CN108008461A - A kind of method of more laser collaboration scannings - Google Patents

A kind of method of more laser collaboration scannings Download PDF

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CN108008461A
CN108008461A CN201711248931.3A CN201711248931A CN108008461A CN 108008461 A CN108008461 A CN 108008461A CN 201711248931 A CN201711248931 A CN 201711248931A CN 108008461 A CN108008461 A CN 108008461A
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light emitter
scanning
lasing light
positive
shape
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CN108008461B (en
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杨帆
何青兰
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University of Electronic Science and Technology of China
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    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers

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Abstract

The invention discloses a kind of method of more laser collaboration scannings, it comprises the following steps：N lasing light emitter, be separately positioned at the positive n sides shape vertex position that the length of side is r by S1, and sets a lasing light emitter in the center position of positive n sides shape；S2, make the shape scanning when the lasing light emitter of shape center position carries out all-directional rotation n positioned at positive n；Make to do continuous scanning in lasing light emitters of the positive n at the shape vertex position region that shape periphery delimited in positive n；S3, judgement and the scanning for terminating center position lasing light emitter；Judge whether lasing light emitter scans target and terminate to scan according to the light intensity value of receiving terminal laser detection.The present invention scans positive n sides shape interior zone with a lasing light emitter, collaboration scanning is carried out in positive n sides shape periphery with n lasing light emitter, ensure that dead angle is not stayed in scanning, it ensure that higher acquisition probability at the same time, solves the limitation of system acquisition time performance boost in simple scan mode so that system has the work efficiency of higher.

Description

A kind of method of more laser collaboration scannings
Technical field
The present invention relates to laser scanning field, and in particular to a kind of method of more laser collaboration scannings.
Background technology
Existing Laser Scanning has six kinds：The first is Lee's Sa as scanned, the scanning curve be time domain and frequency domain all It is there are drain sweep region to have the shortcomings that SIN function of delay, the method, and implements difficulty；Second is linear line by line The shortcomings that scanning, linear scan is the mode that laser is progressively scanned in sequence line by line, this method is that sweep time is longer, It is inefficient；The third is roselle celx, and roselle celx is the amplitude-modulated signal produced based on sine wave, its track be by Produced according to rose equation, general rose equation is eight valve roses, the fatal defects of this method be there are drain sweep region, and There is bigger difficulty in software realization, there is heavier burden to central processing unit；4th kind is gradually opened helical scanning, it is sharp For light since light source position, the shortcomings that from coil to coil expanded sweep is formed in the form of spiral equation, this method is the increasing with distance Greatly, the spacing between helix can also increase, therefore there are drain sweep region；5th kind is rectangular coil scanning, it is gradually to open spiral shell Rotation scanning and the line by line combination of linear scan, although this method overcomes to a certain extent gradually opens helical scanning and line by line line The shortcomings that shape scans, but the state that cannot be all optimal in capture time and acquisition probability；6th kind is hexagonal helix Scanning, the method that it is scanned with rectangular coil is similar, its shortcoming be still for single capture time or acquisition probability, its Absolute advantage cannot all be reached.
Existing laser scanning methods are substantially the sweeping scheme for single-point laser source, its system performance is (during capture Between and acquisition probability) be subject to certain restrictions, with the development of networking technology, system performance need to be further enhanced, because The mode of the laser scanning of this single-point needs further to be improved.
The content of the invention
For above-mentioned deficiency of the prior art, a kind of method of more laser collaboration scannings provided by the invention solves list The problem of system acquisition time performance boost is limited in spot scan mode.
In order to reach foregoing invention purpose, the technical solution adopted by the present invention is：
A kind of method of more laser collaboration scannings is provided, it comprises the following steps：
N lasing light emitter, be separately positioned at the positive n sides shape vertex position that the length of side is r by S1, and at the center of positive n sides shape One lasing light emitter is set at position；
S2, make the shape scanning when the lasing light emitter of shape center position carries out all-directional rotation n positioned at positive n；Make to be located at positive n sides Lasing light emitter at shape vertex position does continuous scanning in the region that shape periphery in positive n sides delimited；
If S3, the maximum scan radius positioned at the lasing light emitter of n sides shape center position reach center to vertex away from From then terminating the scanning of center position lasing light emitter；Judge whether lasing light emitter scans according to the light intensity value of receiving terminal laser detection To target, terminate to scan if scanning is to target, otherwise continue to scan on.
Further, the demarcation method of positive n sides shape outer peripheral areas is in step S2：
By each edge for the positive n sides shape for being provided with n lasing light emitter according to extending clockwise or counterclockwise, position is formed The identical sector region of n size in positive n sides shape periphery, each lasing light emitter, which corresponds to, scans a fan section adjacent thereto Domain, i.e., the 1/n of the positive n sides shape periphery gross area.
Further, the mode continuously scanned in step S2 continuously scans for bow font, its specific method is：
S2-1-1, by each lasing light emitter sweep out one section along any one border of sector region of its scanning respectively Distance L；
S2-1-2, by the center of circle, distance of the scanning element away from lasing light emitter of the lasing light emitter initial position be half radially another side Circular arc scanning is done on boundary, and sweeps out a distance L along the sector region border that scanning element reaches；
S2-1-3, repeat step S2-1-2, realize that bow font continuously scans.
Further, each first circular arc scanning direction of the lasing light emitter at positive n sides shape vertex position is equal It is identical.
Further, positioned at positive n, when the lasing light emitter of shape center position carries out all-directional rotation n, shape scans in step S2 Method be：
S2-2-1, by the lasing light emitter point be labeled as A0,0And it is set to scan a distance straight forward in either direction S, is flex point A by the position mark of scanning element at this time1,1；
S2-2-2, turn 90 °+180 °/n by scanning direction and continue forward rectilinear scanning a distance Q, will scanning element at this time Position mark be flex point A1,2；
S2-2-3, rotate 360 °/n by scanning direction and continue forward rectilinear scanning a distance Q, by scanning element at this time Position mark is flex point A1,3；
The scan method of S2-2-4, repeat step S2-2-3, and a flex point A is scanned through successively1,4、A1,5…A1,n；Wherein N is for integer and more than or equal to 3；
S2-2-5, from flex point A1,nLinear scanning is to flex point A1,1Obtain first all-directional rotation n sides shape scanning area simultaneously Along flex point A1,nTo flex point A1,1Direction continue forward rectilinear scanning a distance h, obtain second all-directional rotation n sides shape The initial flex point of scanning area, A is labeled as by this flex point2,1；
WhereinK >=5 and k ∈ n；
S2-2-6, according to formula
With
With first all-directional rotation n in the flex point of shape scanning area and second all-directional rotation n shape scanning area Initial flex point A2,1Based on, persistently carry out the shape scanning of all-directional rotation n sides；
Wherein Am,nRepresent n-th of flex point in m-th of all-directional rotation n sides shape scanning area, m for integer and more than etc. In 2, n for integer and more than or equal to 3；SymbolRepresent lasing light emitter from the flex point linear scanning of the symbol left end to the symbol The flex point of right end；SymbolExpression is scanned to symbol in lasing light emitterKeep scanning direction constant after the flex point of right end Continue to scan on a distance h and obtain next flex point, i.e. symbolThe flex point of right end.
Further, in step S3 according to positioned at positive n sides shape center position lasing light emitter maximum scan radius whether The method for the scanning that the distance for reaching center to vertex terminates center position lasing light emitter is：
According to formula：
R=| PO |=T*tan α
Obtain the real time scan radius R of the lasing light emitter positioned at positive n sides shape center position；Wherein P is the farthest of lasing light emitter Scanning element；O is the subpoint of lasing light emitter；T is distance of the lasing light emitter to its subpoint；α is laser beam and lasing light emitter to its throwing The angle of shadow point straight line.
Beneficial effects of the present invention are：The present invention is solved in simple scan mode using n+1 points collaboration scan mode and is The limitation of system capture time performance boost so that system has the work efficiency of higher, and to a certain extent so that system tool There is preferable acquisition probability performance.The present invention scans positive n sides shape interior zone with a lasing light emitter, with n lasing light emitter on positive n sides Shape periphery carries out collaboration scanning, it is ensured that dead angle is not stayed in scanning, while ensure that higher acquisition probability.
Brief description of the drawings
Fig. 1 is the flow chart of the present invention；
Fig. 2 is that the present invention central laser source and scanning area of any vertex lasing light emitter by taking four lasing light emitters as an example are illustrated Figure；
Fig. 3 is to judge schematic diagram positioned at positive n sides shape center position lasing light emitter sweep radius；
Fig. 4 is the schematic diagram that lasing light emitter does the shape scanning of all-directional rotation n sides；
Fig. 5 is the schematic diagram that lasing light emitter does the shape scanning of all-directional rotation n sides by taking square as an example.
Embodiment
The embodiment of the present invention is described below, in order to facilitate understanding by those skilled in the art this hair It is bright, it should be apparent that the invention is not restricted to the scope of embodiment, for those skilled in the art, As long as various change in the spirit and scope of the present invention that appended claim limits and determines, these changes are aobvious and easy See, all are using the innovation and creation of present inventive concept in the row of protection.
As shown in Figure 1, the method for more laser collaboration scannings comprises the following steps：
N lasing light emitter, be separately positioned at the positive n sides shape vertex position that the length of side is r by S1, and at the center of positive n sides shape One lasing light emitter is set at position；
S2, make the shape scanning when the lasing light emitter of shape center position carries out all-directional rotation n positioned at positive n；Make to be located at positive n sides Lasing light emitter at shape vertex position does continuous scanning in the region that shape periphery in positive n sides delimited；
If S3, the maximum scan radius positioned at the lasing light emitter of n sides shape center position reach center to vertex away from From then terminating the scanning of center position lasing light emitter；Judge whether lasing light emitter scans according to the light intensity value of receiving terminal laser detection To target, terminate to scan if scanning is to target, otherwise continue to scan on.
The demarcation method of positive n sides shape outer peripheral areas is in step S2：
By each edge for the positive n sides shape for being provided with n lasing light emitter according to extending clockwise or counterclockwise, position is formed The identical sector region of n size in positive n sides shape periphery, each lasing light emitter, which corresponds to, scans a fan section adjacent thereto Domain, i.e., the 1/n of the positive n sides shape periphery gross area.
The mode continuously scanned in step S2 continuously scans for bow font, its specific method is：
S2-1-1, by each lasing light emitter sweep out a distance along any one border of sector region of its scanning respectively L；
S2-1-2, by the center of circle, distance of the scanning element away from lasing light emitter of the lasing light emitter initial position be half radially another side Circular arc scanning is done on boundary, and sweeps out a distance L along the sector region border that scanning element reaches；
S2-1-3, repeat step S2-1-2, realize that bow font continuously scans.
Each first circular arc scanning direction all same of the lasing light emitter at positive n sides shape vertex position.
As shown in figure 4, positioned at positive n, when the lasing light emitter of shape center position carries out all-directional rotation n, shape is swept in step S2 The method retouched is：
S2-2-1, by the lasing light emitter point be labeled as A0,0And it is set to scan a distance straight forward in either direction S, is flex point A by the position mark of scanning element at this time1,1；
S2-2-2, turn 90 °+180 °/n by scanning direction and continue forward rectilinear scanning a distance Q, will scanning element at this time Position mark be flex point A1,2；
S2-2-3, rotate 360 °/n by scanning direction and continue forward rectilinear scanning a distance Q, by scanning element at this time Position mark is flex point A1,3；
The scan method of S2-2-4, repeat step S2-2-3, and a flex point A is scanned through successively1,4、A1,5…A1,n；Wherein N is for integer and more than or equal to 3；
S2-2-5, from flex point A1,nLinear scanning is to flex point A1,1Obtain first all-directional rotation n sides shape scanning area simultaneously Along flex point A1,nTo flex point A1,1Direction continue forward rectilinear scanning a distance h, obtain second all-directional rotation n sides shape The initial flex point of scanning area, A is labeled as by this flex point2,1；
WhereinK >=5 and k ∈ n；
S2-2-6, according to formula
With
With first all-directional rotation n in the flex point of shape scanning area and second all-directional rotation n shape scanning area Initial flex point A2,1Based on, persistently carry out the shape scanning of all-directional rotation n sides；
Wherein Am,nRepresent n-th of flex point in m-th of all-directional rotation n sides shape scanning area, m for integer and more than etc. In 2, n for integer and more than or equal to 3；SymbolRepresent lasing light emitter from the flex point linear scanning of the symbol left end to the symbol The flex point of right end；SymbolExpression is scanned to symbol in lasing light emitterKeep scanning direction constant after the flex point of right end Continue to scan on a distance h and obtain next flex point, i.e. symbolThe flex point of right end.
As shown in figure 3, in step S3 according to positioned at positive n sides shape center position lasing light emitter maximum scan radius whether The method for the scanning that the distance for reaching center to vertex terminates center position lasing light emitter is：According to formula：
R=| PO |=T*tan α
Obtain the real time scan radius R of the lasing light emitter positioned at positive n sides shape center position；Wherein P is the farthest of lasing light emitter Scanning element；O is the subpoint of lasing light emitter；T is distance of the lasing light emitter to its subpoint；α is laser beam and lasing light emitter to its throwing The angle of shadow point straight line.
As shown in Fig. 2, by taking equilateral triangle as an example, each vertex is both provided with lasing light emitter (A, B, C) equilateral triangle Center position is provided with lasing light emitter (D), and according to the characteristic of regular polygon, each edge is according to the side of (or clockwise) counterclockwise To extension, extending direction can be with side shape adjacent thereto in an angle (region), and regular triangular forms 3 essentially equal folders Angle (region), square form 4 essentially equal angles (region), and positive n sides shape can form n essentially equal angle (areas Domain), if whole region area is denoted as 1 part, the scanning area of each lasing light emitter is 1/n, each edge to positive n sides shape central point Distance beWherein π is 180 °.
As shown in figure 5, the lasing light emitter at square center position, from A points, the square first done one week scans, B, C, D point are arrived separately at, a distance is continued to scan on after being overlapped when scanning the last item side with A points and reaches E points, then along EB rectilinear directions continue to scan on F points, scan to G points then along FC rectilinear directions, hereafter just scan always by this way Go down, untill detecting testee；Equilateral triangle or positive n sides shape need to only add more in scanning in A, B, C, D point More points forms regular polygon scanning, its scan mode is similar with square scan mode, and those skilled in the art can be with Analogize.
In the specific implementation process of the present invention, length of side r, distance L, distance S, distance Q and distance h can be according to actual feelings Condition is set so that the largest interval between scanning route is less than the size of object under test, ensures that object under test will not drain sweep.
The present invention solves system acquisition time performance boost in simple scan mode using n+1 points collaboration scan mode Limitation so that system have higher work efficiency, and to a certain extent so that system there is preferable acquisition probability Energy.The present invention scans positive n sides shape interior zone with a lasing light emitter, carries out collaboration in positive n sides shape periphery with n lasing light emitter and sweeps Retouch, it is ensured that dead angle is not stayed in scanning, while ensure that higher acquisition probability.

Claims (6)

  1. A kind of 1. method of more laser collaboration scannings, it is characterised in that comprise the following steps：
    N lasing light emitter, be separately positioned at the positive n sides shape vertex position that the length of side is r by S1, and in the center of positive n sides shape Place sets a lasing light emitter；
    S2, make the shape scanning when the lasing light emitter of shape center position carries out all-directional rotation n positioned at positive n；Make to be located at positive n sides shape top Lasing light emitter at point position does continuous scanning in the region that shape periphery in positive n sides delimited；
    If S3, the maximum scan radius positioned at the lasing light emitter of n sides shape center position reach the distance on center to vertex, Terminate the scanning of center position lasing light emitter；Judge whether lasing light emitter scans mesh according to the light intensity value of receiving terminal laser detection Mark, terminates to scan, otherwise continues to scan on if scanning is to target.
  2. 2. the method for more laser collaboration scannings according to claim 1, it is characterised in that：Positive n sides shape in the step S2 The demarcation method of outer peripheral areas is：
    By each edge for the positive n sides shape for being provided with n lasing light emitter according to extending clockwise or counterclockwise, formed positioned at just The identical sector region of n size of n sides shape periphery, each lasing light emitter, which corresponds to, scans a sector region adjacent thereto, i.e., The 1/n of the positive n sides shape periphery gross area.
  3. 3. the method for more laser collaboration scannings according to claim 2, it is characterised in that：Continuously scanned in the step S2 Mode for bow font continuously scan, its specific method is：
    S2-1-1, by each lasing light emitter sweep out a distance along any one border of sector region of its scanning respectively L；
    S2-1-2, using the lasing light emitter initial position be the center of circle, distance of the scanning element away from lasing light emitter for half radially another border do Circular arc scans, and sweeps out a distance L along the sector region border that scanning element reaches；
    S2-1-3, repeat step S2-1-2, realize that bow font continuously scans.
  4. 4. the method for more laser collaboration scannings according to claim 3, it is characterised in that：Each it is located at positive n sides shape vertex First circular arc scanning direction all same of the lasing light emitter at position.
  5. 5. the method for more laser collaboration scannings according to claim 1, it is characterised in that：It is located at positive n in the step S2 When the lasing light emitter of shape center position carries out all-directional rotation n, the method for shape scanning is：
    S2-2-1, by the lasing light emitter point be labeled as A0,0And it is scanned a distance S straight forward in either direction, will The position mark of scanning element is flex point A at this time1,1；
    S2-2-2, turn 90 °+180 °/n by scanning direction and continue forward rectilinear scanning a distance Q, by the position of scanning element at this time Tagging is flex point A1,2；
    S2-2-3, rotate 360 °/n by scanning direction and continue forward rectilinear scanning a distance Q, by the position of scanning element at this time Labeled as flex point A1,3；
    The scan method of S2-2-4, repeat step S2-2-3, and a flex point A is scanned through successively1,4、A1,5…A1,n；Wherein n is Integer and more than or equal to 3；
    S2-2-5, from flex point A1,nLinear scanning is to flex point A1,1Obtain first all-directional rotation n sides shape scanning area and along Flex point A1,nTo flex point A1,1Direction continue forward rectilinear scanning a distance h, obtain second all-directional rotation n sides shape scanning The initial flex point in region, A is labeled as by this flex point2,1；
    WhereinK >=5 and k ∈ n；
    S2-2-6, according to formula
    With
    With first all-directional rotation n in the flex point of shape scanning area and second all-directional rotation n shape scanning area just Beginning flex point A2,1Based on, persistently carry out the shape scanning of all-directional rotation n sides；
    Wherein Am,nRepresent n-th of flex point in m-th of all-directional rotation n sides shape scanning area, m is for integer and more than or equal to 2, n For integer and more than or equal to 3；SymbolRepresent lasing light emitter from the flex point linear scanning of the symbol left end to the symbol right end Flex point；SymbolExpression is scanned to symbol in lasing light emitterKeep that scanning direction is constant continues to sweep after the flex point of right end Retouch a distance h and obtain next flex point, i.e. symbolThe flex point of right end.
  6. 6. the method for more laser collaboration scannings according to claim 5, it is characterised in that：The step
    Whether center is reached to vertex according to the maximum scan radius of the lasing light emitter positioned at positive n sides shape center position in S3 The method of the distance scanning that terminates center position lasing light emitter be：
    According to formula：
    R=| PO |=T*tan α
    Obtain the real time scan radius R of the lasing light emitter positioned at positive n sides shape center position；Wherein P is the farthest scanning of lasing light emitter Point；O is the subpoint of lasing light emitter；T is distance of the lasing light emitter to its subpoint；α is laser beam and lasing light emitter to its subpoint The angle of straight line.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115102622A (en) * 2022-05-09 2022-09-23 电子科技大学 Omnidirectional controllable laser emission node device and emission method thereof

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CN102323593A (en) * 2011-08-24 2012-01-18 北京国科环宇空间技术有限公司 Two-dimensional dynamic target capturing system
CN103426165A (en) * 2013-06-28 2013-12-04 吴立新 Precise registration method of ground laser-point clouds and unmanned aerial vehicle image reconstruction point clouds
CN103916183A (en) * 2014-04-16 2014-07-09 电子科技大学 Fast acquisition system and method based on laser phased technology
WO2015108587A3 (en) * 2013-10-22 2015-10-29 Flir Systems, Inc. System and method for detecting an object or recess on a surface

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
CN102323593A (en) * 2011-08-24 2012-01-18 北京国科环宇空间技术有限公司 Two-dimensional dynamic target capturing system
CN103426165A (en) * 2013-06-28 2013-12-04 吴立新 Precise registration method of ground laser-point clouds and unmanned aerial vehicle image reconstruction point clouds
WO2015108587A3 (en) * 2013-10-22 2015-10-29 Flir Systems, Inc. System and method for detecting an object or recess on a surface
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Publication number Priority date Publication date Assignee Title
CN115102622A (en) * 2022-05-09 2022-09-23 电子科技大学 Omnidirectional controllable laser emission node device and emission method thereof
CN115102622B (en) * 2022-05-09 2023-11-24 电子科技大学 Omnidirectional controllable laser emission node device and emission method thereof

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