阅读说明：本技术 用于振镜扫描回转过程中的归零判断装置及方法 (Return-to-zero judgment device and method for galvanometer scanning rotation process ) 是由 赵凯 刘洋 王少武 宋耀东 张凯 于 2021-07-22 设计创作，主要内容包括：本发明公开了一种用于振镜扫描回转过程中的归零判断装置及方法,属于环境监测技术领域,包括：一回转支承,回转支承的内圈上固定一安装支板,安装支板上安装有驱动装置、红外传感器和激光传感器,驱动装置与回转支承外圈连接,外圈上安装有立柱A,且外圈沿轴向开设有小孔B。本发明将多传感器组合应用在扫描振镜的归零定位,先控制外圈绕内圈快速旋转,利用红外传感技术实现大尺寸定位,缩小归零范围,然后低速进行旋转步进,利用激光探测技术实现小范围的最终快速归零控制。(The invention discloses a return-to-zero judgment device and method for a galvanometer scanning rotation process, which belong to the technical field of environmental monitoring and comprise the following steps: the device comprises a slewing bearing, wherein an installation support plate is fixed on an inner ring of the slewing bearing, a driving device, an infrared sensor and a laser sensor are installed on the installation support plate, the driving device is connected with an outer ring of the slewing bearing, an upright post A is installed on the outer ring, and a small hole B is axially formed in the outer ring. The invention applies the multi-sensor combination to the return-to-zero positioning of the scanning galvanometer, firstly controls the outer ring to rotate around the inner ring rapidly, realizes large-size positioning by using the infrared sensing technology, reduces the return-to-zero range, then carries out rotational stepping at low speed, and realizes the final rapid return-to-zero control in a small range by using the laser detection technology.)

1. The utility model provides a return to zero judgement device for vibrating mirror scanning gyration in-process which characterized in that includes a slewing bearing, and a fixed installation extension board is gone up to slewing bearing's inner circle, installs drive arrangement, infrared sensor and laser sensor on the installation extension board, and drive arrangement is connected with the slewing bearing outer lane, installs stand A on the outer lane, and the outer lane has seted up aperture B along the axial.

2. The apparatus according to claim 1, wherein the driving device is a motor, and a transmission gear of the motor is in transmission connection with the outer ring gear.

3. The apparatus for determining the return-to-zero in the course of galvanometer scanning rotation according to claim 1, wherein the arc length of the rotation of the column a along the axial direction thereof is longer than the inner diameter of the small hole B.

4. The apparatus of claim 1, wherein the infrared photoelectric sensor and the laser sensor are disposed at an angle of 30 degrees, 90 degrees or 180 degrees.

5. A return-to-zero judging method for a galvanometer scanning rotation process, characterized in that the return-to-zero judging device according to any one of claims 1 to 4 is used for carrying out the return-to-zero judgment on the scanning galvanometer, and comprises the following steps:

driving an outer ring of the slewing bearing to rotate around an inner ring at a first set speed by using the driving device;

judging whether the upright column A shields the infrared sensor or not;

if not, the driving device drives the outer ring to continuously rotate around the inner ring according to the current speed;

if so, sending an initial return-to-zero signal, driving an outer ring of the slewing bearing to rotate around an inner ring at a second set speed by using the driving device, and carrying out small stepping until the laser sensor detects the position of the small hole B, so as to realize return-to-zero control of the galvanometer, wherein the second set speed is less than the first set speed.

6. The method for determining return to zero during galvanometer scanning gyration of claim 5, further comprising, prior to the driving the outer ring of the slewing bearing around the inner ring with the driving device:

judging whether the infrared sensor and the laser sensor work normally or not;

if yes, performing zeroing judgment;

and if not, replacing and maintaining the infrared sensor and the laser sensor for alarming.

7. The return-to-zero determination method for galvanometer scanning rotation process according to claim 5, further comprising:

and if the outer ring rotates around the inner ring for more than 360 degrees, the infrared sensor is not shielded by the upright post A, and the fault of the infrared sensor is judged.

8. The return-to-zero determination method for use in a galvanometer scanning revolution process according to claim 5, further comprising, after reducing a rotation speed of the outer ring around the inner ring:

and if the outer ring rotates around the inner ring for more than 2 degrees, and the laser sensor still does not detect the position of the small hole B, judging that the laser sensor fails.

9. The return-to-zero determination method for galvanometer scanning rotation process according to claim 5, further comprising:

and when the infrared sensor does not send the initial return-to-zero signal and the laser sensor sends the return-to-zero signal, judging that the infrared sensor has a fault.

Technical Field

The invention relates to the technical field of environmental monitoring, in particular to a return-to-zero judgment device and method for a galvanometer scanning rotation process.

Background

In the field of environmental monitoring, a scanning galvanometer is used as an important part of laser radar atmospheric monitoring, the scanning precision directly influences the distribution condition and the traceability result of atmospheric pollutants, and the accuracy of zero position judgment directly determines the accumulation precision of scanning of the galvanometer.

The existing scanning galvanometer mostly adopts a single infrared photoelectric sensor, and utilizes the reflection principle of an object to infrared beams to detect, so that the existing scanning galvanometer has the defects that: firstly, the infrared ray has a certain emission angle when being emitted, so that the infrared ray detector is suitable for detecting objects with larger volumes; secondly, the photoelectric coupler inside the photoelectric coupler is easily interfered by various heat sources, vibration or radiation, and cannot meet the requirements of high precision and high reliability; thirdly, the scanning galvanometer is mostly placed outdoors, needs to bear conditions such as high and low temperature and vehicle-mounted vibration, has a severe working environment, and needs to be frequently maintained, adjusted or replaced to ensure zero position precision of the galvanometer.

Disclosure of Invention

The invention aims to overcome the defects in the background technology and ensure the zero position precision of the galvanometer.

In order to achieve the above object, in one aspect, the present invention provides a return-to-zero determination device for use in a galvanometer scanning rotation process, including a rotation support, a mounting support plate fixed on an inner ring of the rotation support, a driving device, an infrared sensor and a laser sensor mounted on the mounting support plate, the driving device connected to an outer ring of the rotation support, an upright a mounted on the outer ring, and a small hole B axially formed in the outer ring.

Furthermore, the driving device adopts a motor, and a transmission gear of the motor is in transmission connection with the gear of the outer ring.

Further, the arc length of the upright post A rotating along the axial direction of the upright post A is larger than the inner diameter of the small hole B.

Further, the infrared photoelectric sensor and the laser sensor are arranged at an included angle of 30 degrees, 90 degrees or 180 degrees.

On the other hand, the zeroing judgment method for the galvanometer scanning rotation process by using the zeroing judgment device comprises the following steps:

driving an outer ring of the slewing bearing to rotate around an inner ring at a first set speed by using the driving device;

judging whether the upright column A shields the infrared sensor or not;

if not, the driving device drives the outer ring to continuously rotate around the inner ring according to the current speed;

if so, sending an initial return-to-zero signal, driving an outer ring of the slewing bearing to rotate around an inner ring at a second set speed by using the driving device, and carrying out small stepping until the laser sensor detects the position of the small hole B, so as to realize return-to-zero control of the galvanometer, wherein the second set speed is less than the first set speed.

Further, before the driving the outer ring of the slewing bearing to rotate around the inner ring by the driving device, the method further comprises the following steps:

judging whether the infrared sensor and the laser sensor work normally or not;

if yes, performing zeroing judgment;

and if not, replacing and maintaining the infrared sensor and the laser sensor for alarming.

Further, still include:

and if the outer ring rotates around the inner ring for more than 360 degrees, the infrared sensor is not shielded by the upright post A, and the fault of the infrared sensor is judged.

Further, after reducing the rotation speed of the outer ring around the inner ring, the method further comprises the following steps:

and if the outer ring rotates around the inner ring for more than 2 degrees, and the laser sensor still does not detect the position of the small hole B, judging that the laser sensor fails.

Further, still include:

and when the infrared sensor does not send the initial return-to-zero signal and the laser sensor sends the return-to-zero signal, judging that the infrared sensor has a fault.

Compared with the prior art, the invention has the following technical effects: according to the invention, the infrared sensing technology and the laser detection technology are combined and applied to the zeroing positioning of the scanning galvanometer, the outer ring of the slewing bearing is controlled to rotate around the inner ring rapidly, the zeroing range is reduced by using the infrared sensing technology, then the rotating speed is reduced, and the accurate and rapid zeroing of the scanning galvanometer is realized by using the laser sensing technology in a small range. The method overcomes the outdoor severe working environment, ensures the zero position precision of the vibrating mirror, and simultaneously improves the maintainability of the vibrating mirror.

Drawings

The following detailed description of embodiments of the invention refers to the accompanying drawings in which:

fig. 1 is a perspective view of a return-to-zero judging apparatus;

fig. 2 is a front view of the return-to-zero judging means;

fig. 3 is a bottom view of the return-to-zero judging means;

fig. 4 is a right side view of the return-to-zero judging means;

FIG. 5 is a perspective view of the pivoting support;

FIG. 6 is a flow chart of a zeroing determination method for galvanometer scanning rotation;

fig. 7 is an overall flowchart of a return-to-zero determination method used in the galvanometer scanning rotation process.

In the figure:

1-a slewing bearing; 2, mounting a support plate; 3, a motor; 4-an infrared sensor; 5-a laser sensor; 6-column A; 7-Aperture B; 11-an inner ring; 12-an outer ring; 121-outer ring gear; 31-transmission gear.

Detailed Description

To further illustrate the features of the present invention, refer to the following detailed description of the invention and the accompanying drawings. The drawings are for reference and illustration purposes only and are not intended to limit the scope of the present disclosure.

As shown in fig. 1 to 5, the present embodiment discloses a zeroing determination device for use in a galvanometer scanning rotation process, which includes a rotary support 1, a mounting support plate 2 is fixed on an inner ring 11 of the rotary support 1, a driving device, an infrared sensor 4 and a laser sensor 5 are mounted on the mounting support plate 2, the driving device is connected to an outer ring 12 of the rotary support 1, an upright a6 is mounted on the outer ring 12, and a small hole B7 is axially formed in the outer ring 12.

The mounting stay 2 has a screw hole, and is fixedly connected to the driving device, the infrared sensor, the laser sensor, and the inner ring of the slewing bearing by screws. The driving device drives the outer ring 12 to rotate around the inner ring 11, the upright post A6 and the small hole B rotate along with the outer ring, when the upright post A6 shields the infrared sensor 4, an initial zero return signal is sent out, the rotating speed of the outer ring 12 around the inner ring 11 is reduced, small stepping is carried out, and zero return control of the scanning galvanometer is achieved until the position of the small hole B is detected by the laser sensor 5.

The infrared sensor is suitable for detecting large objects due to the scattering angle characteristic of the infrared sensor, when the infrared sensor is applied to accurate positioning, the positioning precision cannot be guaranteed, and the laser detection technology is suitable for positioning small-volume objects due to the characteristic of direct laser light, but when the scanning rotating speed is high, the situation that the position of a detection hole cannot be scanned exists, and the working reliability of the infrared sensor cannot be guaranteed. The embodiment ensures the zero position precision of the galvanometer by combining the infrared sensing technology and the laser detection technology and applying the infrared sensing technology and the laser detection technology to the zero return positioning of the galvanometer.

As a further preferable technical solution, the driving device adopts a motor 3, and a transmission gear 31 of the motor 3 is in transmission connection with an outer ring gear 121 of the outer ring 12.

As a further preferable technical solution, the arc length of the column a6 rotating along its axial direction is larger than the inner diameter of the small hole B.

As a further preferable technical solution, the infrared photoelectric sensor and the laser sensor 5 are arranged at an included angle of 30 degrees, 90 degrees or 180 degrees.

As shown in fig. 6 to 7, the present embodiment discloses a zeroing determination method for a galvanometer during scanning rotation, which is used for performing zeroing determination on a scanning galvanometer by using the zeroing determination device disclosed in the above embodiments, and includes the following steps S1 to S4:

s1, driving the outer ring 12 of the slewing bearing 1 to rotate around the inner ring 11 at a first set speed by the driving device;

s2, judging whether the upright post A6 shields the infrared sensor 4, if not, executing the step S3, and if so, executing the step S4;

s3, the driving device drives the outer ring 12 to rotate around the inner ring 11 continuously according to the current speed;

and S4, sending an initial return-to-zero signal, driving the outer ring 12 of the slewing bearing 1 to rotate around the inner ring 11 at a second set speed by using the driving device, performing small stepping, and realizing return-to-zero control of the galvanometer when the laser sensor 5 detects the position of the small hole B, wherein the second set speed is less than the first set speed.

It should be noted that in this embodiment, the outer ring 12 of the slewing bearing 1 is controlled to rotate around the inner ring 11 quickly, the return-to-zero range is reduced by using the infrared sensing technology, then the rotation speed is reduced, and the scanning galvanometer is returned to zero quickly by using the laser detection technology in a small range.

As a more preferable embodiment, in step S1: before the driving device is used for driving the outer ring 12 of the slewing bearing 1 to rotate around the inner ring 11, the method further comprises the following steps:

judging whether the infrared sensor 4 and the laser sensor 5 work normally or not;

if yes, performing zeroing judgment;

and if not, replacing and maintaining the infrared sensor 4 and the laser sensor 5 for alarming.

As a further preferable embodiment, the method further includes:

if the outer ring 12 rotates around the inner ring 11 for more than 360 degrees, the pillar a6 still does not shield the infrared sensor 4, and it is determined that the infrared sensor 4 is faulty.

As a more preferable aspect, after reducing the rotation speed of the outer ring 12 around the inner ring 11, the method further includes:

and if the outer ring 12 rotates around the inner ring 11 by more than a degrees, and the laser sensor 5 still does not detect the position of the small hole B, judging that the laser sensor 5 has a fault.

It should be noted that a is 0 < a ≦ 5.

As a more preferable aspect, after reducing the rotation speed of the outer ring 12 around the inner ring 11, the method further includes:

and if the outer ring 12 rotates around the inner ring 11 for more than 2 degrees, and the laser sensor 5 still does not detect the position of the small hole B, judging that the laser sensor 5 has a fault.

The invention applies the multi-sensor combination to the return-to-zero positioning of the scanning galvanometer, firstly controls the outer ring to rotate around the inner ring rapidly, realizes large-size positioning by using the infrared sensing technology, reduces the return-to-zero range, then carries out rotational stepping at low speed, and realizes the final rapid return-to-zero control in a small range by using the laser detection technology.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.