Motorized moving head including an optical path for laser beam

Abstract

Motorized moving head comprising an optical path for a laser beam. The invention relates to a moving head (10) comprising a motorized body (100) and a head (200), the body (100) comprising at least one first and one second axis of rotation (R1, R2), the body (100) being configured to support and move the head (200), the head (200) comprising one or more head devices (210, 220) configured to be powered by at least one laser source, the moving head (10) being characterized in that a hollow optical path (400) for guiding one or more laser beams is integrated into the body (100) of the moving head (10), and in that a portion of said optical path (400) connecting at least the first axis of rotation to the second axis of rotation comprises reflectors (400a, 400b, 400c, 400d) oriented at a predetermined angle with respect to the first and second axes of rotation (R1, R2). Figure for the abbreviation: Fig. 1

Description

Title of the invention: Motorized moving head comprising an optical path for a laser beam technical field

[0001] The present invention relates to the field of motorized moving heads for moving devices emitting light beams, in particular laser beams. Previous technique

[0002] Two- or three-axis motorized moving heads for supporting and moving various devices are well known. Examples of two- or three-axis motorized moving heads are described, for instance, in documents WO 2023 / 037061 A1 and WO 2023 / 037062 A1. Such moving heads usually comprise a motorized body that supports and moves a moving head. Various devices can be mounted on the moving head, such as cameras, projectors (light or video), or laser emitters.

[0003] Some devices require power from one or more laser sources. The laser source(s) can be mounted on the head of the moving head. However, such a configuration has several drawbacks. First, the dimensions and mass of the laser source are limited by the available space at the head of the moving head and by the weight that the body and head of the moving head can support. For similar reasons, the size and mass of the cooling system associated with the laser source are also very limited. Thus, only low-power laser sources can be used, and the mass and size of the moving head are increased.

[0004] To overcome these drawbacks, it is known to use one or more external laser sources. These external laser sources are connected to the moving head of the moving head via one or more optical fibers. However, such a configuration presents several disadvantages. Indeed, in order to avoid damaging the optical fiber(s) during the movements of the motorized body, the amplitude and speed of the rotations of said motorized body must be limited. Thus, the motorized body cannot perform complete rotations or rotations exceeding 360° or 380°. Furthermore, since the optical fiber(s) are fragile, the moving head can only be operated under favorable conditions within a protected environment. Description of the invention

[0005] The present invention makes it possible to remedy the disadvantages described above, by proposing a mobile and robust moving head capable of using powerful and varied laser sources, for example of different wavelengths.

[0006] To this end, the invention proposes a moving head comprising a motorized body and a head, the body comprising at least a first axis of rotation and a second axis of rotation extending in different directions, the body being configured to support and move the head, the head comprising one or more head devices configured to be powered by at least one laser source, the moving head being characterized in that a hollow optical path for guiding one or more laser beams is integrated into the body of the moving head, and that a part of said optical path connecting at least the first axis of rotation to the second axis of rotation comprises reflectors oriented at a determined angle with respect to the first and second axes of rotation.

[0007] Thus, the moving head according to the invention allows the use of various external laser sources while remaining robust and mobile. The optical path allows for the simultaneous guidance of different types of lasers. The moving head according to the invention is therefore very versatile. Since the optical path is integrated into the body, the latter is protected from the environment. Thus, the moving head is more robust and can be used in many environments, including harsh conditions. The moving head is also quick to set up and can be rapidly operational. Furthermore, the optical path of the invention allows for infinite rotation of the body, without limitation of amplitude. As the moving head is highly mobile and lightweight, it can move at high speed and with improved precision.

[0008] According to a particular aspect of the invention, the body of the lyre further comprises an optical input configured to be connected to at least one laser source, the optical path connecting the optical input to the head of the lyre.

[0009] According to another particular aspect of the invention, the head device(s) are galvanometric scanners.

[0010] Thus, a single lyre can emit laser beams towards several targets simultaneously with high precision.

[0011] According to another particular aspect of the invention, the diameter of the optical path is greater than 20 mm. For example, the diameter of the optical path is between 20 mm and 50 mm. For example, the diameter of the optical path is greater than 30 mm.

[0012] A large aperture in the diameter of the optical path allows several laser beams to pass through simultaneously, with varying divergences, and enables the guidance of several different types of lasers. For example, the optical path can guide both RGB laser beams and infrared laser beams.

[0013] According to another particular aspect of the invention, the body of the lyre is driven by hollow shaft motors, said hollow shafts of the motors extending around the optical path.

[0014] According to another particular aspect of the invention, the lyre comprises a hollow-shaft electrical collector, said hollow shaft of the electrical collector extending around the optical path.

[0015] The electrical collector is configured to transmit electrical power and transmit data to the head devices.

[0016] The use of hollow shaft motors or collectors makes it possible to make the yoke more compact and lighter, and facilitates the integration of the optical path inside the body of the yoke.

[0017] According to another particular aspect of the invention, the lyre further comprises at least one dichroic mirror disposed between the optical path and the head device(s), the dichroic mirror(s) being configured to separate the laser beam from the optical path into several laser beams directed towards the head device(s).

[0018] In conclusion, the invention combines the optical, mechanical and electrical aspects to obtain a mobile, robust, compact and versatile moving head.

[0019] The invention also relates to a laser beam emission system comprising a lyre as described above and one or more laser sources, the laser source or sources being connected to the optical path.

[0020] According to a particular aspect of the invention, the laser beam emission system comprises at least a first laser source emitting a laser beam at a first wavelength and a second laser source emitting a laser beam at a second wavelength different from the first wavelength, the lyre comprising at least a first galvanometric scanner and a second galvanometric scanner, the lyre further comprising at least one dichroic mirror disposed between the optical path and the first and second galvanometric scanners, said dichroic mirror being configured to direct the laser beam at the first wavelength towards the first galvanometric scanner and to direct the laser beam at the second wavelength towards the second galvanometric scanner.

[0021] According to a particular aspect of the invention, the first laser source emits an RGB laser beam and the second laser source emits an infrared laser beam. Brief description of the drawings

[0022] [Fig.1] Fig.1 is a schematic cross-sectional view of a lyre according to the invention.

[0023] [Fig.2] Fig.2 is a detailed view of Fig.1 illustrating a lyre reflector.

[0024] [Fig. 3] [Fig. 3] is a detailed view of [Fig. 1] illustrating an engine and a electrical collector of the lyre.

[0025] [Fig.4] The [Fig.4] is a diagram illustrating a galvanometric scanner.

[0026] [Fig. 5] Fig. 5 is a diagram illustrating a system comprising the lyre of the [Fig.1] for target illumination. Description of the implementation methods

[0027] Figure 1 illustrates an example of a lyre 10 according to the invention. The lyre 10 comprises a body 100 and a head 200. The body 100 is configured to support and move the head 200.

[0028] The body 100 is movable at least about a first axis of rotation Ri and about a second axis of rotation R2. The first axis of rotation Ri and the second axis of rotation R2 extend in different directions. The first axis of rotation Ri is preferably perpendicular to the second axis of rotation R2. Preferably, the first axis of rotation Ri allows for "pan" rotation and the second axis of rotation R2 allows for "tilt" rotation. Of course, it does not depart from the scope of the invention if the body is movable about a third axis of rotation extending in a direction different from the directions of the first and second axes of rotation. The third axis of rotation R3 can allow for "roll" rotation. Other axes of rotation are, of course, possible.

[0029] The body 100 is motorized. The body 100 includes at least one first motor 110 to perform rotation about the first axis of rotation Ri and a second motor 120 to perform rotation about the second axis of rotation R2. If the body is movable about a third axis of rotation, the body may include a third motor to perform rotation about the third axis of rotation.

[0030] The body 100 may include a foot configured for attaching the yoke 10. For example, the foot of the body 100 may be configured to be placed on the ground or on a platform, as illustrated in [Fig. 1]. The foot of the body 100 may be configured to be attached to a structure, a wall, or a ceiling. Thus, the foot of the body 100 can be used to attach the yoke 10 at a height or to suspend the yoke 10.

[0031] The first axis of rotation Ri can allow rotation between the foot and the rest of the body 100, as illustrated in [Fig. 1]. The second axis of rotation R2 can allow rotation of the head 200 relative to the body 100.

[0032] The body 100 may further include an electrical collector 130. The electrical collector 130 can be configured to transmit different types of data between the components of the yoke 10. For example, the electrical collector 130 can transmit video data. The electrical collector 130 can also be configured to transmit voltages to power the components of the yoke 10. The electrical collector 130 can, for example, transmit voltages between 5V and 240V. The electrical collector 130 can be configured to transmit different types of data between the components of the lyre 10 and to power the components of the lyre 10.

[0033] The head 200 of the yoke 10 comprises one or more head devices 210, 220. The head 200 comprises at least one head device configured to be powered by a laser source. Such devices configured to be powered by a laser source may, for example, be one or more scanners, e.g., galvanometer scanners. Such devices configured to be powered by a laser source may, for example, be one or more measuring instruments, e.g., lidar scanners. The head 200 may comprise a combination of several types of devices powered by a laser source.

[0034] The head 200 may further include other types of head devices powered by means other than a laser source. The head 200 may include, for example, one or more cameras, one or more non-laser scanners and / or one or more measuring instruments, such as rangefinders or radars.

[0035] According to the invention, the yoke 10 does not include a laser source. The laser source(s) are external to the yoke 10.

[0036] The body 100 includes at least one optical input. The optical input of the body 100 is configured to be connected to one or more laser sources.

[0037] The lyre 10 includes a hollow optical path 400 connected to the optical inlet and connected to the head 200. The optical path 400 extends at least from the first axis of rotation Ri to the second axis of rotation R2 of the body 100. Preferably, the optical path 400 extends from the optical inlet of the body 100 to the head 200, as in the example illustrated in [Fig.1].

[0038] In the present application, the terms "input", "output", "previous" and "next" are defined with respect to the direction of movement of the laser beam.

[0039] An optical collector may be present at the optical input (not shown). The optical collector is configured to collect laser beams from different laser sources and direct them into the optical path 400. The optical collector comprises a plurality of reflectors.

[0040] The optical path 400 is configured to guide one or more laser beams. The optical path 400 is integrated into the body 100 of the yoke 10. The optical path 400 includes walls that delimit an internal volume for the passage of laser beams. The walls of the optical path 400 are rigid. The internal volume is devoid of solid material. The optical path 400 is not an optical fiber. The optical path 400 is not an optical fiber conduit.

[0041] The diameter of the optical path 400 is preferably greater than 30 mm, or even greater than 40 mm. Indeed, the larger the diameter of the optical path 400, plus the 400 optical path can allow to guide a wide variety of laser beams, and different divergences.

[0042] The optical path 400 can guide class 1 to 4 laser beams. The optical path 400 can guide laser beams with a power between 10W and 4kW. The optical path 400 can guide laser beams with a power greater than 4kW. The optical path 400 can guide RGB or infrared laser beams.

[0043] The optical path 400 allows laser beams to be guided while maintaining the same diameter for the beam at the input and output.

[0044] The optical path 400 can be fixed inside the body 100 by means of fixing flanges 404, as illustrated in [Fig.1].

[0045] The optical path 400 comprises at least one first main section 410 extending along the first axis of rotation Ri and a second main section 420 extending along the second axis of rotation R2. The first main section is rotationally free about the first axis of rotation Ri, and the second main section 420 is rotationally free about the second axis of rotation R2. The optical path 400 may comprise a plurality of main sections 410, 420 extending along each axis of rotation Rb R2 of the body 100. The main sections 410, 420 are straight. The main sections 410, 420 are axisymmetric about their axis of rotation Rb R2.

[0046] The optical path 400 may further include secondary segments 430, 440 connecting the first main segment 410 to the second main segment 420. The secondary segments 430, 440 are straight. The first main segment 410 may also be connected to the optical input by an input secondary segment 450.

[0047] In the example illustrated in [Fig. 1], the secondary input section 450 connects the optical input to the input of the first main section 410. The first secondary section 430 connects the output of the first main section 410 to the input of the second secondary section 440. The second secondary section 440 connects the output of the first secondary section 430 to the input of the second main section 420. The output of the second main section 420 is connected to the head 200.

[0048] The main sections 410, 420 are rotationally movable relative to the preceding section 450, 440 of the optical path 400. Thus, the first main section 410 is rotationally movable relative to the secondary input section 450. The second main section 420 is rotationally movable relative to the second secondary section 440.

[0049] The optical path 400 may include at least one angle-reversing system with rotation 401, 402 for each axis of rotation Rb R2 of the body 100. The systems Angle-angle transmission systems with rotation 401, 402 are positioned at the entrance of each main section 410, 420. These systems connect the main section 410, 420 to the preceding section 450, 440 of the optical path 400. The angle-angle transmission systems with rotation 401, 402 maintain laser beam guidance despite the rotation of the main sections 410, 420.

[0050] In the example illustrated in [Fig. 1], the first right-angle transmission system with rotation 401 connects the secondary input section 450 to the first main section 410. Thus, the first right-angle transmission system with rotation 401 allows the first main section 410 to rotate relative to the secondary input section 450 while maintaining the guidance of the laser beam. The second right-angle transmission system with rotation 402 connects the second secondary section 440 to the second main section 420. Thus, the second right-angle transmission system with rotation 402 allows the second main section 420 to rotate relative to the second secondary section 440 while maintaining the guidance of the laser beam.

[0051] The optical path 400 comprises a plurality of reflectors 400a, 400b, 400c, 400d. [Fig.2] illustrates an example of reflector 400b. Reflectors 400a, 400b, 400c, and 400d reflect laser beams guided by optical path 400. These reflectors are preferably positioned at the bends of optical path 400. Specifically, they are positioned at the junction between two sections of optical path 400. Reflectors 400a, 400b, 400c, and 400d are oriented at a specific angle to reflect the laser beam(s) from one section of optical path 400 towards the next section. Typically, sections 410, 420, 430, 440, and 450 of optical path 400 are... arranged perpendicular to each other. In this case, the reflectors are inclined at 45°, as illustrated in [Fig.2].The reflective surface of reflectors 400a, 400b, 400c, 400d can have a dimension greater than 400 nm. In particular, the reflective surface of reflectors 400a, 400b, 400c, 400d can have a dimension between 400 nm and 800 nm.

[0052] In the example illustrated in Figures 1 and 2, the laser beam passing through the optical inlet travels along the secondary inlet section 450. The laser beam is then reflected by the first reflector 400a located at the junction between the secondary inlet section 450 and the first main section 410. The laser beam passes through the first rotating right-angle receiver 401. The laser beam then passes through the first main section 410. The laser beam is then reflected by the second reflector 400b located at the junction between the first main section 410 and the first secondary section 430. The laser beam then passes through the first section secondary 430. The laser beam is then reflected by the third reflector 400c located at the junction between the first secondary section 430 and the second secondary section 440. The laser beam then passes through the second secondary section 440. The laser beam is then reflected by the fourth reflector 400d located at the junction between the second secondary section 440 and the second main section 420. The laser beam passes through the second rotating angle-reversing system 402. The laser beam then passes through the second main section 420.

[0053] The head 200 may include a processing system 230 for processing and / or separating the laser beam(s) from the optical path 400. The processing system 230 may, in particular, allow the laser beam from the optical path 400 to be separated into several distinct laser beams, and each of these distinct laser beams to be directed to one of the head devices 210, 220. The processing system 230 may, for example, be a dichroic mirror 230. The dichroic mirror may allow the separation of a laser beam at a first wavelength from a laser beam at a second wavelength different from the first wavelength. The dichroic mirror may thus allow the separation of an RGB laser beam from an infrared laser beam, or the separation of laser beams of different colors.

[0054] The first main section 410 of the optical path 400 passes through the first motor 110, as illustrated in Figures 1 and 3. The second main section 420 of the optical path 400 passes through the second motor 120, as illustrated in [Fig. 1]. The first main section 410 of the optical path 400 may pass through the electrical collector 130.

[0055] The first and second motors 110 and 120 have a hollow shaft to allow passage of the optical path 400. The hollow shafts of the motors 110 and 120 have a large diameter. In order to allow passage of the optical path 400, the diameter of the hollow shaft of the motors is preferably greater than 30 mm, or even greater than 40 mm.

[0056] As illustrated in [Fig.3], the first motor 110 has a hollow shaft 114 extending along the first axis of rotation Rb. The first motor 110 comprises a stator 111 and a rotor 112. The stator 111 and the rotor 112 of the first motor 110 can be arranged one after the other along the first axis of rotation Rb. The stator 111 and the rotor 112 of the first motor 110 are arranged around the optical path 400, in particular around the first main section 410.

[0057] In order to obtain the lightest possible motors to facilitate the movement of the lyre 10, the motors 110, 120 can be direct drive, without gears.

[0058] As illustrated in [Fig. 3], the electrical commutator 130 has a hollow shaft 134 extending along the first axis of rotation Rb. The electrical commutator 130 comprises a stator 131 and a rotor 132. The stator 131 of the electrical commutator 130 can be arranged around the rotor 132 of the electric collector 130. The stator 131 and the rotor 132 of the electric collector 130 are arranged around the optical path 400, in particular around the first main section 410. In order to allow passage of the optical path 400, the diameter of the hollow shaft 134 of the electric collector 130 is preferably greater than 30 mm, or even greater than 40 mm.

[0059] Thus, the body 100 can perform several complete rotations around its axes of rotation Rb R2.

[0060] According to a particular embodiment of the invention, at least one of the head devices 210 may be a galvanometric scanner. The operation of galvanometric lasers is well known. Preferably, the head 200 of the lyre 10 comprises a plurality of galvanometric scanners. The galvanometric scanners 210, 220 present in the head 200 have mirror dimensions with a width greater than or equal to 90 mm and a length greater than or equal to 100 mm.

[0061] Figure 4 illustrates an example of a galvanometric scanner 210 comprising a first mirror 211 movable in rotation about a first axis of rotation R2n, a second mirror 212 movable in rotation about a second axis of rotation R2n, and a lens 213. Figure 4 illustrates a laser beam 7 passing through the galvanometric scanner 210. The laser beam 7 is first reflected by the first mirror 211 and then reflected by the second mirror 212. The laser beam 7 then passes through the lens 213. The laser beam 7 can then exit the yoke 10.

[0062] Figure 5 illustrates an example of a laser beam emission system 1 comprising the yoke 10 and one or more laser sources 20, 30. The laser source(s) 20, 30 can emit class 1, 2, 3, or 4 laser beams. The laser source(s) 20, 30 can emit laser beams with a power between 10 W and 4 kW. The laser source(s) 20, 30 can emit laser beams with a power greater than 4 kW. The laser source(s) 20, 30 can emit RGB or infrared laser beams.

[0063] The laser sources 20, 30 can be connected to the yoke 10 by means of optical fibers 21, 31. In particular, the laser sources 20, 30 are connected to the optical input of the body 100 of the yoke 10. Thus, the laser beams emitted by the laser sources 20, 30 enter the optical path 400. As described previously, an optical collector can be present at the optical input to collect the laser beams emitted by the different laser sources 20, 30.

[0064] The laser beams are routed to the head 200 of the yoke 100 via the optical path 400. The laser beams can then be processed by the processing system 230. The processing system 230 can separate the laser beams emitted by the different sources 20, 30. In the example illustrated in [Fig. 5], the processing system 230 can separate the laser beam emitted by the first source 20 of the laser beam emitted by the second source 30. For example, the first source 20 can emit an RGB laser beam and the second source can emit an infrared laser beam. The processing system 230 can then be a dichroic mirror that allows the infrared laser beam to pass through and reflects the RGB laser beam.

[0065] The processing system 230 then directs the separate laser beams to the various head devices 210, 220, which are, for example, galvanometer scanners. In the example illustrated in [Fig. 5], the processing system 230 directs the laser beam emitted by the first source 20 to the first galvanometer scanner 210 and directs the laser beam emitted by the second source 30 to the second galvanometer scanner 220.

[0066] The first galvanometric scanner 210 can thus enable the moving head 10 to emit a first type of directed laser beam 7a. The second galvanometric scanner 220 can enable the moving head 10 to emit a second type of directed laser beam 7b. Thus, the moving head 10 can, for example, emit with the first head device 210 one or more directed RGB laser beams 7a to illuminate a target, for example to dazzle it, and with the second head device 220 one or more directed infrared laser beams 7b for nighttime illumination. The moving head 10 can emit several types of laser beams 7a, 7b simultaneously. The moving head 10 can emit several types of laser beams 7a, 7b simultaneously on each of the pointed targets 6a, 6b, 6c.

[0067] The use of galvanometric scanners 210, 220 can enable the emission of laser beams 7a, 7b towards several targets 6a, 6b, 6c simultaneously with the same moving head 10 while maintaining excellent accuracy. The accuracy achieved is on the order of 1 to 3 arcseconds. The moving head 10 of the invention can thus emit laser beams 7a, 7b reaching up to five targets 6a, 6b, 6c present in the same area of ​​interest.

[0068] The laser beam emission system 1 may also include a control unit 40 connected to the yoke 10. The control unit 40 can be configured to control the movements of the body 100 of the yoke 10. In particular, the control unit 40 can be configured to control the actuation of the motors 110, 120 of the body 100 in order to actuate the yoke 10. The yoke 10 can thus be actuated so as to point towards an area of ​​interest.

[0069] Thanks to the optical path 400, the yoke 10 according to the invention has complete freedom of rotation and can perform very rapid rotations. Thus, the accuracy of the yoke 10 can be adjusted very quickly, on the order of 300 readjustments per second.

[0070] The expression "between ... and ..." should be understood as including the bounds.

Claims

Demands

1. A moving head (10) comprising a motorized body (100) and a head (200), the body (100) comprising at least a first axis of rotation (R1) and a second axis of rotation (R2) extending in different directions, the body (100) being configured to support and move the head (200), the head (200) comprising one or more head devices (210, 220) configured to be powered by at least one laser source, the moving head (10) being characterized in that a hollow optical path (400) for guiding one or more laser beams is integrated into the body (100) of the moving head (10), and a portion of said optical path (400) connecting at least the first axis of rotation to the second axis of rotation comprises reflectors (400a, 400b, 400c, 400d) oriented at an angle determined by relation to the first and second axes of rotation (Rb R2).

2. Lyre (10) according to claim 1, wherein the body (100) of the lyre (10) further comprises an optical input configured to be connected to at least one laser source, the optical path (400) connecting the optical input to the head (200) of the lyre (10).

3. Lyre (10) according to claim 1 or 2, wherein the head device(s) (210, 220) are galvanometric scanners.

4. Lyre (10) according to any one of claims 1 to 3, wherein the diameter of the optical path (400) is greater than 20 mm.

5. Lyre according to any one of claims 1 to 4, wherein the body (100) of the lyre (10) is driven by hollow shaft motors (110, 120), said hollow shafts (114) of the motors (110, 120) extending around the optical path (400).

6. Lyre (10) according to any one of claims 1 to 5, the lyre (10) comprising a hollow shaft electrical collector (130), said hollow shaft (134) of the electrical collector (130) extending around the optical path (400).

7. Lyre (10) according to any one of claims 1 to 6, the lyre (10) further comprising at least one dichroic mirror (230) disposed between the optical path (400) and the head device(s) (210, 220), the dichroic mirror(s) (230) being configured to separate the laser beam from the optical path (400) in several laser beams directed towards the head device(s) (210, 220).

8. Laser beam emission system (1) comprising a yoke (10) according to any one of claims 1 to 7 and one or more laser sources (20, 30), the laser source(s) (20, 30) being connected to the optical path (400).

9. Laser beam emission system (1) according to claim 8, comprising at least a first laser source (20) emitting a laser beam at a first wavelength and a second laser source (30) emitting a laser beam at a second wavelength different from the first wavelength, the lyre (10) comprising at least a first galvanometric scanner (210) and a second galvanometric scanner (220), the lyre (10) further comprising at least one dichroic mirror (230) disposed between the optical path (400) and the first and second galvanometric scanners (210, 220), said dichroic mirror (230) being configured to direct the laser beam at the first wavelength towards the first galvanometric scanner (210) and to direct the laser beam at the second wavelength towards the second galvanometric scanner (220).

10. Laser beam emission system (1) according to claim 9, wherein the first laser source (20) emits an RGB type laser beam and the second laser source (30) emits an infrared laser beam.

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