CN110865390A - Laser radar frequency conversion scanning method based on voice coil motor - Google Patents
Laser radar frequency conversion scanning method based on voice coil motor Download PDFInfo
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- CN110865390A CN110865390A CN201911170431.1A CN201911170431A CN110865390A CN 110865390 A CN110865390 A CN 110865390A CN 201911170431 A CN201911170431 A CN 201911170431A CN 110865390 A CN110865390 A CN 110865390A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The invention discloses a voice coil motor-based laser radar frequency conversion scanning method. The laser radar frequency conversion scanning method based on the voice coil motor comprises the following steps: scanning a certain region with certain initial amplitude and frequency according to the probability distribution condition of a target in the region; if the target cannot be captured, continuously increasing the scanning amplitude, reducing the scanning frequency for scanning, and stopping scanning until the target is captured successfully; if the scanning amplitude reaches the set termination value and the target cannot be captured, the scanning is performed again at the initial amplitude and the frequency. The amplitude and the frequency are the frequency and the amplitude of a track equation when the Lissajous figure scanning is carried out by the laser radar, and reflect the scanning times and the scanning range of the laser radar within a certain time. By changing the frequency and amplitude of each field of scanning equation, the distribution of laser radar scanning spots is consistent with the distribution of target occurrence probability, so that the capture probability of the laser radar to the target is improved, and the practicability is better.
Description
Technical Field
The invention relates to the technical field of laser detection, in particular to a laser radar frequency conversion scanning method based on a voice coil motor.
Background
The laser radar has the advantages of small size, high measurement accuracy, strong anti-interference capability and the like, has the advantages of low altitude, small size, low speed and stealth target capture compared with the traditional microwave radar, and has better application prospect. However, since the laser beam is narrow, the irradiation area is small, and the detection area is limited, the scanning of the laser beam is usually realized by a scanning device, so as to expand the detection range and improve the capture probability of the target.
Common radar scanning methods include lissajous-shaped scanning, spiral scanning, grid scanning, hexagonal scanning and the like, for example, a document "analysis and simulation of single pulse radar scanning mode" (33 rd volume of system engineering and electronic technology, 2 nd phase, article number 1001-506X (2011)02-0468-05) simulates and analyzes the target capture probability of several scanning methods, and proposes that the spiral scanning capture performance is the best. However, the above analysis of the scanning method does not consider the actual situation of different scanning devices, and for scanning devices with large inertia, such as a voice coil motor, scanning vibration may impact a light-mechanical structure, thereby affecting the scanning pattern. In addition, the above scanning methods are all repeated scanning with the same scanning parameters, the distribution of the occurrence probability of the target is not fully considered, the scanning frequency and amplitude are fixed and unchanged, the acceleration performance of the device is not fully utilized, and the capture probability of the target is relatively low.
For example, in the existing scanning method, the distribution conditions of lissajous-shaped scanning light spots are sparse in the middle and dense at the edge, the occurrence probability of a general target is gaussian distribution with dense in the middle and sparse at the edge, and the capture probability of a scanning system to the target is low; although the spiral scanning light spots are dense in the middle and sparse at the edges, the scanning speed is slow, the acceleration performance of a scanning device cannot be fully utilized for scanning, and the number of scanning times in unit time is small; the grating scanning and the hexagon scanning need to start scanning in another direction after the scanning in one direction is stopped, the speed change is not smooth, and impact can be formed on an optical machine system when scanning at a higher speed, so that the scanning method has certain defects in practical application, and the capturing probability of a target is lower when the scanning method is applied to a laser radar based on a voice coil motor.
Disclosure of Invention
The invention solves the problems that: the laser radar frequency conversion scanning method based on the voice coil motor has the advantages of being stable in scanning process and high in target capturing probability, and the target detection capability of the laser radar based on the voice coil motor is improved.
The technical scheme of the invention is as follows:
a laser radar frequency conversion scanning method based on a voice coil motor comprises the following steps:
step 1: at an initial amplitude A1And an initial frequency f1Scanning the area where the target appears; the initial amplitude A1And an initial frequency f1The frequency and amplitude of a track equation set during scanning of the laser radar; initial amplitude A1Calculating the probability distribution curve of the target; initial frequency f1The calculation formula of the value containing two directions is as follows:
wherein, amaxMaximum acceleration allowed for the scanning device;
step 2, if the target is captured during scanning with the initial amplitude and the initial frequency, stopping scanning; if the target can not be captured, increasing the scanning amplitude, and reducing the scanning frequency to carry out next field scanning; the amplitude variation delta A is determined according to the target probability distribution condition, and delta is takenA＝(1/21)A1Increased scan amplitude A2＝A1+ΔA＝(3/2)A1(ii) a The value of the changed scanning frequency is calculated by the frequency in step 1, and the formulas (1), (2) and A2Calculating the value of the point;
step 3, stopping scanning if the target is captured after the steps 1 and 2, and continuing to increase the scanning amplitude and reduce the scanning frequency to perform next field scanning if the target cannot be captured until the target is captured successfully; and if the target cannot be captured after the scanning amplitude reaches the limit of the angular travel of the voice coil motor, repeating the process from the step 1 to scan until the target is captured successfully.
In step 1, the initial amplitude A1The method is calculated according to the probability distribution curve of the occurrence of the target, and the calculation method comprises the following steps: taking the point with the highest probability of the target appearing as the center of the circular area, adjusting the radius of the area, and taking the radius as the initial amplitude A when the probability of the target appearing in the circular area is 1/21。
In step 1, the frequency fx1、fy1Taking an integer and frequency ratio fx1/fy1F is the simplest integer ratio, and is taken so that the frequencies in both directions are approximately equaly1＝fx1-1。
In step 2, the change amount of the scanning amplitude is represented by the formula Δ a (1/2)1)A1，A2＝A1+ΔA＝(3/2)A1And calculating, wherein the frequency calculation method is calculated by the formulas (1) and (2).
In step 3, the end value of the scanning amplitude is determined by the stroke limit of the scanning device, and in order not to damage the scanning device, the scanning end amplitude is smaller than the stroke, and 95% of the scanning stroke is taken.
Compared with the prior art, the technical scheme provided by the invention has the following advantages:
by the scanning method for changing the frequency, the distribution of scanning light spots of the laser radar is consistent with the probability distribution of the occurrence of the target, namely, in the area with high probability of the occurrence of the target, the scanning light spots are distributed more, the scanning density is high, the probability of the occurrence of the target is low, the scanning light spots are distributed less, the scanning density is low, and therefore the probability of capturing the target is improved. When the method is adopted, each field of scanning is performed by the Lissajous figure with the maximum acceleration, the number of scanning times in unit time is large, the scanning speed change is smoother than other scanning modes, and the impact on the structure of the optical machine cannot be caused.
In the existing methods such as grating, hexagon, spiral and Lissajous, each field is scanned by the same pattern, and the scanning range and frequency are unchanged. The grating scanning and the hexagon scanning need to start scanning in another direction after the scanning in one direction is stopped, the speed change is not smooth, impact can be caused to an optical mechanical system when scanning is carried out at a higher speed, scanning patterns are easy to deform or damage devices, the scanning acceleration is reduced, the scanning frequency is reduced, and the probability of capturing targets is reduced. The helical scanning is performed in such a way that the scanning time of the edge area is longer, which results in low target capture probability. The scanning equation of the Lissajous figure contains a trigonometric function, accords with the stress change condition of the voice coil motor, and has small impact on the structure of the voice coil motor; however, the light spot distribution of the Lisharu pattern is sparse in the middle and dense in the edge, and for a target with a Gaussian distribution type, when each field is scanned by the same pattern, the capture probability of the target is lower.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 shows a schematic flow chart of a laser radar frequency conversion scanning method according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a scanning pattern of a laser radar frequency conversion scanning method according to an embodiment of the present invention; the upper graph 100 is a schematic diagram of the pattern of scanning spots and the lower graph 200 is a graph of the probability distribution function for the presence of a target;
fig. 3 shows a schematic diagram of a laser radar frequency conversion scanning method applied to a target capture scene according to an embodiment of the present invention.
Description of the main symbols:
fi、Ai(i ═ 1,2 … n), frequency and amplitude at the time of ith field scan; a. thestopTerminating the amplitude; s10, starting; s20, scanning in the 1 st field; s30, 2 nd field scanning; s40, scanning the nth field; s50, ending; 100. scanning a pattern schematic diagram of a light spot; 200. a graph of probability distribution functions for the occurrence of objects; 201. a shadow region, the area size of which is the probability of the target appearing in the region; 30. a laser radar; 40. an aircraft; s21, scanning at an initial frequency; and S31, reducing the frequency for scanning.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a laser radar frequency conversion scanning method, which comprises the following steps of 1: at an initial amplitude A1And an initial frequency f1A small range high frequency scan is performed of the area where the target may appear. The initial amplitude A1And an initial frequency f1The amplitude and the frequency of a track time equation set scanned by the laser radar reflect the scanning range and the scanning times of the laser radar within a certain time; the scanning frequency f1At two sidesEach represented as f in the scan equation1xAnd f1yThe two values are relatively close, so that the scanning frequencies and ranges in the two perpendicular directions are approximately the same, but not equal, otherwise the scanning pattern becomes circular. The scanning trajectory equations are as follows:
x＝A1sin(2πf1xt+θ)
y＝A1cos(2πf1yt+θ)
wherein x and y are scanning spot center tracks, t is time, theta is phase, A1Is the amplitude.
Initial amplitude A1The calculation method of (2) is as follows: aiming at the target with the occurrence probability of Gaussian distribution type, calculating according to an occurrence probability distribution curve, taking the point with the maximum occurrence probability of the target as the center of a circular region, adjusting the radius of the region, and taking the radius as an initial amplitude A when the probability of the target occurring in the circular region is 1/21。
Taking the scanning equation in the x direction as an example, the second derivative of time t is obtained on both sides of the equation, and the acceleration of the light spot track is obtained as follows:
when sin (2 π f)1xWhen t + θ)' is 1, the maximum scan acceleration is obtained as:
a＝4π2f1x 2A1
the frequency can be expressed as:
the larger the scanning acceleration is, the more the scanning times in the unit time are, the higher the capture probability of the target is, but the acceleration value cannot be larger than the maximum acceleration a allowed by the scanning device due to the limitation of the acceleration performance of the scanning devicemaxTherefore, the initial frequency should be less than
And as close as possible to this value. In addition, when the scanning pattern is a closed Lissajous figure, the scanning line density is maximum, so the frequency f1x、f1yIt is necessary to take an integer and the frequency ratio f1x/f1yF is the simplest integer ratio, and is taken so that the frequencies in both directions are approximately equal1y＝f1x-1。
Initial frequency f1The value rules in the two directions are as follows:
where ROUND () represents a ROUND down.
And 2, stopping scanning if the target is captured during scanning with the initial amplitude and the initial frequency, and increasing the scanning amplitude and reducing the scanning frequency for next field scanning if the target cannot be captured. The step size Δ A of the amplitude change is determined according to the target probability distribution, and generally, it is desirable that Δ A is equal to (1/2)1)A1So increased scan amplitude A2＝A1+ΔA＝(3/2)A1Similarly, the value of the changed scanning frequency is calculated by the frequency calculation formula in step 1 and A2The value of (c) is calculated.
And 3, stopping scanning if the target is captured after the steps, continuously increasing the scanning amplitude and reducing the scanning frequency to perform next field scanning if the target cannot be captured, and stopping scanning until the target is captured successfully. And if the target cannot be captured after the scanning amplitude reaches the limit of the angular travel of the voice coil motor, repeating the process from the step 1 to scan until the target is captured successfully.
As shown in fig. 1, an embodiment of the present invention provides a laser radar frequency conversion scanning method based on a voice coil motor, where the method includes:
and S10, starting.
For example, the step may include operations before scanning, such as power-on, self-checking, setting, etc., of the laser radar, which is not limited in this embodiment of the present invention.
S20, andinitial amplitude A1And an initial frequency f1Performing a small-range high-frequency scanning on a region where a target is likely to appear, wherein the initial amplitude value is A1And an initial frequency f1The value of (a) is determined by the probability distribution of the occurrence of the target. As shown in fig. 2, the upper graph 100 is a laser radar scanning spot distribution diagram, and the lower graph 200 is a graph of probability distribution function of the occurrence of the target. The parameter calculation method comprises the following steps: randomly setting the radius of the scanning area, i.e. A0And B0Position (A)0And B0Symmetric about the center of the region), the size of the area of the shaded region 201 below the curve in the graph 200, which is the target in the range a, is calculated0To B0Probability of occurrence between the interior, adjust A0And B0Position, when the area of the shaded area is 1/2 of the total area under the curve, the initial amplitude A is taken1＝|A0B0I when the laser beam is at A0And B0To scan in between.
Then the following formula is used for calculating the initial frequency f of the laser radar1Components in two directions:
where ROUND () represents a ROUND down.
Illustratively, a voice coil motor is used as the scanning device, and the maximum acceleration a of the voice coil motor ismax＝5000rad/s2And each parameter can be obtained according to the calculation method: f. of1x＝161，f1y＝160，A10.28. According to the parameter setting, the scanning of the 4 multiplied by 0.28 degree range airspace can be realized, and the scanning frequency is about 160 times per second.
S30, if the target cannot be captured through the above steps, the scanning range is further increased and the frequency is decreased for scanning. Taking Δ A ═ (1/2)1)A1Therefore A is2＝A1+ΔA＝(3/2)A1. F is obtained from the scanning frequency calculation method in step 12x＝131，f2y＝130，A2If the capture object is scanned with the parameter 0.42 DEGIf the mark is successful, the scanning is stopped.
And S40, if the target cannot be captured through the steps, further increasing the scanning range, and reducing the frequency for scanning until the target is captured successfully or the scanning amplitude reaches the stroke limit of the voice coil motor. In this embodiment, the stroke of the voice coil motor is limited to 1.5 °, so as not to damage the scanning device, the scanning termination amplitude is slightly smaller than the stroke, and the value is 95% of the scanning stroke, which is set as a in this embodimentstop1.44 °, frequency f is obtained by the frequency calculation method in S20nx＝70，fny69. When the scanning by this parameter still fails to capture the target, the step of S20 is repeated to continue the scanning, and the scanning is stopped if the target is captured.
And S50, ending. Illustratively, this step may include, but is not limited to, stopping the scanning by the scanning device, shifting the lidar system from the acquisition state to the tracking state, and other steps known to those skilled in the art after the scanning is finished.
F in FIG. 1i、Ai(i ═ 1,2 …%) denotes the frequency and amplitude at the time of the nth field scan, astopTo terminate the amplitude.
Fig. 3 is a schematic diagram of the lidar frequency conversion scanning method applied to capture an aircraft according to the embodiment. Wherein S21 is a step of performing high-frequency scanning at an initial frequency on a central region where the probability of occurrence of a target is high, S31 is a step of performing scanning by failing to capture a target, decreasing the scanning frequency and increasing the scanning region in the S21 scanning process, 30 is a laser radar, and 40 is an aircraft. According to the frequency conversion laser radar scanning method provided by the embodiment of the invention, the distribution of scanning light spots is changed by changing the scanning frequency, so that a region with high target occurrence probability obtains higher scanning density, and the probability of capturing the target is improved.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the present invention in its spirit and scope. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A laser radar frequency conversion scanning method based on a voice coil motor is characterized by comprising the following steps:
step 1: at an initial amplitude A1And an initial frequency f1Scanning the area where the target appears; the initial amplitude A1And an initial frequency f1The frequency and amplitude of a track equation set during scanning of the laser radar; initial amplitude A1Calculating the probability distribution curve of the target; initial frequency f1The calculation formula of the value containing two directions is as follows:
wherein, amaxMaximum acceleration allowed for the scanning device;
step 2, if the target is captured during scanning with the initial amplitude and the initial frequency, stopping scanning; if the target can not be captured, increasing the scanning amplitude, and reducing the scanning frequency to carry out next field scanning; the amplitude change quantity delta A is determined according to the target probability distribution, and the delta A is (1/2)1)A1Increased scan amplitude A2＝A1+ΔA＝(3/2)A1(ii) a The value of the changed scanning frequency is calculated by the frequency in step 1, and the formulas (1), (2) and A2Calculating the value of the point;
step 3, stopping scanning if the target is captured after the steps 1 and 2, and continuing to increase the scanning amplitude and reduce the scanning frequency to perform next field scanning if the target cannot be captured until the target is captured successfully; and if the target cannot be captured after the scanning amplitude reaches the limit of the angular travel of the voice coil motor, repeating the process from the step 1 to scan until the target is captured successfully.
2. The voice coil motor-based laser radar variable frequency scanning method according to claim 1, wherein: in step 1, the initial amplitude A1The method is calculated according to the probability distribution curve of the occurrence of the target, and the calculation method comprises the following steps: taking the point with the highest probability of the target appearing as the center of the circular area, adjusting the radius of the area, and taking the radius as the initial amplitude A when the probability of the target appearing in the circular area is 1/21。
3. The voice coil motor-based laser radar variable frequency scanning method according to claim 1, wherein: in step 1, the frequency fx1、fy1Taking an integer and frequency ratio fx1/fy1F is the simplest integer ratio, and is taken so that the frequencies in both directions are approximately equaly1＝fx1-1。
4. The voice coil motor-based laser radar variable frequency scanning method according to claim 1, wherein: in step 2, the change amount of the scanning amplitude is represented by the formula Δ a (1/2)1)A1，A2＝A1+ΔA＝(3/2)A1And calculating, wherein the frequency calculation method is calculated by the formulas (1) and (2).
5. The voice coil motor-based laser radar variable frequency scanning method according to claim 1, wherein: in step 3, the end value of the scanning amplitude is determined by the stroke limit of the scanning device, and in order not to damage the scanning device, the scanning end amplitude is smaller than the stroke, and 95% of the scanning stroke is taken.
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| CN113534191A (en) * | 2021-07-26 | 2021-10-22 | 重庆连芯光电技术研究院有限公司 | 3d image scanning and repairing method, device and equipment of single photon laser radar |
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