CN114818251A - Laser Lissajous scanning mode space view field coverage analysis method and device - Google Patents
Laser Lissajous scanning mode space view field coverage analysis method and device Download PDFInfo
- Publication number
- CN114818251A CN114818251A CN202210216957.4A CN202210216957A CN114818251A CN 114818251 A CN114818251 A CN 114818251A CN 202210216957 A CN202210216957 A CN 202210216957A CN 114818251 A CN114818251 A CN 114818251A
- Authority
- CN
- China
- Prior art keywords
- laser
- scanning
- lissajous
- field
- area array
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004458 analytical method Methods 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 claims abstract description 53
- 238000004088 simulation Methods 0.000 claims abstract description 18
- 230000008569 process Effects 0.000 claims abstract description 17
- 238000009826 distribution Methods 0.000 claims abstract description 13
- 238000007619 statistical method Methods 0.000 claims abstract description 8
- 238000003860 storage Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 3
- 230000010363 phase shift Effects 0.000 claims description 3
- 238000013341 scale-up Methods 0.000 claims description 2
- 238000004445 quantitative analysis Methods 0.000 description 18
- 238000005259 measurement Methods 0.000 description 10
- 238000005457 optimization Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/02—Reliability analysis or reliability optimisation; Failure analysis, e.g. worst case scenario performance, failure mode and effects analysis [FMEA]
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Photometry And Measurement Of Optical Pulse Characteristics (AREA)
Abstract
The invention provides a laser Lissajous scanning mode space field coverage analysis method and a laser Lissajous scanning mode space field coverage analysis device, wherein the laser Lissajous scanning mode space field coverage analysis method comprises the following steps: acquiring relevant characteristic parameters of the laser; establishing a Lissajous scanning discrete digital model of a laser; constructing a digital model for emitting laser, and simulating the intensity distribution of laser emission by using a Gaussian model; determining a digital scanning view field area array according to the single-frame scanning point number rho of the laser, and recording the frequency or intensity of the laser beam scanning by using the digital scanning view field area array; according to the Lissajous scanning discrete digital model of the laser, the relevant characteristic parameters of the laser and the digital model of the emergent laser, carrying out simulation scanning on a digitalized scanning view field area, and carrying out assignment counting on a scanning view field area array in the laser beam range in the scanning process; and according to the data recorded by the digital scanning area array, performing statistical analysis on the scanning field area array to determine the laser scanning coverage rate in the field of view.
Description
Technical Field
The invention relates to a laser Lissajous scanning mode space field coverage quantitative analysis method and a laser Lissajous scanning mode space field coverage quantitative analysis device, which are suitable for realizing quantitative analysis of multiple space field scanning coverage rates based on coverage areas, scanning frequency and the like, and provide a quantitative analysis method and a decision basis for on-orbit reliable search targets of scanning laser products and scanning parameter system design based on different field laser divergence angles.
Background
With the progress of aerospace technology and the diversified development of space tasks, the requirement for measuring the attitude of a space non-cooperative target is more and more urgent. The laser is used for acquiring the point cloud of the space non-cooperative target, has the characteristics of long acting distance, high distance measurement precision, small influence of external illumination environment, full-time working capability and the like, and is a common measurement system for measuring the pose of the space non-cooperative target. For the scanning type laser measuring sensor, the Lissajous scanning mode is a commonly used laser beam scanning mode, the coverage measurement of the measuring view field of the laser measuring sensor can be realized through the Lissajous scanning mode, and the scanning type laser measuring sensor has the characteristics of simple control and low requirement on the response capability of the swing mirror.
However, the scanning distribution of the lissajous scanning mode to the field of view is not uniform (as shown in fig. 2), different laser lissajous scanning mode parameters and different shapes of lissajous scanning patterns are different, so in order to realize the capture measurement of the space target, the field coverage of the lissajous scanning mode needs to be quantitatively analyzed, and the coverage of the laser scanning to the field of view needs to be quantitatively given. The conventional ground experiment method for measurement and analysis wastes time and labor, and is difficult to form a quantitative analysis result, thereby influencing the selection and optimization work of key parameters of the laser measurement sensor.
Disclosure of Invention
In order to realize the quantitative analysis of the coverage rate of the laser Lissajous scanning mode on the space field of view, the invention provides a quantitative analysis method of the coverage rate of the laser Lissajous scanning mode space field of view, which can realize the quantitative analysis of various space field of view scanning coverage rates based on the coverage area, the scanning frequency and the like, and provide a quantitative analysis method and a decision basis for the reliable search target of the scanning laser product in orbit and the scanning parameter system design based on different fields of view and different laser divergence angles; the method has the characteristics of high calculation speed, high accuracy, flexible use and good engineering application effect.
The technical scheme provided by the invention is as follows:
in a first aspect, a laser lissajous scanning mode spatial field coverage analysis method includes the following steps:
s1, acquiring relevant characteristic parameters of the laser, including a laser scanning view field, a laser single-frame scanning point number rho, laser single-frame scanning time, a divergence angle omega of a laser beam and laser Lissajous scanning mode parameters;
s2, establishing a Lissajous scanning discrete digital model of the laser;
s3, constructing a digital model of the emitted laser, and simulating the intensity distribution of the emitted laser by using a Gaussian model;
s4, constructing a digital scanning view field area array: determining a digital scanning view field area array as [ k rho, k rho ] according to the single-frame scanning point rho of the laser acquired in the step S1, wherein k is more than or equal to 1 and is a positive integer, and recording the frequency or intensity of the laser beam scanning by using the digital scanning view field area array;
s5, carrying out Lissajous scanning simulation: according to the Lissajous scanning discrete digital model of the laser established in the step S2, the relevant characteristic parameters of the laser acquired in the step S1 and the digital model of the emergent laser established in the step S3, carrying out simulation scanning on a digitalized scanning field area, and carrying out assignment counting on a scanning field area array in a laser beam range in the scanning process;
and S6, performing statistical analysis on the scanning field area array according to the data recorded by the digital scanning area array, and determining the laser scanning coverage rate in the field of view.
In a second aspect, a laser lissajous scan mode spatial field coverage analysis apparatus comprises:
the laser characteristic parameter acquisition module is used for acquiring relevant characteristic parameters of the laser, including a laser scanning view field, a laser single-frame scanning point rho, laser single-frame scanning time, a divergence angle of a laser beam and laser Lissajous scanning mode parameters;
the Lissajous scanning discrete digital model building module is used for building a Lissajous scanning discrete digital model of the laser;
the emergent laser digital model building module is used for building a digital model of emergent laser, and the intensity distribution of laser emergent is simulated by using a Gaussian model;
the scanning view field area array construction module is used for determining that a digital scanning view field area array is [ k rho, k rho ] according to the acquired single-frame scanning point number rho of the laser, wherein k is larger than or equal to 1 and is a positive integer, and the frequency or the intensity of the laser beam scanning is recorded by the digital scanning view field area array;
the Lissajous scanning simulation execution module is used for carrying out simulation scanning on a digitalized scanning view field area according to the established Lissajous scanning discrete digital model of the laser, the obtained relevant characteristic parameters of the laser and the established digital model of the emergent laser, and carrying out assignment counting on a scanning view field area array which is positioned in a laser beam range in the scanning process;
and the laser scanning coverage rate module is used for performing statistical analysis on the scanning field area array according to the data recorded by the digital scanning area array to determine the laser scanning coverage rate in the field of view.
In a third aspect, a laser lissajous scan mode spatial field coverage analysis apparatus comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to perform the laser lissajous scanning mode spatial field coverage analysis method of the first aspect.
In a fourth aspect, a readable storage medium has stored thereon a computer program which, when executed by a processor, implements the laser lissajous scan mode spatial field coverage analysis method of the first aspect.
According to the laser Lissajous scanning mode space view field coverage analysis method and device provided by the invention, the following beneficial effects are achieved:
(1) the laser Lissajous scanning mode space view field coverage rate analysis method and device provided by the invention have the advantages that quantitative analysis is carried out on the Lissajous view field space coverage rate, compared with the traditional analysis method, the method is simpler in calculation and flow, and substitution operation of a large number of formulas is avoided;
(2) the laser Lissajous scanning mode space view field coverage rate analysis method and device provided by the invention can be used for carrying out quantitative analysis on the Lissajous view field space coverage rate, and compared with the traditional experimental method, the laser Lissajous scanning mode space view field coverage rate analysis method and device greatly shorten the analysis and measurement period and have higher quantitative analysis precision;
(3) the method and the device for analyzing the Lissajous scanning mode space view field coverage rate of the laser carry out quantitative analysis on the Lissajous view field space coverage rate, test cases and parameter adjustment are more flexible, optimization and verification of multiple parameters of the sensor can be conveniently carried out in a matching mode in the sensor design stage, and quantitative analysis basis is provided for multi-parameter optimization and precision distribution of the sensor.
Drawings
FIG. 1 is a flow chart of a laser Lissajous scanning mode spatial field coverage analysis method according to the present invention;
FIG. 2 is a typical Lissajous scan pattern with uneven spatial coverage;
fig. 3 is a visual representation of 95.17% field coverage (black areas are areas not scanned by the laser);
fig. 4 is an exemplary diagram of a laser lissajous scanning mode spatial field coverage analysis method.
Detailed Description
The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The invention provides a laser Lissajous scanning mode space field coverage analysis method, as shown in figure 1, comprising the following steps:
s1, acquiring relevant characteristic parameters of the laser, including a laser scanning view field FOV, a laser single-frame scanning point number rho, laser single-frame scanning time, a divergence angle omega of a laser beam, a laser Lissajous scanning mode parameter m (angular frequency of a sinusoidal scanning signal in the direction of a coordinate horizontal axis) and n (angular frequency of the sinusoidal scanning signal in the direction of a coordinate vertical axis);
s2, establishing a Lissajous scanning discrete digital model of the laser;
s3, constructing a digital model of the emitted laser, and simulating the intensity distribution of the emitted laser by using a Gaussian model for simulating the scanning of the space by the subsequent simulated laser beam;
s4, constructing a digital scanning view field area array: determining a digital scanning view field area array as [ k rho, k rho ] according to the single-frame scanning point rho of the laser acquired in the step S1, wherein k is more than or equal to 1 and is a positive integer, and recording the frequency or intensity of the laser beam scanning by using the digital scanning view field area array;
s5, carrying out Lissajous scanning simulation: according to the Lissajous scanning discrete digital model of the laser established in the step S2, the relevant characteristic parameters of the laser acquired in the step S1 and the digital model of the emergent laser established in the step S3, carrying out simulation scanning on a digitalized scanning field area, and carrying out assignment counting on a scanning field area array in a laser beam range in the scanning process; the assignment counting method is divided into two types, one is a value-adding method: counting the frequency of scanning each area array element in one-frame scanning process of the laser, and adding one to the corresponding area array element every time when the frequency is scanned, wherein the frequency is used for analyzing the probability of scanning different view field areas by laser beams; another method is the maximum intensity value method: in the process of scanning one frame of the laser, only recording the maximum intensity value of each area array element scanned by the laser beam for analyzing the effective scanning coverage rate of the laser;
and S6, performing statistical analysis on the scanning field area array according to the data recorded by the digital scanning area array, and determining the laser scanning coverage rate in the field of view.
In a preferred embodiment, in step S2, the created lissajous scanning discrete digital model of the laser is constructed according to the actual working mode of the laser scanning, and its characteristics are in accordance with the actual mode and behavior of the laser scanning. The formula is as follows:
wherein rho is the number of single-frame scanning points, t is the simulation sequence value, lambda 1 、λ 2 For scale-up parameters, m and n are laser Lissajous scanning mode parameters, theta is a trigonometric function phase shift, and a and beta are a horizontal direction (x axis) swinging component and a vertical direction (y axis) swinging component of an emergent beam of the laser.
In a preferred embodiment, in step S3, the intensity distribution of the laser emission is simulated by using a gaussian model, which is as follows:
wherein h is g Is a Gaussian digitized model, h is a normalized Gaussian digitized model, n 1 The number of array elements occupied by the laser facula in the horizontal direction is expected to be simulated, and the odd number and the n are required to be selected 2 Odd numbers are required for the number of array elements longitudinally occupied by the expected simulated laser spots, and sigma is the standard deviation of the Gaussian model.
In a preferred embodiment, in step S4, the value of the parameter k is generally in the range of 3 to 10.
In a preferred embodiment, in step S6, the laser scanning coverage in the field of view is determined by the following formula:
wherein eta is 1 Representing the laser scan coverage, g, in the field of view during a frame scan of the laser 1 Representing the number of array elements scanned by the laser; for the addition method, g 1 The number of effective array elements which are scanned by the laser and the scanned frequency is greater than the threshold value; for the maximum intensity value method, g 1 Is the number of valid array elements scanned by the laser and having an intensity greater than the threshold.
According to a second aspect of the present invention, there is provided a laser lissajous scanning mode spatial field coverage analysis apparatus comprising:
the laser characteristic parameter acquisition module is used for acquiring relevant characteristic parameters of the laser, including a laser scanning view field, a laser single-frame scanning point rho, laser single-frame scanning time, a divergence angle of a laser beam and laser Lissajous scanning mode parameters;
the Lissajous scanning discrete digital model building module is used for building a Lissajous scanning discrete digital model of the laser;
the emergent laser digital model building module is used for building a digital model of emergent laser, and the intensity distribution of laser emergent is simulated by using a Gaussian model;
the scanning view field area array construction module is used for determining that a digital scanning view field area array is [ k rho, k rho ] according to the acquired single-frame scanning point number rho of the laser, wherein k is larger than or equal to 1 and is a positive integer, and the frequency or the intensity of the laser beam scanning is recorded by the digital scanning view field area array;
the Lissajous scanning simulation execution module is used for carrying out simulation scanning on a digitalized scanning view field area according to the established Lissajous scanning discrete digital model of the laser, the obtained relevant characteristic parameters of the laser and the established digital model of the emergent laser, and carrying out assignment counting on a scanning view field area array which is positioned in a laser beam range in the scanning process;
and the laser scanning coverage rate module is used for performing statistical analysis on the scanning field area array according to the data recorded by the digital scanning area array to determine the laser scanning coverage rate in the field of view.
According to a third aspect of the present invention, a laser lissajous scan mode spatial field coverage analysis apparatus, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to perform the laser lissajous scanning mode spatial field coverage analysis method of the first aspect.
According to a fourth aspect of the present invention, a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the laser lissajous scan mode spatial field coverage analysis method of the first aspect.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and devices may refer to the corresponding processes in the foregoing methods, and are not described herein again.
Examples
Example 1
(1) Acquiring relevant characteristic parameters of a laser, including a laser scanning view field, a laser single-frame scanning point rho, laser single-frame scanning time, a divergence angle omega of a laser beam, and laser Lissajous scanning mode parameters m and n, wherein if the laser scanning view field is 3.75 degrees multiplied by 3.75 degrees, the laser single-frame scanning point rho is 4800; the single-frame scanning time of the laser is 120ms, the divergence angle omega of a laser beam is 5mrad, the Lissajous scanning mode parameter m of the laser is 24, n is 25, m represents the angular frequency of a sine scanning signal in the direction of a horizontal axis of coordinates, and n represents the angular frequency of the sine scanning signal in the direction of a vertical axis of coordinates;
(2) a Lissajous scanning discrete digital model of the laser is established, and the formula is as follows:
wherein rho is the number of single-frame scanning points of the laser, the value is 4801, t is a simulation sequence value, and the value can be t 1 ＝1,t 2 ＝2,...,t 4801 ＝4801，λ 1 、λ 2 For scaling up the parameters, the value can be λ 1 ＝3.75,λ 2 θ is a trigonometric phase shift, and a and β are a horizontal (x-axis) wobble component and a vertical (y-axis) wobble component of the laser output beam;
(3) constructing a digital model for emitting laser, simulating the intensity distribution of laser emission by using a Gaussian model, wherein the corresponding formula is as follows:
wherein n is 1 、n 2 The value is 17 and sigma is 1.
(4) Constructing a digital scanning field area array: and (2) determining a digital scanning view field area array as [ k rho, k rho ] according to the number of the laser single-frame scanning points acquired in the step (1), wherein k is an integer, and recording the scanning frequency or intensity of the laser beam by using the digital scanning view field area array. Where k is 10 and ρ is 4801, in this embodiment, the intensity information scanned by the laser beam is recorded by using the elements of the area array [48010,48010 ].
(5) Performing Lissajous scanning simulation: according to the laser Lissajous scanning discrete model established in the step (2), the laser related characteristic parameters obtained in the step (1) and the digital model of the emergent laser established in the step (3), carrying out simulation scanning on a digitalized scanning field area, and carrying out assignment counting on a scanning field area array in a laser beam range in the scanning process, wherein the assignment counting method is divided into two methods, and one method is an addition value method: counting the frequency of scanning each area array element in one-frame scanning process of the laser, and adding one to the corresponding area array element every time of scanning, wherein the frequency is used for analyzing the probability of scanning different view field areas by laser beams, and the other method is a maximum intensity value method: during one frame scanning process of the laser, only the maximum intensity value of each area array element scanned by the laser beam is recorded for analyzing the laser effective scanning coverage rate. In the embodiment, in the process of scanning one frame of the laser, only the maximum intensity value of each area array element scanned by the laser beam is recorded, and the effective laser scanning coverage rate is analyzed;
(6) according to the data recorded by the digital scanning area array, the scanning field area array is subjected to statistical analysis, the laser scanning coverage rate in the field of view is analyzed, the laser scanning intensity is determined to be effective for the intensity recording element with the intensity greater than the threshold value of 0.7, and the laser scanning coverage rate is calculated by the following formula:
wherein eta is 1 Representing the laser scan coverage in the field of view during a frame scan of the laser, g 1 Representing the number of effective array elements scanned by the laser and having an intensity greater than the threshold of 0.7, the coverage of the field of view is as shown in fig. 3, the black area represents the area where the intensity threshold is insufficient and effective scanning is not achieved, and the other areas represent the effective scanning area.
The method disclosed by the invention is used for carrying out quantitative analysis on the Lissajous field space coverage rate, and compared with the traditional analysis method, the method is simpler in calculation and flow, and substitution operation of a large number of formulas is avoided; the method disclosed by the invention is used for carrying out quantitative analysis on the Lissajous visual field space coverage rate, and compared with the traditional experimental method, the method greatly shortens the analysis and measurement period and is higher in quantitative analysis precision.
The method provided by the invention has the advantages that the Lissajous field space coverage rate is quantitatively analyzed, the test cases and the parameter adjustment are more flexible, the optimization and verification of the multiple parameters of the sensor are conveniently carried out in a matching way in the sensor design stage, and a quantitative analysis basis is provided for the multiple parameter optimization and the precision distribution of the sensor. For example, as shown in fig. 4, for a lissajous mode scanning laser with a rated measurement field of view of 30 ° × 30 °, when it is known that the laser divergence angle is 5mrad, the laser single-frame scanning point ρ is 4801, the laser lissajous mode parameter m is 24, and n is 25, etc., how to set the laser single-frame lissajous scanning field control coefficient makes it possible to obtain the maximum single-frame lissajous scanning field while ensuring 100% coverage of the space, thereby minimizing the number of times of single-frame lissajous scanning required for the laser scanning to cover the rated measurement field. The problem can be solved by carrying out simulation analysis by the method, quickly analyzing the Lissajous space scanning coverage rates corresponding to different single-frame Lissajous scanning field control coefficients (for example, the control systems are respectively 1, 2, 3, 4 and 5), and taking the control coefficient with the largest scanning field as the optimal scheme when ensuring that the Lissajous space scanning coverage rate is 100%.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. A laser Lissajous scanning mode space field coverage rate analysis method is characterized by comprising the following steps:
s1, acquiring relevant characteristic parameters of the laser, including a laser scanning view field, a laser single-frame scanning point number rho, laser single-frame scanning time, a divergence angle of a laser beam and laser Lissajous scanning mode parameters;
s2, establishing a Lissajous scanning discrete digital model of the laser;
s3, constructing a digital model of the emitted laser, and simulating the intensity distribution of the emitted laser by using a Gaussian model;
s4, according to the single-frame scanning point number rho of the laser acquired in the step S1, determining that a digital scanning view field area array is [ k rho, k rho ], wherein k is not less than 1 and is a positive integer, and recording the frequency or intensity of the laser beam scanning by using the digital scanning view field area array;
s5, according to the Lissajous scanning discrete digital model of the laser built in the step S2, the relevant characteristic parameters of the laser obtained in the step S1 and the digital model of the emergent laser built in the step S3, carrying out simulation scanning on a digitalized scanning field area, and carrying out assignment counting on a scanning field area array in a laser beam range in the scanning process;
and S6, performing statistical analysis on the scanning field area array according to the data recorded by the digital scanning area array, and determining the laser scanning coverage rate in the field of view.
2. The laser lissajous scanning mode spatial field coverage analysis method according to claim 1, wherein in step S2, the established laser lissajous scanning discrete digital model is as follows:
wherein rho is the number of single-frame scanning points, t is the simulation sequence value, lambda 1 、λ 2 For scale-up parameters, m and n are parameters of a Lissajous scanning mode of the laser, theta is a trigonometric function phase shift, and a and beta are a swinging component in the horizontal direction and a swinging component in the vertical direction of an emergent beam of the laser.
3. The method for analyzing the coverage rate of the laser Lissajous scanning mode spatial field of view according to claim 1, wherein the intensity distribution of laser emission is simulated by using a Gaussian model, and the method comprises the following specific steps:
wherein h is g Is a Gaussian digitized model, h is a normalized Gaussian digitized model, n 1 The number of array elements occupied by the laser facula in the horizontal direction is expected to be simulated, and the odd number and the n are required to be selected 2 Odd numbers are required for the number of array elements longitudinally occupied by the expected simulated laser spots, and sigma is the standard deviation of the Gaussian model.
4. The method for analyzing the Lissajous scanning mode spatial field coverage of a laser according to claim 1, wherein in step S4, the value of the parameter k is usually in the range of 3-10.
5. The laser lissajous scanning mode spatial field coverage analysis method according to claim 1, wherein in step S5, the assignment counting method adopts an addition method: and counting the scanning frequency of each area array element in the scanning process of one frame of the laser, and adding one to the corresponding area array element every time when the scanning frequency of each area array element is scanned, so as to analyze the probability of scanning different field areas by the laser beams.
6. The laser lissajous scanning mode spatial field coverage analysis method according to claim 1, wherein in step S5, the assignment counting method adopts a maximum intensity value method: during one frame scanning process of the laser, only the maximum intensity value of each area array element scanned by the laser beam is recorded for analyzing the laser effective scanning coverage rate.
7. The laser lissajous scan mode spatial field coverage analysis method according to claim 5 or 6, wherein in step S6, laser scan coverage within the field of view is determined by:
wherein eta is 1 Representing the laser scan coverage, g, in the field of view during a frame scan of the laser 1 Representing the number of array elements scanned by the laser; for the addition method, g 1 The number of effective array elements which are scanned by the laser and the scanned frequency is greater than the threshold value; for the maximum intensity value method, g 1 Is the number of valid array elements scanned by the laser and having an intensity greater than the threshold.
8. A laser Lissajous scanning mode spatial field coverage analysis device is characterized by comprising:
the laser characteristic parameter acquisition module is used for acquiring relevant characteristic parameters of the laser, including a laser scanning view field, a laser single-frame scanning point rho, laser single-frame scanning time, a divergence angle of a laser beam and laser Lissajous scanning mode parameters;
the Lissajous scanning discrete digital model building module is used for building a Lissajous scanning discrete digital model of the laser;
the emergent laser digital model building module is used for building a digital model of emergent laser, and the intensity distribution of laser emergent is simulated by using a Gaussian model;
the scanning view field area array construction module is used for determining that a digital scanning view field area array is [ k rho, k rho ] according to the acquired single-frame scanning point number rho of the laser, wherein k is larger than or equal to 1 and is a positive integer, and the frequency or the intensity of the laser beam scanning is recorded by the digital scanning view field area array;
the Lissajous scanning simulation execution module is used for carrying out simulation scanning on a digitalized scanning view field area according to the established Lissajous scanning discrete digital model of the laser, the obtained relevant characteristic parameters of the laser and the established digital model of the emergent laser, and carrying out assignment counting on a scanning view field area array which is positioned in a laser beam range in the scanning process;
and the laser scanning coverage rate module is used for performing statistical analysis on the scanning field area array according to the data recorded by the digital scanning area array to determine the laser scanning coverage rate in the field of view.
9. A laser lissajous scan mode spatial field coverage analysis apparatus, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to perform the laser lissajous scanning mode spatial field coverage analysis method of any of claims 1 to 7.
10. A readable storage medium, having stored thereon a computer program which, when executed by a processor, implements the laser lissajous scan mode spatial field coverage analysis method of any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210216957.4A CN114818251A (en) | 2022-03-07 | 2022-03-07 | Laser Lissajous scanning mode space view field coverage analysis method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210216957.4A CN114818251A (en) | 2022-03-07 | 2022-03-07 | Laser Lissajous scanning mode space view field coverage analysis method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114818251A true CN114818251A (en) | 2022-07-29 |
Family
ID=82528966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210216957.4A Pending CN114818251A (en) | 2022-03-07 | 2022-03-07 | Laser Lissajous scanning mode space view field coverage analysis method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114818251A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016156913A (en) * | 2015-02-24 | 2016-09-01 | 日本信号株式会社 | Optical scanning device |
| CN112417646A (en) * | 2020-10-20 | 2021-02-26 | 湖南华曙高科技有限责任公司 | Scanning path planning method and device based on odd multi-laser and three-dimensional object manufacturing equipment |
| CN112799033A (en) * | 2021-01-20 | 2021-05-14 | 湖北三江航天红峰控制有限公司 | Large-field-of-view scanning MEMS laser radar device and scanning system |
-
2022
- 2022-03-07 CN CN202210216957.4A patent/CN114818251A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016156913A (en) * | 2015-02-24 | 2016-09-01 | 日本信号株式会社 | Optical scanning device |
| CN112417646A (en) * | 2020-10-20 | 2021-02-26 | 湖南华曙高科技有限责任公司 | Scanning path planning method and device based on odd multi-laser and three-dimensional object manufacturing equipment |
| CN112799033A (en) * | 2021-01-20 | 2021-05-14 | 湖北三江航天红峰控制有限公司 | Large-field-of-view scanning MEMS laser radar device and scanning system |
Non-Patent Citations (3)
| Title |
|---|
| P CHIARIOTTI等: "Delamination detection by multi-lebel wavelet processing of continous scanning laser doppler vibrometry data", 《OPTICS AND LASERS IN ENGINEERING》, vol. 99, 30 December 2017 (2017-12-30), pages 66 - 79 * |
| 吕耀宇等: "空间协同位姿单目视觉测量***设计与实验", 《激光与光电子学进展》, vol. 54, no. 12, 2 August 2017 (2017-08-02), pages 332 - 345 * |
| 郭晓光等: "一种基于Lissajous扫描的图像显示算法", 《电光与控制》, vol. 23, no. 4, 1 April 2016 (2016-04-01), pages 94 - 97 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109581338B (en) | System and method for calibrating external parameters of multiple laser radars | |
| Senin et al. | Statistical point cloud model to investigate measurement uncertainty in coordinate metrology | |
| CN100372089C (en) | Pattern evaluating apparatus, pattern evaluating method and program | |
| CN111693053A (en) | Repositioning method and system based on mobile robot | |
| CN111709988A (en) | Method and device for determining characteristic information of object, electronic equipment and storage medium | |
| CN109001694B (en) | Method and system for simulating scanning characteristics of dynamic self-adaptive antenna | |
| Medić et al. | Empirical stochastic model of detected target centroids: Influence on registration and calibration of terrestrial laser scanners | |
| US7020046B1 (en) | System and method for target motion analysis with intelligent parameter evaluation plot | |
| CN111664867B (en) | Target tracking result evaluation method, device, equipment and storage medium | |
| CN114818251A (en) | Laser Lissajous scanning mode space view field coverage analysis method and device | |
| CN113432572A (en) | Complex structure optimal measuring point planning method based on three-dimensional scanning | |
| CN113237633A (en) | Method for detecting stability precision of photoelectric platform based on image processing | |
| CN113240745A (en) | Point cloud data calibration method and device, computer equipment and storage medium | |
| Chen et al. | A Voronoi-Diagram-based method for centerline extraction in 3D industrial line-laser reconstruction using a graph-centrality-based pruning algorithm | |
| Hartmann et al. | Optimisation of the calibration process of a k-tls based multi-sensor-system by genetic algorithms | |
| CN111310301A (en) | Spatial target visibility region detection method based on hierarchical target function | |
| CN112630793B (en) | Method and related device for determining plane abnormal point | |
| CN116699571A (en) | Laser radar wind speed correction method, device and equipment | |
| CN110308428B (en) | Method for establishing low-altitude clutter distribution simulation model | |
| Harmening et al. | Terrestrial laserscanning-modeling of correlations and surface deformations | |
| CN112069445A (en) | 2D SLAM algorithm evaluation and quantification method | |
| CN117665780B (en) | Laser scanner system error calibration target selection method, system and storage medium | |
| CN111708046A (en) | Method and device for processing plane data of obstacle, electronic equipment and storage medium | |
| CN117649061B (en) | Multi-node networking electricity analysis method and system for environmental protection monitoring | |
| CN117606351A (en) | Target selection system and method for target geometric precision factor minimum contribution value recursion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |