CN114296232B - Method for generating arbitrary angle cone light column with distinguishing characteristics - Google Patents
Method for generating arbitrary angle cone light column with distinguishing characteristics Download PDFInfo
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Abstract
The invention discloses a method for generating a cone light beam with any angle and distinguishing characteristics, which comprises the following steps: s1, constructing a parabola with a height h and a width w, placing the parabola in a rectangular coordinate system, and obtaining a parabolic function expression by placing the origin of a coordinate axis at the vertex of the parabola; s2, rotating the parabola by 180 degrees around the symmetry axis of the parabola to obtain a paraboloid with reflection characteristics; s3, placing a light-emitting source at a focus of the paraboloid, and reflecting light rays emitted by the light-emitting source to obtain a cone light column with an angle beta through the paraboloid, so as to obtain a cone light column with any angle beta, wherein a bottom aperture of the cone light column is provided with distinguishing features of bright inner ring and dark outer ring, so that a photosensitive device can conveniently identify the light source and remove interference of other light sources; the invention can generate cone light columns with any angle and size, is suitable for different landing sites, can avoid the reduction of the visible detection distance of the system to the effective light source, and reduces the difficulty of visual processing of a later computer.
Description
Technical Field
The invention relates to a method for producing an arbitrary angle cone beam with distinguishing features, which cone beam is targeted as structured light.
Background
In target guidance related applications, such as for multi-rotor unmanned aerial vehicle precision landing applications, structured light based target guidance is a typical application requirement. However, if the effective emission angle of the light source of the landing site is not controlled due to the divergence of the light and the influence of other light sources in the environment, the visible detection distance of the effective light source by the system is reduced, and the difficulty of later computer vision processing is increased. For this reason, it is necessary to control the emission angle of the light source; furthermore, in different application scenarios, the emission angle of the light source needs to be controlled, for example, in the case of an accurate landing application of the unmanned aerial vehicle, in different landing sites, due to different landing sites, typically, different landing sites, different distribution of obstacles around the landing sites, and the like, the angle of the structured light for guiding the unmanned aerial vehicle to land needs to be controlled. For this reason, it is necessary to obtain structured light having different angles.
In addition, in the process of adjusting the position of the unmanned aerial vehicle by detecting the light source of the target landing place, if the number of surrounding interference light sources is large, the position judgment of the unmanned aerial vehicle is affected, so that the light source of the target place is distinguished from the interference light source so as to guide the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a method which is easy to realize, is convenient for identifying the light source of a target place and removing the interference of other light sources, and can dynamically change the angle of a cone light beam so as to be suitable for different landing places and generate any angle cone light beams with distinguishing characteristics.
The aim of the invention is achieved by the following technical scheme: a method of producing a cone beam of light of any angle having distinguishing characteristics, comprising the steps of:
s1, constructing a parabola with a height h and a width W, placing the parabola in a rectangular coordinate system, and obtaining a parabolic function expression by using a coordinate axis origin at the vertex of the parabola:
s2, rotating the parabola by 180 degrees around the symmetry axis of the parabola to obtain a paraboloid with reflection characteristics;
s3, placing the light-emitting source at the focus of the paraboloid, and reflecting light rays emitted by the light-emitting source through the paraboloid to obtain a cone light column with an angle beta:
the cone light column with any angle beta is obtained, and the bottom aperture of the cone light column has the distinguishing characteristics of bright inner ring and dark outer ring.
The cone light beam produced by the invention has the distinguishing characteristics of bright inner ring and dark outer ring, is convenient for the photosensitive device to identify the light source and remove the interference of other light sources, can control the angle of the cone light beam to produce cone light beams with any angle, is applicable to different landing places, can avoid the reduction of the visible detection distance of the system to the effective light source, and simultaneously reduces the difficulty of computer vision processing in the later stage, so the cone light beam produced by the invention is used as the structural light, can solve the application problems of tracking, path guiding and the like based on the structural light, and simultaneously avoids the interference of other peripheral light sources.
Under the condition that the width w, the height h and the angle beta of the parabola are determined, the angle beta can be changed to obtain a set angle beta 1 smaller than beta, the angle beta is larger than the set angle beta 1, an opaque and non-reflective baffle plate is additionally arranged on the end face of the parabola, a circular hole for a cone light beam to be emitted is formed in the center of the baffle plate, and the distance from the intersection point of the baffle plate and the parabola to the intersection point of the baffle plate and the cone light beam is the length L of the baffle plate in a rectangular coordinate system where the parabola is located, then the angle beta 1 is set:
the length of the baffle plate is dynamically changed to obtain a corresponding cone light beam with any set angle, and then the cone light beam with a dynamically variable angle is obtained.
Compared with the prior art, the invention has the following remarkable effects:
the bottom aperture of the cone light column generated by the invention has the distinguishing characteristics of bright inner ring and dark outer ring, so that the photosensitive device can conveniently identify the light source and remove the interference of other light sources.
The invention can control the angle of the cone light column to generate cone light columns with any angle, is applicable to different landing sites, can avoid the reduction of the visual detection distance of the system to the effective light source and reduce the difficulty of later computer vision processing, therefore, the cone light column generated by the invention can solve the application problems of tracking, path guiding and the like based on the structured light as the structured light, and can avoid the interference of other peripheral light sources, for example, the accurate guiding of the object based on the structured light.
The invention has the advantages of easy realization and strong practicability, and is suitable for wide popularization and use.
Drawings
The invention will now be described in further detail with reference to the drawings and to specific examples.
FIG. 1 is one of the schematic diagrams of the present invention;
FIG. 2 is a schematic diagram of a second embodiment of the present invention;
FIG. 3 is a third schematic diagram of the present invention;
FIG. 4 is a schematic diagram of the present invention;
FIG. 5 is a schematic diagram of the present invention;
FIG. 6 is a schematic diagram of the present invention;
FIG. 7 is a parabolic curve constructed in example 1 of the present invention;
FIG. 8 is a parabolic curve constructed in example 3 of the present invention.
Detailed Description
The invention relates to a method for generating a cone light beam with any angle and distinguishing characteristics, wherein the angle (cone angle) of the cone light beam refers to the diameter vertical cutting cone of the vertex and the bottom surface of the cone, so as to obtain an isosceles triangle, and the angle of the vertex angle of the isosceles triangle is defined as the angle of the cone.
The method specifically comprises the following steps:
s1, constructing a parabola with a height h and a width W, placing the parabola in a rectangular coordinate system, and obtaining a parabolic function expression by using a coordinate axis origin at the vertex of the parabola:
s2, rotating the parabola by 180 degrees around the symmetry axis of the parabola to obtain a paraboloid with reflection characteristics;
s3, placing the light-emitting source at a focus A of the paraboloid, and reflecting light rays emitted by the light-emitting source through the paraboloid to obtain a cone light column with an angle beta:
the cone light column with any angle beta is obtained, and the bottom aperture of the cone light column has the distinguishing characteristics of bright inner ring and dark outer ring.
The above steps are schematically described:
1. the use of paraboloids produces cone columns of light with higher and concentrated inner ring brightness and darker outer ring brightness in the bottom aperture.
The parabola has the following properties: light rays emitted from the focus of the parabola are reflected by the parabola and then reflected in a straight line direction parallel to the symmetry axis of the parabola, as shown in fig. 1.
The parabola is rotated 180 degrees around the symmetry axis thereof, and a paraboloid with focal point and reflection characteristics can be obtained. If the light source is placed at the focus of the paraboloid, the light rays are reflected to form a cylindrical parallel light beam.
However, in practical applications, the parabola cannot extend infinitely in the x-axis, and therefore, there is necessarily a direct emission of light without passing through the parabola, and as shown in fig. 2, the parabola is truncated in the x-axis to cause the light to be directly emitted.
In the aperture at the bottom of the cone light column, the light rays of the inner ring comprise the light rays reflected by the paraboloid and the light rays directly emitted without the paraboloid, and the outer ring only has the light rays directly emitted, so that the aperture with higher and concentrated inner ring brightness and darker outer ring than the inner ring can be obtained. When the structured light is used for guiding a target, according to the optical imaging principle, no matter a camera or other photosensitive devices, the cone light column sensed above the paraboloid can be finally imaged in the form of an aperture, and the cone light column has the distinguishing characteristics of higher and concentrated inner ring brightness and darker outer ring brightness, is convenient for distinguishing from surrounding interference light sources, and performs later computer vision processing.
2. The parabolic surface is used to control the angle of reflection of the light.
The invention controls the emitted light, and controls the height and width of the cut parabola while obtaining the cone light column meeting the angle condition, so as to control the height and width of the parabola according to the actual requirement, as shown in figure 3.
3. And performing translation operation on any parabolic function to obtain a simplified parabolic function.
Let arbitrary parabolic function in plane be y=ax 2 +bx+c (a. Noteq.0), the translation of this function can give a simplified parabolic function representation, y=ax, as shown in the following equation 2 (a. Noteq.0). Without loss of generality, while assuming a > 0 for ease of description and understanding.
4. Based on the given parabolic height and parabolic width, a simplified parabolic function expression is found.
Based on a simplified parabolic function formula, if the height of the parabola is set as h, the width of the parabola is set as w, and the origin of the coordinate axis is positioned at the vertex of the parabola, the parabola is certain to pass through the pointSubstituting the point into the simplified parabolic function analytic y=ax 2 Obtain->And then (I)>Thus, the parabolic function expression for a parabolic height h and a width w is:
the focus of the parabola is
Based on the obtained parabolic function, a paraboloid meeting the specified height and width can be obtained by rotating 180 degrees around the parabolic symmetry axis, and a cone light beam with an angle beta can be obtained by placing a light source at a focus, as shown in fig. 4.
The cone angle beta is obtained through the following calculation process:
the above calculation process also establishes the relationship between the cone angle beta and the width w and the height h of the parabola, as shown in the formula (2):
if the width w and the height h of the parabola obtained according to the steps and the angle beta of the cone generated by the steps reach the requirements, the paraboloid of the cone light beam which can generate the required angle and meets the requirements can be obtained by rotating 180 degrees based on the obtained parabola.
If the width w and the height h of the parabola obtained according to the steps meet the requirements, but the angle beta is smaller than the expected angle, the angle beta can be made to reach the expected angle by changing the width w of the parabola and the value of the height h of the parabola; or fixing the width w of the parabola, and enabling beta to reach an expected angle by changing the value of the height h of the parabola; or fixing the parabolic height h, and making beta reach a desired angle by changing the value of the parabolic width w. And finally, rotating 180 degrees based on the obtained parabola to obtain the parabola which can generate the cone light beam with the required angle and meets the requirement.
If the parabolic width w and the parabolic height h obtained according to the steps meet the requirements, but the angle beta is larger than the set angle beta 1, the set angle beta 1 can be obtained according to the formula (2) by changing the values of the parabolic width w and the parabolic height h. More advantageously, as shown in fig. 5, an opaque and non-reflective baffle 1 is added on the inner side of the horizontal position of the height of the parabola on the end surface of the parabola to control the angle to obtain a set angle β1, the baffle 1 is a circular sheet with a circular hole in the center for emitting a cone light beam, the baffle 1 can be specifically a plastic sheet coated with non-reflective coating or a metal sheet coated with matte coating, etc., the baffle 1 is in a rectangular coordinate system where the parabola is located, the distance from the intersection point B of the baffle 1 and the parabola to the intersection point C of the baffle with the cone light beam is the length L of the baffle 1, and then the relationship among the length L of the baffle 1, the cone angle β, the parabola width w and the parabola height h is as follows:
the set angle β1 is derived from this:
according to formula (3), β1 may be calculated from L, or L may be calculated from β1, given the parabolic width w, the parabolic height h. And finally, rotating 180 degrees based on the obtained parabola to obtain the parabola which can generate the cone light beam with the required angle and meets the requirement.
As shown in FIG. 6, the length of the baffle can be dynamically changed to obtain a cone light beam with any corresponding set angle, namely, a cone light beam with a dynamically variable angle. Specifically, a device for automatically controlling a baffle plate is arranged on the inner side of the horizontal position of the height of the paraboloid on the end surface of the paraboloid, and the device can extend or retract the baffle plate according to the required angle requirement to change the circular hole of the center of the baffle plate for the cone light beam to be emitted, so as to change the angle of the cone light beam, for example, the angle beta is reduced compared with the angle of the cone light beam shown in fig. 5.
Example 1
As shown in fig. 7, the present embodiment constructs a parabola having a width of 1 unit and a height of 1 unit, and then rotates the obtained parabola 180 degrees to obtain a cone light beam with a certain angle. The angle β of the cone beam of light calculated in this embodiment.
According to formula (1), the parabolic function with width w and height h isSubstituting w as 1 and h as 1 gives a parabolic function: y=4x 2
The focus of the parabola is:according to formula (2), w, h and β have the relationship:
substituting to obtain:
example 2
This embodiment increases the angle value of β on the basis of embodiment 1, assuming that β is increased to 90 degrees. The present embodiment calculates the value of h with w fixed.
In order to increase the value of β, and also to facilitate calculation, the width w of the parabola is fixed to be 1 unit, and the value of β is increased by changing the value of the parabola height h. According to formula (2), w, h and β have the relationship:
substituting beta being 90 and w being 1 into the above formula to obtain:
and obtaining by deduction and calculation:
that is:
the method comprises the following steps:
thus, h=0.6. That is, in the case where the width w is kept constant and is still 1 unit, the parabolic height h needs to be reduced in order to obtain a cone beam having a β angle of 90 degrees.
Example 3
In the embodiment, on the basis of the embodiment 1, the light-proof and light-proof baffle is added1To reduce beta, assuming beta is reduced by 30 degrees. The present embodiment calculates the value of L.
To reduce β to 30 degrees, the relationship of w, h, β, and L in equation (3) is followed:
substituting w into the above formula with 1, h into 1 and β into 30 to obtain:
and obtaining by deduction and calculation: l=0.25. That is, in the case where the width w and the height h are 1 unit, in order to obtain a cone beam having a β angle of 30 degrees, it is necessary to increase the length of the opaque, non-reflective barrier sheet 1 by 0.25 unit, as shown in fig. 8.
The embodiments of the present invention are not limited thereto, and according to the above-described aspects of the present invention, the present invention may be modified, replaced or altered in various other ways without departing from the basic technical spirit of the present invention, all of which fall within the scope of the claims of the present invention, according to the general technical knowledge and conventional means of the present art.
Claims (3)
1. A method of producing a cone beam of light of any angle having distinguishing characteristics, comprising the steps of:
s1, constructing a parabola with a height h and a width w, placing the parabola in a rectangular coordinate system, and obtaining a parabolic function expression by the origin of a coordinate axis at the vertex of the parabola:
s2, rotating the parabola by 180 degrees around the symmetry axis of the parabola to obtain a paraboloid with reflection characteristics;
s3, placing the light-emitting source at the focus of the paraboloid, and reflecting light rays emitted by the light-emitting source through the paraboloid to obtain a cone light column with an angle beta:
the cone light column with any angle beta is obtained, and the bottom aperture of the cone light column has the distinguishing characteristics of bright inner ring and dark outer ring.
2. The method of generating an arbitrary angle cone beam of light with distinguishing features of claim 1, wherein: the angle beta is larger than the set angle beta 1, an opaque and non-reflective baffle plate is additionally arranged on the inner side of the horizontal position of the height of the paraboloid on the end surface of the paraboloid, a circular hole for the cone light beam to emit is formed in the center of the baffle plate, the distance from the intersection point of the baffle plate and the parabola to the intersection point of the baffle plate and the cone light beam is the length L of the baffle plate in a rectangular coordinate system where the parabola is located, and then the set angle beta 1 is as follows:
3. the method of generating an arbitrary angle cone beam of light with distinguishing features of claim 2, wherein: dynamically changing the length of the baffle to obtain a cone light beam of any corresponding set angle, namely obtaining a cone light beam with a dynamically variable angle.
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