CN120949403B - A Hall element-based device and method for adjusting the angle of a swivel mirror - Google Patents

Abstract

This invention provides a Hall element-based device and method for adjusting the angle of a tilting mirror, relating to the field of optomechanical structure technology. The angle adjustment device includes a mirror base, a lens, an electric turntable, a reference unit, a sensor, and a sensor support frame. The sensor is a Hall displacement sensor, which detects the distance between itself and the reference unit to achieve precise control of the adjustment angle of the tilting mirror lens. By setting the reference reference surface of the reference unit to be parallel to the lens and the surface being detected, and the detection end of the sensor to be perpendicular to the surface being detected by the reference unit, precise adjustment is achieved while ensuring non-contact detection. It is highly resistant to environmental factors, exhibits no mechanical wear during long-term operation, and has low cost for the sensor and its supporting circuitry. It is easy to install and debug and can flexibly adapt to the angle adjustment in various scenarios. This invention solves the problems of difficult installation, high cost, susceptibility to interference, and mechanical wear in existing tilting mirror angle control methods.

Description

A Hall element-based device and method for adjusting the angle of a swivel mirror

Technical Field

This invention relates to the field of optomechanical structure technology, and specifically to a device and method for adjusting the angle of a tilting mirror based on a Hall element.

Background Technology

In optical systems and precision instruments, the angle control of large-aperture tilting mirrors is a critical component, and its accuracy directly affects the system performance. For example, scenarios such as astronomical observation and laser processing have clear requirements for tilting mirror angle control.

Existing methods for controlling the angle of large-aperture tilting mirrors have significant limitations. Firstly, while encoder-based control offers high precision, its installation and maintenance are difficult when applied to large-aperture tilting mirrors. Encoders are also expensive and susceptible to signal interference in environments with strong electromagnetic interference, affecting the adjustment process. Secondly, there is the control method based on electrical limits. This contact-based design has limited resolution, making it difficult to adapt to diverse scenarios. Furthermore, long-term use leads to mechanical wear and tear, resulting in decreased precision. Frequent maintenance and replacement are required for extended periods, increasing costs and impacting work efficiency.

Summary of the Invention

Therefore, the technical problem to be solved by the present invention is to overcome the defects in the prior art, thereby providing a device and method for adjusting the angle of a pendulum mirror based on a Hall element.

A Hall element-based mirror angle adjustment device includes: a mirror base, a lens, and an electric turntable. The lens is mounted on the mirror base, and the mirror base is mounted on the rotating end of the electric turntable. The adjustment device also includes a reference unit, a sensor, and a sensor support frame. The sensor is a Hall displacement sensor mounted on the sensor support frame. The reference unit is disposed on the mirror base, and the reference reference surface of the reference unit is parallel to the lens. The back side of the reference reference surface is the detection surface of the reference unit, and the reference reference surface is parallel to the detection surface. The detection end of the sensor is perpendicular to the detection surface of the reference unit, and the sensor is signal-connected to the electric turntable.

Furthermore, the reference unit is a limiting device, which includes a limiting device mounting plate, a limiting device connecting rib, and a reference plate that are fixedly connected in sequence. The limiting device mounting plate is perpendicular to the reference plate, and the limiting device mounting plate is connected to the mirror base.

Furthermore, the angle adjustment device also includes a base plate and a sensor adjustment pad. The sensor support frame is installed on the upper surface of the sensor adjustment pad, the sensor adjustment pad is set on the base plate, and the cross-section of the sensor support frame is I-shaped.

Furthermore, the angle adjustment device also includes a sensor adjustment pad, which is disposed on a sensor adjustment pad. The cross-section of the sensor adjustment pad is fan-shaped, and the central angle of the fan-shaped cross-section is 90 degrees.

Furthermore, the angle adjustment device also includes a sensor mounting bracket, which is fixedly connected to the sensor and the sensor support bracket.

Furthermore, the cross-section of the sensor mounting bracket is U-shaped, and the sensor mounting bracket is also provided with adjustment waist holes, which are arranged opposite to each other on the sensor mounting bracket, and the width of the adjustment waist holes is equal everywhere.

Furthermore, the angle adjustment device also includes a mirror base adjustment pad, which is disposed between the mirror base and the electric turntable. Multiple mirror base adjustment pad blocks are evenly arranged on the mirror base adjustment pad at degree intervals.

Furthermore, the angle adjustment device also includes a limiting device adjustment pad, which is disposed between the limiting device mounting plate and the mirror base, and a plurality of limiting device adjustment pad blocks are disposed on the limiting device adjustment pad.

Furthermore, the reference surface is a reference surface, which is set on the reference plate.

The present invention also includes a method for adjusting the angle of a pendulum mirror based on a Hall element. This method is implemented based on the Hall element-based pendulum mirror angle adjustment device described in any of the preceding claims. The adjustment method includes the following steps:

Step S1: The sensor detects and records the distance between the detection end and the detection surface of the reference unit;

Step S2: Adjust the sensor and the detection end to the specified angle required for the lens of the swing mirror, and fix the sensor.

In step S3, the sensor controls the electric turntable to rotate to adjust the angle. When the sensor detects that the distance between the detection end and the detection surface of the reference unit is equal to the value recorded in step S1, the sensor controls the electric turntable to stop rotating, and the lens of the swing mirror is adjusted to the specified angle.

The technical solution of this invention has the following advantages:

The technical solution provided by this invention uses a Hall displacement sensor. By detecting the distance between the sensor and the reference unit, the adjustment angle of the tilting lens can be precisely controlled. By setting the reference reference surface of the reference unit to be parallel to the lens and the surface being detected, and the detection end of the sensor to be perpendicular to the surface being detected of the reference unit, it can ensure precise adjustment while ensuring non-contact detection. It is highly resistant to environmental factors such as light, dust, and vibration, and has no mechanical wear during long-term operation. It has high stability and reliability. The Hall displacement sensor and its supporting circuit are low in cost, simple to install and debug, and do not require a complicated calibration process. It can flexibly adapt to the adjustment of angles in various scenarios.

Attached Figure Description

To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

Figure 1 is a schematic diagram of the overall structure of the present invention;

Figure 2 is a schematic diagram of the sensor and sensor mounting frame structure of the present invention;

Figure 3 is a schematic diagram of the sensor and sensor probe structure of the present invention;

Figure 4 is a schematic diagram of the sensor adjustment pad and sensor adjustment pad block structure of the present invention;

Figure 5 is a schematic diagram of the structure of the limiting device adjusting pad and the limiting device adjusting pad block of the present invention;

Figure 6 is a schematic diagram of the structure of the mirror base adjustment pad and mirror base adjustment pad block of the present invention;

Figure 7 is a schematic diagram of the sensor support frame of the present invention;

Figure 8 is a schematic diagram of the mounting plate of the reference plate and the limiting device of the present invention;

Figure 9 is a schematic diagram of the connecting ribs and reference surface of the limiting device of the present invention;

Figure 10 is a schematic diagram of the sensor fixing bracket and adjustment waist hole structure of the present invention;

Figure 11 is a top view of the sensor mounting structure of the present invention;

Figure 12 is a schematic diagram of the present invention and the self-collimating parallel light tube adjustment process;

Figure 13 is a schematic diagram of the mirror base structure of the present invention.

Explanation of reference numerals in the attached figures:

1-Mirror mount; 2-Lens; 3-Base plate; 4-Sensor adjustment pad; 401-Sensor adjustment pad block; 5-Sensor support frame; 6-Sensor; 601-Sensor probe; 7-Sensor mounting bracket; 701-Adjustment waist hole; 8-Electric turntable; 9-Limiting device; 901-Limiting device mounting plate; 902-Limiting device connecting rib; 903-Reference plate; 10-Mirror mount adjustment pad; 1001-Mirror mount adjustment pad block; 11-Limiting device adjustment pad; 1101-Limiting device adjustment pad block; 12-Reference surface; 13-Autocollimating collimator.

Detailed Implementation

The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

As shown in Figures 1, 2, 3, 7, and 13, a Hall element-based mirror angle adjustment device includes: a mirror base 1, a lens 2, and an electric turntable 8. The lens 2 is fixedly mounted on the mirror base 1, and a mounting plate is also provided on the mirror base 1, making the side of the overall structure of the mirror base 1 L-shaped. By fixing the mounting plate to the rotating end of the electric turntable 8, the mirror base 1 is fixedly mounted on the rotating end of the electric turntable 8. When the electric turntable 8 rotates, it can drive the mirror base 1 and the lens 2 to rotate. The adjustment device also includes a reference unit, a sensor 6, and a sensor support frame 5. The sensor 6 is a Hall displacement sensor. Compared with other types of sensors, the Hall displacement sensor has a more stable structure, longer service life, stronger resistance to pollution and corrosion, and is easy to install. Moreover, the displacement measurement method can more accurately lock the rotation of the mirror base 1 and the lens 2 compared with other parameter measurement methods. The angle sensor 6 is mounted on the sensor support frame 5. The reference unit is set on the mounting plate of the lens mount 1, and the reference reference surface of the reference unit is parallel to the lens 2. The back of the reference reference surface is the detection surface of the reference unit. The reference reference surface is parallel to the detection surface. The detection end of the sensor 6, that is, the sensor probe 601 set on the sensor 6, is perpendicular to the detection surface of the reference unit. The sensor 6 is signal connected to the electric turntable 8. The sensor 6 can control the electric turntable 8 to rotate. Since this control method is existing technology, it will not be described in detail here. The reference unit, sensor 6, and sensor support frame 5 are all set in pairs on both sides of the electric turntable 8, so that the device can be adjusted in both left and right directions, increasing flexibility and applicability. The electric turntable 8 is existing technology. It is driven by an internal motor to rotate, so its structure and principle will not be described in detail here.

The aforementioned Hall element-based tilting mirror angle adjustment device uses a Hall displacement sensor for sensor 6. By detecting the distance between the sensor and the reference unit, it achieves precise control of the adjustment angle of the tilting mirror lens 2. By setting the reference reference surface of the reference unit to be parallel to the lens 2 and parallel to the surface being detected, and the detection end of sensor 6 to be perpendicular to the surface being detected of the reference unit, it can ensure precise adjustment while ensuring non-contact detection. It is highly resistant to environmental factors such as light, dust, and vibration, and has no mechanical wear during long-term operation. It has high stability and reliability. The Hall displacement sensor and its supporting circuit are low in cost, simple to install and debug, and do not require a complicated calibration process. It can flexibly adapt to the angle adjustment of various scenarios.

As shown in Figures 1, 2, 3, 8, 9, and 13, in this embodiment, the reference unit is a limiting device 9. The limiting device 9 includes a limiting device mounting plate 901, a limiting device connecting rib 902, and a reference plate 903, which are fixedly connected in sequence. The limiting device mounting plate 901 is perpendicular to the reference plate 903, and the limiting device mounting plate 901 is connected to the mirror base 1. By setting the limiting device mounting plate 901 and the reference plate 903 to be perpendicular, it can be ensured that the limiting device 9 can be installed on the mirror base 1 and provide a reference. The limiting device connecting rib 902 connects the limiting device mounting plate 901 and the reference plate 903, which can improve the connection strength between the limiting device mounting plate 901 and the reference plate 903, ensuring that the limiting device mounting plate 901 and the reference plate 903 do not shift after long-term operation, and maintaining the perpendicular relationship between the two for a long time. This allows the sensor probe 601 to accurately detect the distance between itself and the reference plate 903, thereby achieving precise adjustment of the angle.

As shown in Figures 1, 2, 4, and 7, in this embodiment, the angle adjustment device also includes a base plate 3 and a sensor adjustment pad 4. A sensor support frame 5 is installed on the upper surface of the sensor adjustment pad 4, and the sensor adjustment pad 4 is set on the base plate 3. The cross-section of the sensor support frame 5 is I-shaped. The base plate 3 provides bottom support for the entire device, ensuring its stability. The electric turntable 8 is also installed on the base plate 3. The sensor adjustment pad 4 is positioned between the sensor support frame 5 and the base plate 3, providing support for the sensor support frame 5. The I-shaped design of the sensor support frame 5 is different from the ordinary cuboid structure. The I-shaped structure is symmetrical, resulting in more uniform force distribution during stress and effectively reducing deformation. It also requires less material, reducing material application costs and contributing to the lightweight design of the device. Furthermore, it occupies less space, facilitating operation in confined spaces.

As shown in Figures 2, 4, and 7, in this embodiment, the angle adjustment device also includes sensor adjustment pads 401. Sensor adjustment pads 401 are disposed on sensor adjustment pads 4, and their cross-section is fan-shaped with a central angle of 90 degrees. A total of eight sensor adjustment pads 401 are disposed at the four corners of the upper and lower surfaces of the sensor adjustment pads 4. By grinding the sensor adjustment pads 401, the height of the sensor support frame 5 can be adjusted. Furthermore, the grinding height of each sensor adjustment pad 401 can be controlled to be different, thereby allowing for minute adjustments to the pitch angle of the sensor support frame 5 to adapt to different working conditions and environments, increasing the flexibility of the device. The 90-degree fan-shaped structure can evenly distribute the force throughout the entire structure, reducing local stress concentration. Moreover, the sensor adjustment pads 401 are disposed at the four corners of the upper and lower surfaces of the sensor adjustment pads 4, and the area of the shape formed by their support points is the largest, providing maximum stable support for the sensor support frame 5 and improving the overall structural stability.

As shown in Figures 1, 2, 3, 7, 8, 10, and 11, in this embodiment, the angle adjustment device further includes a sensor mounting bracket 7, which is fixedly connected to the sensor 6 and the sensor support bracket 5. The sensor mounting bracket 7 is mainly used to fix the sensor 6 on the top of the sensor support bracket 5, thereby ensuring that the sensor probe 601 set on the sensor 6 can accurately measure the distance between it and the reference plate 903, thus achieving precise angle adjustment. The sensor mounting bracket 7 is connected to the sensor support bracket 5 by bolts, and the detachable connection of the bolt connection facilitates the adjustment and replacement of the sensor 6 in the future.

As shown in Figures 1, 2, 3, 7, 10, and 11, in this embodiment, the sensor mounting bracket 7 has a U-shaped cross-section. The sensor mounting bracket 7 also has adjustment holes 701, which are positioned opposite each other on the sensor mounting bracket 7, and the width of each adjustment hole 701 is equal. The middle part of the U-shaped sensor mounting bracket 7 fits against the sensor 6, fixing the sensor 6 between the sensor mounting bracket 7 and the sensor support bracket 5. The two sides of the U-shaped sensor mounting bracket 7 are in contact with the sensor support bracket 5. The adjustment holes 701 are used to drive the sensor 6 to rotate, thereby adjusting the sensor... The adjustment of the 6-angle angle is necessary to precisely adjust the lens 2 of the tilting mirror to the specified angle. The relative setting of the adjustment waist hole 701 allows both sides of the sensor mounting bracket 7 to rotate correspondingly when the U-shaped sensor mounting bracket 7 rotates. Thus, both sides of the sensor mounting bracket 7 can be connected to the sensor support bracket 5 through the adjustment waist hole 701 and the bolt. The adjustment waist hole 701 is a closed shape formed by two arcs sharing the same center. Therefore, the width of the adjustment waist hole 701 is equal everywhere, which allows the adjustment waist hole 701 to better fit with the bolt, thereby making the sensor mounting bracket 7 more convenient and precise to adjust.

As shown in Figures 1, 2, 6, and 13, in this embodiment, the angle adjustment device further includes a mirror base adjustment pad 10. The mirror base adjustment pad 10 is disposed between the mirror base 1 and the electric turntable 8. Multiple mirror base adjustment pad blocks 1001 are evenly arranged on the mirror base adjustment pad 10 at 120-degree intervals. Mirror base adjustment pad blocks 1001 are provided on both the upper and lower surfaces of the mirror base adjustment pad 10. The aforementioned angular intervals can evenly distribute the pressure between the mirror base 1 and the limiting device 9, while providing stable support for the mirror base 1. By grinding the mirror base adjustment pad blocks 1001, the height of the mirror base 1 can be adjusted. Furthermore, by grinding different mirror base adjustment pad blocks 1001, the height of the mirror base adjustment pad blocks 1001 can be controlled to be different, thereby enabling minute adjustments to the pitch angle and achieving flexible adjustment.

As shown in Figures 1, 2, 5, 6, 8, and 13, in this embodiment, the angle adjustment device further includes a limiting device adjusting pad 11. The limiting device adjusting pad 11 is disposed between the limiting device mounting plate 901 and the mirror base 1. Multiple limiting device adjusting pad blocks 1101 are disposed on the limiting device adjusting pad 11. Limiting device adjusting pad blocks 1101 are disposed on both the upper and lower surfaces of the limiting device adjusting pad 11. The limiting device adjusting pad 11 supports the limiting device mounting plate 901. The limiting device adjusting pad blocks 1101 are set with the three vertices of a triangle as mounting points, so the three limiting device adjusting pad blocks 1101 form an equilateral triangle shape, and each… The limit device adjusting pads 1101 are arranged parallel to each other. This arrangement can disperse the stress of the limit device adjusting pads 1101 and avoid stress concentration. At the same time, the height of the limit device mounting plate 901 can be adjusted by grinding the limit device adjusting pads 1101. Grinding the limit device adjusting pads 1101 at different heights can also adjust different pitch angles. After the angle is adjusted, the limit device mounting plate 901, the limit device adjusting pads 11, the mounting plate on the mirror base 1, the mirror base adjusting pads 10, and the electric turntable 8 are connected in sequence by bolts to achieve a tight fixation and prevent loosening during the adjustment process, which could lead to deviations in the angle adjustment.

As shown in Figures 1, 2, 3, 9, and 12, in this embodiment, the reference surface is reference surface 12, which is set on the reference plate 903. Reference surface 12 is a precision-machined surface. Light from the autocollimating collimator 13 is incident perpendicularly onto the lens 2, and then returns perpendicularly to the autocollimating collimator 13, that is, back to the center of the field of view of the autocollimating collimator 13. This corrects the optical axis of the autocollimating collimator 13 to be perpendicular to the plane of the lens 2. Then, the autocollimating collimator 13 is moved parallel to the plane of the lens 2, following the same steps as described above, and is adjusted by grinding. The adjustment pad 1101 of the limiting device is adjusted so that the crosshairs of the autocollimating collimator 13 are located at the center of the field of view of the autocollimating collimator 13. The optical axis of the autocollimating collimator 13 is then corrected to be perpendicular to the plane where the reference plane 12 is located, so that the reference plane 12 is parallel to the position of the lens 2. Then the next angle adjustment can be carried out. Through the above correction, it can be ensured that when adjusting the angle of the lens 2, since the reference plane 12 is parallel to the surface being detected, the angle of the lens 2 can be accurately adjusted by the sensor 6 detecting the surface being detected behind the reference plane 12.

As shown in Figures 1, 2, 3, 5, 9, 10, 11, 12, and 13, the present invention also includes a method for adjusting the angle of a pendulum mirror based on a Hall element. This method is implemented based on the Hall element-based pendulum mirror angle adjustment device described in any of the preceding claims. The adjustment method includes the following steps:

Step S1: Sensor 6 detects and records the distance between the detection end and the detection surface of the reference unit;

Step S2: Adjust the sensor 6 and the lens 2 of the detection end to the specified angle required for adjustment, and fix the sensor 6.

In step S3, sensor 6 controls electric turntable 8 to rotate to adjust the angle. When sensor 6 detects that the distance between the detection end and the detection surface of the reference unit is equal to the value recorded in step S1, sensor 6 controls electric turntable 8 to stop rotating, and the lens 2 of the swing mirror is adjusted to the specified angle.

Specifically, the process begins with correction. Light from the autocollimating collimator 13 is incident perpendicularly onto the lens 2, and then returns perpendicularly to the autocollimating collimator 13, i.e., back to the center of the field of view of the autocollimating collimator 13. This corrects the optical axis of the autocollimating collimator 13 to be perpendicular to the plane of the lens 2. Then, the autocollimating collimator 13 is moved parallel to the plane of the lens 2. The same steps are repeated. The shim 1101 is adjusted by grinding and adjusting the limiting device so that the crosshairs of the autocollimating collimator 13 are located at the center of the field of view of the autocollimating collimator 13. The optical axis of the autocollimating collimator 13 is corrected again to be perpendicular to the plane of the reference plane 12, so that the reference plane 12 is parallel to the position of the lens 2. Then, angle adjustment is performed. The distance between the sensor probe 601 and the detected surface on the limiting device 9 is detected and recorded by the sensor 6. The sensor 6 and the sensor probe 601 are then adjusted to the specified angle required for the lens 2 of the tilting mirror by adjusting the waist hole 701. At the same time, the sensor 6 is fixed by bolts in cooperation with the adjusting waist hole 701. Finally, the sensor 6 controls the electric turntable 8 to drive the mirror base 1 and the lens 2 to rotate for angle adjustment. When the sensor 6 detects that the distance between the sensor probe 601 and the detected surface on the limiting device 9 is equal to the distance value recorded above, the sensor 6 controls the electric turntable 8 to stop rotating, and the lens 2 of the tilting mirror is adjusted to the specified angle.

Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims (10)

1. A mirror angle adjustment device based on Hall element, comprising: mirror base (1), lens (2) and electric turntable (8), characterized in that the lens (2) is mounted on the mirror base (1), the mirror base (1) is mounted on the rotating end of the electric turntable (8), the adjustment device further comprises a reference unit, a sensor (6) and a sensor support frame (5), the sensor (6) is a Hall displacement sensor, the sensor (6) is mounted on the sensor support frame (5), the reference unit is set on the mirror base (1), and the reference reference surface of the reference unit is parallel to the lens (2), the back side of the reference reference surface is the detection surface of the reference unit, the reference reference surface is parallel to the detection surface, the detection end of the sensor (6) is perpendicular to the detection surface of the reference unit, and the sensor (6) is signal connected to the electric turntable (8). 2. The Hall element-based mirror angle adjustment device according to claim 1, characterized in that the reference unit is a limiting device (9), the limiting device (9) includes a limiting device mounting plate (901), a limiting device connecting rib (902) and a reference plate (903) that are fixedly connected in sequence, and the limiting device mounting plate (901) is perpendicular to the reference plate (903), and the limiting device mounting plate (901) is connected to the mirror base (1). 3. The Hall element-based mirror angle adjustment device according to claim 1, characterized in that the angle adjustment device further includes a base plate (3) and a sensor adjustment pad (4), a sensor support frame (5) is installed on the upper surface of the sensor adjustment pad (4), the sensor adjustment pad (4) is set on the base plate (3), and the cross section of the sensor support frame (5) is I-shaped. 4. The Hall element-based mirror angle adjustment device according to claim 3, characterized in that the angle adjustment device further includes a sensor adjustment pad (401), the sensor adjustment pad (401) is disposed on the sensor adjustment pad (4), the cross section of the sensor adjustment pad (401) is fan-shaped, and the central angle of the fan-shaped cross section is 90 degrees. 5. The Hall element-based mirror angle adjustment device according to claim 1, characterized in that the angle adjustment device further includes a sensor fixing frame (7), which is fixedly connected to the sensor (6) and the sensor support frame (5). 6. The Hall element-based mirror angle adjustment device according to claim 5, characterized in that the cross section of the sensor fixing frame (7) is U-shaped, and the sensor fixing frame (7) is also provided with an adjustment waist hole (701), the adjustment waist hole (701) is arranged opposite to each other on the sensor fixing frame (7), and the width of the adjustment waist hole (701) is equal everywhere. 7. The tilting mirror angle adjustment device based on Hall element according to claim 1, characterized in that the angle adjustment device further includes a mirror base adjustment pad (10), the mirror base adjustment pad (10) is disposed between the mirror base (1) and the electric turntable (8), and a plurality of mirror base adjustment pad blocks (1001) are evenly disposed on the mirror base adjustment pad (10) at intervals of 120 degrees. 8. The angle adjustment device for a swing mirror based on a Hall element according to claim 2, characterized in that the angle adjustment device further includes a limiting device adjustment pad (11), the limiting device adjustment pad (11) is disposed between the limiting device mounting plate (901) and the mirror base (1), and a plurality of limiting device adjustment pad blocks (1101) are disposed on the limiting device adjustment pad (11). 9. The swing mirror angle adjustment device based on Hall element according to claim 2, characterized in that the reference surface is a reference surface (12), and the reference surface (12) is disposed on the reference plate (903). 10. A method for adjusting the angle of a pendulum mirror based on a Hall element, the method being implemented based on a pendulum mirror angle adjustment device based on a Hall element as described in any one of claims 1 to 9, characterized in that the adjustment method includes the following steps: Step S1, the sensor (6) detects and records the distance between the detection end and the detection surface of the reference unit; Step S2, adjust the sensor (6) and the lens (2) of the detection end to the swing mirror to the specified angle required, and fix the sensor (6). In step S3, the sensor (6) controls the electric turntable (8) to rotate to adjust the angle. When the sensor (6) detects that the distance between the detection end and the detection surface of the reference unit is equal to the value recorded in step S1, the sensor (6) controls the electric turntable (8) to stop rotating, and the lens (2) of the swing mirror is adjusted to the specified angle.