has two mounting holes on both sides. The transmitter includes: a main mirror-1, a reflector-1, and a pitch driver disposed on one side of the rotating platform; a follower driver, a shaping unit, a substrate, and a laser emitter array disposed on the other side of the rotating platform via a bearing through a mounting hole; the follower driver is used to drive the substrate to rotate. The receiving end includes: a main mirror-2, a reflector-2, and a pitch driver disposed on one side of the rotating platform; a follower driver, a shaping unit, a substrate, and an array of detectors disposed on the substrate, which are rotatably disposed on the other side of the rotating platform via bearings through mounting holes; the follower driver is used to drive the substrate to rotate. The pitch actuator can be driven in one of the following ways: either the pitch actuator is set to drive the primary mirror-1 and the primary mirror-2 respectively; or the pitch actuator drives the primary mirror-1 and the primary mirror-2 simultaneously through the transmission unit. The following driving methods are: setting follower driver-1 and follower driver-2 to drive follower shaft-1 and follower shaft-2 respectively; or the follower driver drives follower shaft-1 and follower shaft-2 simultaneously through the follower transmission pair. The follower driver drives the substrates of the transmitter and receiver to rotate in order to track the deflection of the main mirror, so that the substrate and the main mirror maintain the same rotation angle and phase change.

2. The follow-up laser scanning device according to claim 1, characterized in that, The substrate is an arc-shaped substrate or a strip-shaped substrate; wherein, the laser emitters or detectors on the arc-shaped substrate are arranged concentrically along the direction perpendicular to the tangent of the arc surface; the laser emitters or detectors on the strip-shaped substrate are arranged along the vertical direction of the substrate.

3. The follow-up laser scanning device according to claim 2, characterized in that, When the substrate is a strip substrate, the emitting end also includes a cylindrical lens, which is disposed in the optical path between the laser emitting head and the shaping unit, and is used to perform preliminary collimation or direction control on the beam output by the laser emitting head.

4. The follow-up laser scanning device according to claim 1, characterized in that, The laser transmitter includes: n lasers and their beam transmitters, or n lasers and their n fiber transmitters, mounted on the transmitter substrate; n detectors, correspondingly mounted on the receiver substrate, where n = 1-500; the laser transmitters and detectors are arranged in a corresponding array on their respective substrates.

5. The follow-up laser scanning device according to claim 4, characterized in that, The laser beams emitted by the laser emitting head array at the transmitting end pass sequentially through: a collimation unit fixed on the substrate for collimation; and a shaping unit located at the beam convergence center axis for compression, compressing the total mounting angle β of the n laser emitting heads into a total divergence angle α, forming a strip beam array with a divergence angle of α / n for each beam.

6. The follow-up laser scanning device according to claim 4, characterized in that, The n detector arrays at the receiving end form the same arrangement array as the transmitting end; the externally input beam array passes through the following steps in sequence: the shaping unit expands the total input angle α into the total diffusion angle β; the converging unit converges each beam onto the corresponding detector to form a light intensity signal detection array; wherein, the total divergence angle α at the transmitting end is equal to the total input angle α at the receiving end, and the total installation angle β at the transmitting end is equal to the total diffusion angle β at the receiving end.

7. The follow-up laser scanning device according to claim 1, characterized in that, The pitch driver and follower driver include at least one of the following driving forms: independently driven electric rotary motors, with the pitch driver driving the primary mirror to rotate and the follower driver driving the substrate to rotate; or two independent mechanical transmission pairs from the same power source, driving the rotating platform and the substrate respectively.

8. The follower laser scanning device according to any one of claims 1-7, characterized in that, The substrate is mounted in one of the following ways: the substrate is fixedly connected to the rotating platform through a connecting device; the substrate is connected to a follower driver and is driven to rotate by the follower driver, and slip ring-1 and slip ring-2 are coaxially arranged with the follower axis for transmitting electrical signals during rotation.

9. The follow-up laser scanning device according to claim 1, characterized in that, The primary mirror-1 and primary mirror-2 are driven by their respective pitch drivers to perform pitch scanning; the reflector-1 and reflector-2 are both set at a 45° angle in the output optical path of the corresponding primary mirror, and the center line of the reflected beam between the primary mirror and the reflector is parallel to the center extension line of the pitch axis that drives the primary mirror to rotate. The shaping unit is set in the reflected optical path of the reflector.

10. The follow-up laser scanning device according to claim 1, characterized in that, Follower axis-1 and follower axis-2 are symmetrically arranged on both sides of the central axis and form a plane. The projection of the central axis in this plane is parallel to the axes of follower axis-1 and follower axis-2.

11. The follow-up laser scanning device according to claim 1, characterized in that, The transmitting end and / or receiving end have the following operating states and corresponding workflows: When the pitch driver deflects at 90°, the planes -1 and -11 formed by the normals of primary mirror-1 and primary mirror-2 and the center lines of the reflected beams of reflectors-1 and reflectors-2 are perpendicular to the rotating platform surface. The array direction of the devices on the substrate is set by the corresponding angle of the rotating platform or driven by the driver to deflect the substrate, and after being reflected and transformed by the reflectors and primary mirrors, it is perpendicular to the planes -1 and -11. When the pitch driver deflection angle is 0°, the planes -2 and -22 formed by the normals of the primary mirror-1 and primary mirror-2 and the center lines of the reflected beams of the reflectors-1 and reflectors-2 are parallel to the surface of the rotating platform. The array direction of the devices on the substrate is set by the corresponding angle of the rotating platform or driven by the driver to deflect the substrate, and after being reflected and transformed by the reflectors and primary mirrors, it is perpendicular to the planes -2 and -22. When the pitch driver deflection angle is between 0 and 90°, the planes -3 and -33 formed by the normals of the primary mirrors -1 and -2 and the center lines of the reflected beams of the reflectors -1 and -2 form an angle with the surface of the rotating platform. The array direction of the devices on the substrate is set by the corresponding angle of the rotating platform or driven by the driver to deflect the substrate, and after being reflected and transformed by the reflectors and primary mirrors, it is perpendicular to the planes -3 and -33. The workflow and parameter settings are as follows: ① The total divergence angle of the emitted beam array is α, and the number of laser emitters is n. The pitch driver drives the main mirror to complete the α-angle deflection at an angular velocity of r. At the same time, the follow driver drives the rotating disk or substrate to complete the α-angle deflection at an angular velocity of r, keeping the angle of the laser emission and receiving array constant. During this period, the rotating platform rotates one revolution to complete a 360° horizontal scanning loop. The time for the rotating platform to complete one revolution is t=1 / R, and the time for the main mirror to complete the α-azimuth angle rotation at an angular velocity of r is t=α / (360×r), which satisfies α×R=360×r. The angular velocity of the azimuth driver is R=360×r / α. ② Laser emitter illumination frequency: The divergence angle of each laser beam = α / n, the time for the rotating platform to complete a 360° rotation is 1 / R, the corresponding number of laser beams is 360×n / α, and the laser operating frequency = (360×n×R) / α.

12. The follower-type laser scanning device according to claim 1, characterized in that, The transmitting end and / or receiving end have the following operating state two and corresponding workflow: When the pitch driver deflects at 90°, the planes -1 and -11 formed by the normals of primary mirror-1 and primary mirror-2 and the center lines of the reflected beams of reflectors-1 and reflectors-2 are perpendicular to the rotating platform surface. The array direction of the devices on the substrate is set by the corresponding angle of the rotating platform or driven by the driver to deflect the substrate, and after being reflected and transformed by the reflectors and primary mirrors, it is parallel to the planes -1 and -11. When the pitch driver deflection angle is 0°, the planes -2 and -22 formed by the normals of primary mirror-1 and primary mirror-2 and the center lines of the reflected beams of reflectors-1 and reflectors-2 are parallel to the rotating platform surface. The array direction of the devices on the substrate is set by the corresponding angle of the rotating platform or driven by the driver to deflect the substrate, and after being reflected and transformed by the reflectors and primary mirrors, it is parallel to the planes -2 and -22. When the pitch driver deflects at an angle between 0 and 90°, the planes -3 and -33 formed by the normals of primary mirror-1 and primary mirror-2 and the center lines of the reflected beams of reflectors-1 and reflectors-2 form an angle with the surface of the rotating platform. The array direction of the devices on the substrate is set by the corresponding angle of the rotating platform or driven by the driver to deflect the substrate, and after being reflected and transformed by the reflectors and primary mirrors, it becomes parallel to the planes -3 and -33. The workflow and parameter settings are as follows: ① The pitch driver drives the primary mirror to perform a 360° rotation scan at an angular velocity of r. The total pitch scan range is 0-90°-0-(-90°)-0. At the same time, the follow driver drives the rotating disk or substrate to complete a 360° rotation at an angular velocity of r, keeping the angle of the laser emission and receiving array constant. During this period, the primary mirror completes one vertical scanning loop of α° in one scan. Among them, the azimuth driver controls the rotating platform to complete the rotation of the azimuth angle α at an angular velocity of R. The time for the primary mirror to complete one rotation is t=1 / r. The time for the rotating platform to complete the α° deflection at an angular velocity of R is t=α / (360×R), which satisfies α×r=360×R. The angular velocity of the azimuth driver is R=α×r / 360. ② Laser emitter illumination frequency: The divergence angle of each laser beam = α / n, the time for the primary mirror to complete a 360° rotation is 1 / r, the corresponding number of laser beams is 360×n / α, and the laser operating frequency = (360×n×r) / α.

13. The follow-up laser scanning device according to claim 11 or 12, characterized in that, The beam array at the transmitting end is reflected by reflectors-1,-2 and primary mirrors-1 and-2. Under the combined effect of the 360° azimuth rotation formed by the rotating platform and the 360° pitch rotation driven by the pitch driver, the external spherical space is scanned.

Images