CN115421299B - Dynamic visual field simulation method for galvanometer type holder - Google Patents
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Abstract
The invention discloses a dynamic visual field simulation method for a galvanometer type holder. Firstly, primarily selecting elements in a galvanometer type holder, and determining optical parameters and mechanical position parameters of a camera; constructing a galvanometer corner group sequence for generating a two-dimensional galvanometer; further processing to obtain the optical center coordinates and the optical axis direction of the virtual camera corresponding to the high-magnification camera; accordingly, respective visual field ranges of the high-magnification camera and the wide-angle camera are established; and (4) judging and optimizing by combining the respective visual field ranges of the high-magnification camera and the wide-angle camera to obtain a dynamic visual field simulation result. In the design process of the galvanometer type pan-tilt, the wide-angle camera, the high-magnification camera and the two-dimensional galvanometer with appropriate hardware parameters are selected, and dynamic visual field simulation is performed on the wide-angle camera, the high-magnification camera and the two-dimensional galvanometer, so that the rationality of hardware type selection is ensured, and further dynamic visual field simulation optimization is realized.
Description
Technical Field
The invention belongs to a visual field processing optimization method in the technical field of optical calculation and simulation, and particularly relates to a dynamic visual field simulation method for a galvanometer type holder.
Background
The visual tracking system is one of key technologies in the field of intelligent perception, and is widely applied to scenes such as intelligent security, urban traffic, national defense and military industry, biomedicine, industrial detection and the like. For the tracking task of a dynamic target, it is usually difficult to achieve a good effect by using a sensing device with a fixed view angle. The visual tracking platform (namely the visual cloud deck) can expand the visual field range through a special motion mechanism, realize the positioning and tracking of a dynamic target, acquire the detail information of the target to the maximum extent, and provide richer and more accurate target data for intelligent perception equipment, thereby having important significance for the research of the visual tracking platform.
At present, a lot of research work has been carried out on visual holders, and the visual holders can be divided into a mechanical holder and a digital holder according to imaging characteristics and a tracking principle.
The existing visual tracking platform is difficult to combine a plurality of characteristics such as large visual field, high frame rate and high resolution.
The galvanometer type pan-tilt is a novel pan-tilt structure, and lacks a visual field optimization simulation method for selecting a wide-angle camera, a high-magnification camera and a two-dimensional galvanometer with appropriate hardware parameters in the design process.
Disclosure of Invention
In order to solve the problems in the background art, the invention aims to provide a dynamic visual field simulation method for a galvanometer type holder by combining optimization processing on hardware model selection in the design process of the galvanometer type holder.
The technical scheme of the invention mainly comprises the following steps:
(1) Setting global parameters of the galvanometer type holder:
primarily selecting a wide-angle camera, a high-magnification camera and a two-dimensional galvanometer in the galvanometer type holder, and determining optical parameters and mechanical position parameters of the camera in the current galvanometer type holder;
(2) And generating a sequence of galvanometer rotation angle groups:
combining the galvanometer corners of the horizontally rotating lens and the pitching rotating lens in the two-dimensional galvanometer to construct a galvanometer corner group (θ 1 ,θ 2 )，θ 1 Andθ 2 representing the galvanometer angles of the horizontally-rotated and the obliquely-rotated lenses, respectively, for all possible sets of galvanometer angles within respective mechanical position parameters (θ 1 ,θ 2 ) Performing scatter value-taking operation to obtain multiple groups of uniformly distributed galvanometer corner groups (θ 1 ,θ 2 ) And forming a vibrating mirror corner group sequence;
(3) And (3) generating an optical axis of an optical center of the high-magnification camera:
for each galvanometer angle group in the sequence of galvanometer angle groups (θ 1 ,θ 2 ) Processing according to a specific optical modeling mode to obtain the optical center coordinates of the virtual camera corresponding to the high-magnification camerac v And an optical axis direction q v ；
(4) Simulation of the field of view:
establishing respective visual field ranges of the high-magnification camera and the wide-angle camera according to results of the steps (1) and (3);
(5) Matching the visual field range:
and judging and optimizing by combining the respective visual field ranges of the high-magnification camera and the wide-angle camera to obtain a dynamic visual field simulation result of the galvanometer type holder.
The galvanometer type holder comprises a wide-angle camera, a high-magnification camera and a two-dimensional galvanometer, the two-dimensional galvanometer comprises two galvanometers which rotate a lens horizontally and rotate the lens in a pitching manner, external light is incident to the high-magnification camera after sequentially rotating the lens in the pitching manner and the lens in the horizontal manner, the external light is directly incident to the wide-angle camera, and the rotation direction of the lens in the pitching manner is perpendicular to the rotation direction of the lens in the horizontal manner.
The high magnification of the high-magnification camera generally means that the zoom magnification of the camera lens reaches more than 10 times. The "high magnification" is not strictly defined, and may be adjusted appropriately according to the usage scenario.
The camera optical parameters in the step (1) comprise respective field angles of two cameras of a wide-angle camera and a high-magnification camera, and the mechanical position parameters comprise respective limit rotation angles of a horizontal rotating lens and a pitching rotating lens in the two-dimensional galvanometer.
In the step (3), the high-magnification camera under the action of the two-dimensional galvanometer is regarded as a dynamic camera with continuously changing visual angles in space, and each galvanometer corner group (a)θ 1 ,θ 2 ) The rotation angles of the horizontal rotating lens and the pitching rotating lens correspond to a specific visual angle direction of the high-power camera in spaceθ 1 Andθ 2 as independent variable, determining independent variable value range according to limit rotation angle of galvanometer, and combining each galvanometer rotation angle group in the galvanometer rotation angle group sequence (θ 1 ,θ 2 ) Substituting the following formula to obtain each galvanometer corner group (θ 1 ,θ 2 ) Corresponding optical center coordinatesc vi And the optical axis direction q vi ：
c v (θ 1 ,θ 2 ) = (lcos2θ 1 , -(lsin2θ 1 +d)cos2θ 2 +d, -(lsin2θ 1 +d)sin2θ 2 ) T
q v (θ 1 ,θ 2 ) = (-cos2θ 1 , sin2θ 1 cos2θ 2 , sin2θ 1 sin2θ 2 ) T - c v (θ 1 ,θ 2 )
In the formula (I), the compound is shown in the specification,c v (θ 1 ,θ 2 ) Representing a set of galvanometer corners (θ 1 ,θ 2 ) The lower high magnification camera corresponds to the optical center coordinate of the virtual camera, q v (θ 1 ,θ 2 ) Representing a set of galvanometer corners (θ 1 ,θ 2 ) The lower high-magnification camera corresponds to the optical axis direction of the virtual camera;θ 1 representing the rotation angle of the vibrating mirror of the horizontally rotating lens;θ 2 representing the galvanometer corner of the pitching rotation lens;drepresenting the optical path distance between the center of the horizontal rotating lens and the center of the pitching rotating lens;land represents the optical path distance between the optical center of the high power camera and the center of the horizontal turning lens, which is the distance along the optical axis.
The invention approximates the field of view of the camera to the bottom surface of a cone.
In the step (4), the dynamic visual field of the high-magnification camera under the action of the two-dimensional galvanometer is simulated, and the optical center coordinate of the virtual camera obtained in the step (3) is used as the optical center coordinatec v And the optical axis direction q v And the angle of view of the lens itself establishes each set of galvanometer corners in a cone (θ 1 ,θ 2 ) The high magnification camera view of (2), then for all groups of galvanometer corner groups (θ 1 ,θ 2 ) The high-magnification camera view is obtained and the union is used as the dynamic view range of the high-magnification camera under the action of the two-dimensional galvanometerα；
According to the optical path distance between the wide-angle camera and the high-magnification camerahDynamic field of view in high magnification cameraαBesides, the view field range of the wide-angle camera is established in a cone shape by utilizing the optical axis direction and the view field angle of the wide-angle cameraβ。
In the step (4), the galvanometer rotation angle group (A)θ 1 ,θ 2 ) The high-magnification camera view of (2) is established in the following manner: using a set of galvanometer angles (θ 1 ,θ 2 ) Corresponding optical center coordinatesc v Set of angles of rotation of galvanometer as the vertex of the cone: (θ 1 ,θ 2 ) Corresponding optical axis direction q v The cone is established as the central axis of the cone and the angle of view is the included angle between the central axis of the cone and the generatrix, the bottom surface of the cone is cut out as a single group of vibrating mirror corner group by the focal plane of a wide-angle camera (θ 1 ,θ 2 ) High magnification camera view.
The field of view of the wide angle camera is fixed and the focal plane of the wide angle camera is known. Determining the direction of an optical axis as the central axis of the cone according to the space position of the wide-angle camera, drawing the cone by taking the angle of view of the wide-angle camera as the included angle between the central axis and a bus of the cone, and intercepting the bottom surface of the cone as the field range of the wide-angle camera by taking the focal plane of the wide-angle cameraβ。
The invention generates the processing operation of the optical center and the optical axis by the specific mode of the high-magnification camera, images the dynamic visual field range of the abstract high-magnification camera, realizes the visualization of the dynamic visual field of the galvanometer type holder, simplifies the design and the model selection process of the galvanometer type holder system, and realizes better dynamic visual field simulation.
The step (5) is specifically to judge the relationship between the visual field ranges of the high-magnification camera and the wide-angle camera in the following manner:
0.8β< α< 1.1β
if the dynamic visual field simulation result meets the formula, the visual field ranges of the two cameras are matched, the design and the model selection of the galvanometer type holder system are reasonable, and the dynamic visual field range of the high-magnification camera and the fixed visual field range of the wide-angle camera are superposed to draw a dynamic visual field simulation diagram as the dynamic visual field simulation result of the galvanometer type holder;
if the formula is not met, the visual field ranges of the two cameras are not matched, the design and the model selection of the galvanometer type holder system are unreasonable, the models of the wide-angle camera, the high-magnification camera and the two-dimensional galvanometer are changed, and the steps (1) to (4) are repeated until the position of the formula is met.
Aiming at the problem that hardware selection is lack in the design process of the galvanometer type pan-tilt, geometric optical modeling is carried out on the galvanometer type pan-tilt system based on the two-dimensional galvanometer and the multi-camera module, and a coupling relation between light path change and galvanometer motion is established; and the simulation is carried out aiming at the dynamic visual field range of the camera, the dynamic visual field range of the high-magnification camera and the fixed visual field range of the wide-angle camera under the action of the galvanometer are visualized, the visual field matching relation of the high-magnification camera and the wide-angle camera is visually represented, a reasonable camera visual field matching target is designed in a simulation mode, and a technical scheme is provided for the type selection of the wide-angle camera, the high-magnification camera and the two-dimensional galvanometer in the design process of the galvanometer type holder.
The invention has the beneficial effects that:
in the design process of the galvanometer type pan-tilt, the wide-angle camera, the high-magnification camera and the two-dimensional galvanometer with appropriate hardware parameters are selected, and dynamic visual field simulation is performed on the wide-angle camera, the high-magnification camera and the two-dimensional galvanometer, so that the rationality of hardware type selection is ensured, and further dynamic visual field simulation optimization is realized.
The technical scheme solves the technical problem that the hardware model selection in the design process of the galvanometer type holder lacks theoretical analysis and guidance, can intuitively express the dynamic visual field range of the galvanometer type holder in the form of a simulation diagram, simplifies the design process of the galvanometer type holder system under the condition of ensuring the reasonable hardware model selection, and provides detailed and complete theoretical analysis and guidance for the hardware model selection in the design process of the galvanometer type holder system.
Drawings
Fig. 1 is a flow chart of steps of a dynamic visual field simulation method for a galvanometer-type pan/tilt head.
Fig. 2 is a geometric relationship diagram between a real camera and a virtual camera.
FIG. 3 is a geometrical optical modeling diagram of a galvanometer pan/tilt head, wherein (a) showsx-yA geometrical optical diagram of the galvanometer type pan-tilt under a plane (b)y-zA geometrical optical diagram of a galvanometer type holder under a plane.
Fig. 4 is a diagram showing simulation results of the dynamic viewing range of the high-magnification camera and the fixed viewing range of the wide-angle camera.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific embodiments:
as shown in fig. 3 (a) and (b), the galvanometer type holder of specific implementation includes a wide-angle camera, a high-power camera and a two-dimensional galvanometer, the two-dimensional galvanometer includes two galvanometers of a horizontal rotation lens and a pitching rotation lens, external light sequentially passes through the pitching rotation lens and then enters the high-power camera after passing through the horizontal rotation lens, the external light directly enters the wide-angle camera, an optical axis where the external light entering the pitching rotation lens and an optical axis where the external light entering the wide-angle camera are parallel or approximately parallel, the pitching rotation lens rotates along a pitching direction, and the rotation direction of the pitching rotation lens is perpendicular to the rotation direction of the horizontal rotation lens.
As shown in fig. 1, the embodiment of the present invention and the implementation process thereof are as follows:
the specific implementation is that the optical axis of the high-magnification camera is used asxAxis with the optical axis of wide-angle camerazAxis, with a vertical line between the two mirrors asyAxes, and a three-dimensional cartesian coordinate system is established.
(1) Setting global parameters of the galvanometer type holder:
primarily selecting a wide-angle camera, a high-magnification camera and a two-dimensional galvanometer in the galvanometer type holder, and determining optical parameters and mechanical position parameters of the camera in the current galvanometer type holder;
(2) Generating a sequence of the galvanometer corner groups:
combining the galvanometer angles of the horizontally rotating lens and the pitching rotating lens in the two-dimensional galvanometer to construct a galvanometer angle group (θ 1 ,θ 2 ) Is measured in the two-dimensional quantities of (c),θ 1 andθ 2 representing the galvanometer angles of the horizontally rotating lens and the pitching rotating lens respectively, and setting all possible galvanometer angle groups within the mechanical position parameter range of the respective limit angles (θ 1 ,θ 2 ) Performing scatter value-taking operation to obtain multiple groups of vibrating mirror corner groups (θ 1 ,θ 2 ) And forming a vibrating mirror corner group sequence;
the interval of scatter value taking operation influences the density degree of the generated vibrating mirror corner group sequence, and the denser the dynamic view simulation diagram generated finally is, the closer the dynamic view simulation diagram is to the real effect, and the better the dynamic view simulation effect is.
In the step (2), for example, the initial position of the horizontally rotating lens forms 45 degrees with the coordinate axis of the established coordinate system, the limit rotation angle of the mechanical position parameter of the horizontally rotating lens is 15 degrees, and then the galvanometer rotation angle of the horizontally rotating lensθ 1 Is within 15 DEG, the angle of the galvanometer is rotatedθ 1 In particular (30 °,60 °).
(3) And (3) generating an optical center optical axis of the high-magnification camera:
as shown in fig. 2, for each galvanometer angle group in the sequence of galvanometer angle groups: (θ 1 ,θ 2 ) Processing according to a specific optical modeling mode to obtain the optical center coordinates of the virtual camera corresponding to the high-magnification camerac v And the optical axis direction q v 。
Each galvanometer rotation angle group in the galvanometer rotation angle group sequence (θ 1 ,θ 2 ) Substituting the following formula to obtain each galvanometer corner group (θ 1 ,θ 2 ) Corresponding optical center coordinatesc vi And an optical axis direction q vi ：
c v (θ 1 ,θ 2 ) = (lcos2θ 1 , -(lsin2θ 1 +d)cos2θ 2 +d, -(lsin2θ 1 +d)sin2θ 2 ) T
q v (θ 1 ,θ 2 ) = (-cos2θ 1 , sin2θ 1 cos2θ 2 , sin2θ 1 sin2θ 2 ) T - c v (θ 1 ,θ 2 )
In the formula (I), the compound is shown in the specification,c v (θ 1 ,θ 2 ) Set of angles of rotation of galvanometer (θ 1 ,θ 2 ) The high-magnification camera formed by mirror reflection corresponds to the optical center coordinate q of the virtual camera v (θ 1 ,θ 2 ) Set of angles of rotation of galvanometer (θ 1 ,θ 2 ) The high-magnification camera formed by mirror reflection corresponds to the optical axis direction of the virtual camera;θ 1 representing the rotation angle of the vibrating mirror of the horizontally rotating lens;θ 2 representing the galvanometer rotation angle of the pitching rotation lens;drepresenting the optical path distance between the center of the horizontal rotating lens and the center of the pitching rotating lens;lrepresents the optical path distance between the high power camera optical center and the center of the horizontal turning mirror.
(4) Simulation of the field of view:
establishing respective visual field ranges of the high-magnification camera and the wide-angle camera according to results of the steps (1) and (3);
in the step (4), simulating the dynamic visual field of the high-magnification camera under the action of the two-dimensional galvanometer, and obtaining the optical center coordinate of the virtual camera according to the step (3)c v And an optical axis direction q v And the angle of view of the lens itself establishes each set of galvanometer corners in a cone (θ 1 ,θ 2 ) The high magnification camera view of (2), then for all groups of galvanometer corner groups (θ 1 ,θ 2 ) The high-magnification camera view is obtained and the union is used as the dynamic view range of the high-magnification camera under the action of the two-dimensional galvanometerα；
According to the optical path distance between the wide-angle camera and the high-magnification camerahDynamic field of view in high magnification cameraαSide view, conical by using the optical axis direction and the field angle of the wide-angle cameraEstablishing a field of view range for a wide-angle cameraβ。
Wherein the set of galvanometer corners (θ 1 ,θ 2 ) The high-magnification camera view of (2) is established in the following manner: by a set of galvanometer angles (θ 1 ,θ 2 ) Corresponding optical center coordinatesc v Set of angles of rotation of galvanometer as the vertex of the cone: (θ 1 ,θ 2 ) Corresponding optical axis direction q v The cone is established as the central axis of the cone and the angle of view is the included angle between the central axis of the cone and the generatrix, the bottom surface of the cone is cut out as a single group of vibrating mirror corner group by the focal plane of a wide-angle camera (θ 1 ,θ 2 ) High magnification camera view.
Wherein the field of view of the wide-angle camera is established as follows: determining the direction of an optical axis as the central axis of the cone according to the space position of the wide-angle camera, drawing the cone by taking the field angle of the wide-angle camera as the included angle between the central axis of the cone and a generatrix, and intercepting the bottom surface of the cone by the focal plane of the wide-angle camera as the visual field range of the wide-angle cameraβ。
(5) Matching the visual field range:
and judging and optimizing by combining the respective visual field ranges of the high-magnification camera and the wide-angle camera to obtain a dynamic visual field simulation result of the galvanometer type holder.
As shown in fig. 4, the relationship between the visual field ranges of the high-magnification camera and the wide-angle camera is specifically determined in the following manner:
0.8β< α< 1.1β
if the dynamic visual range of the high-magnification camera and the fixed visual range of the wide-angle camera are superposed to draw a dynamic visual range simulation diagram as a dynamic visual range simulation result of the galvanometer type tripod head;
if the formula is not met, the visual field ranges of the two cameras are not matched, the design and the model selection of the galvanometer type holder system are unreasonable, the models of the wide-angle camera, the high-magnification camera and the two-dimensional galvanometer are changed, and the steps (1) to (4) are repeated until the position of the formula is met.
Thus, the dynamic visual field simulation of the galvanometer type pan-tilt is completed.
When the galvanometer type cloud platform is built, the galvanometer type cloud platform is built according to a dynamic visual field simulation result and the determined type selection setting of the wide-angle camera, the high-magnification camera and the two-dimensional galvanometer, so that the dynamic visual field range of the high-magnification camera is matched with the fixed visual field range of the wide-angle camera under the action of the two-dimensional galvanometer, and the rationality of system design is ensured.
Claims (8)
1. A dynamic visual field simulation method for a galvanometer type pan-tilt is characterized by comprising the following steps:
(1) Setting global parameters of the galvanometer type holder:
primarily selecting a wide-angle camera, a high-magnification camera and a two-dimensional galvanometer in the galvanometer type holder, and determining optical parameters and mechanical position parameters of the camera in the galvanometer type holder;
(2) And generating a sequence of galvanometer rotation angle groups:
combining the galvanometer corners of the horizontally rotating lens and the pitching rotating lens in the two-dimensional galvanometer to construct a galvanometer corner group (θ 1 ,θ 2 )，θ 1 Andθ 2 representing the galvanometer angles of the horizontally-rotating and the pitchingly-rotating lenses, respectively, for all possible sets of galvanometer angles within respective mechanical positional parameters: (θ 1 ,θ 2 ) Performing scatter value-taking operation to obtain multiple groups of uniformly distributed galvanometer corner groups (θ 1 ,θ 2 ) And forming a sequence of the galvanometer corner groups;
(3) And (3) generating an optical center optical axis of the high-magnification camera:
for each galvanometer angle group in the sequence of galvanometer angle groups (θ 1 ,θ 2 ) According to an optical modeling mode with the coupling relation between the light path change and the galvanometer movementProcessing to obtain the optical center coordinates of the virtual camera corresponding to the high-magnification camerac v And an optical axis direction q v ；
(4) Simulation of the field of view:
establishing respective visual field ranges of the high-magnification camera and the wide-angle camera according to the results of the steps (1) and (3);
(5) Matching the visual field range:
and judging and optimizing by combining the respective visual field ranges of the high-magnification camera and the wide-angle camera to obtain a dynamic visual field simulation result of the galvanometer type holder.
2. The method for simulating the dynamic field of view of a galvanometer pan-tilt according to claim 1, wherein: the mirror that shakes formula cloud platform include wide angle camera, high magnification camera and two-dimentional mirror that shakes, two-dimentional mirror that shakes includes that the level rotates two mirrors that lens and every single move rotated the lens, outside light incides the high magnification camera after lens, level rotation lens are rotated in the every single move in proper order, outside light direct incidence is wide angle camera, the rotation direction of every single move rotation lens and the rotation direction looks vertical of level rotation lens.
3. The method for simulating the dynamic field of view of a galvanometer pan-tilt according to claim 1, wherein: the camera optical parameters in the step (1) comprise respective field angles of a wide-angle camera and a high-magnification camera, and the mechanical position parameters comprise respective limit rotation angles of a horizontal rotating lens and a pitching rotating lens in the two-dimensional galvanometer.
4. The dynamic visual field simulation method for a galvanometer pan-tilt head according to claim 1, characterized in that: in the step (3), each group of galvanometer rotation angle groups in the sequence of galvanometer rotation angle groups is set (θ 1 ,θ 2 ) Substituting the following formula to obtain each galvanometer corner group (θ 1 ,θ 2 ) Corresponding optical center coordinatesc vi And the optical axis direction q vi ：
c v (θ 1 ,θ 2 ) = (lcos2θ 1 , -(lsin2θ 1 +d)cos2θ 2 +d, -(lsin2θ 1 +d)sin2θ 2 ) T
q v (θ 1 ,θ 2 ) = (-cos2θ 1 , sin2θ 1 cos2θ 2 , sin2θ 1 sin2θ 2 ) T - c v (θ 1 ,θ 2 )
In the formula (I), the compound is shown in the specification,c v (θ 1 ,θ 2 ) Representing a set of galvanometer corners (θ 1 ,θ 2 ) The lower high magnification camera corresponds to the optical center coordinate of the virtual camera, q v (θ 1 ,θ 2 ) Representing a set of galvanometer corners (θ 1 ,θ 2 ) The lower high-magnification camera corresponds to the optical axis direction of the virtual camera;θ 1 representing the rotation angle of the vibrating mirror of the horizontally rotating lens;θ 2 representing the galvanometer corner of the pitching rotation lens;drepresenting the optical path distance between the center of the horizontal rotating lens and the center of the pitching rotating lens;lrepresents the optical path distance between the high power camera optical center and the center of the horizontal turning mirror.
5. The dynamic visual field simulation method for a galvanometer pan-tilt head according to claim 1, characterized in that: in the step (4), the dynamic visual field of the high-magnification camera under the action of the two-dimensional galvanometer is simulated, and the optical center coordinate of the virtual camera obtained in the step (3) is used for simulating the dynamic visual field of the high-magnification camerac v And an optical axis direction q v And the angle of view of the lens itself establishes each set of galvanometer corners in a cone (θ 1 ,θ 2 ) The high magnification camera view of (2), then for all groups of galvanometer corner groups (θ 1 ,θ 2 ) The high-magnification camera view finding union is used as the dynamic view range of the high-magnification camera under the action of the two-dimensional galvanometerα；
According to the optical path distance between the wide-angle camera and the high-magnification camerahDynamic field of view in high magnification cameraαBesides, the view field range of the wide-angle camera is established in a cone shape by utilizing the optical axis direction and the view field angle of the wide-angle cameraβ。
6. The dynamic visual field simulation method for a galvanometer pan-tilt head according to claim 5, characterized in that: in the step (4), the galvanometer rotation angle group (A)θ 1 ,θ 2 ) The high-magnification camera view of (2) is established in the following manner: using a set of galvanometer angles (θ 1 ,θ 2 ) Corresponding optical center coordinatesc v Set of angles of rotation of galvanometer as the vertex of the cone: (θ 1 ,θ 2 ) Corresponding optical axis direction q v The cone is established as the central axis of the cone and the angle of view is the included angle between the central axis of the cone and the generatrix, the bottom surface of the cone is cut out as a single group of vibrating mirror corner group by the focal plane of a wide-angle camera (θ 1 ,θ 2 ) High-magnification camera view.
7. The dynamic visual field simulation method for a galvanometer pan-tilt head according to claim 5, characterized in that: determining the direction of an optical axis as the central axis of the cone according to the space position of the wide-angle camera, drawing the cone by taking the field angle of the wide-angle camera as the included angle between the central axis of the cone and a generatrix, and intercepting the bottom surface of the cone by the focal plane of the wide-angle camera as the visual field range of the wide-angle cameraβ。
8. The method for simulating the dynamic field of view of a galvanometer pan-tilt according to claim 1, wherein: the step (5) is specifically to determine the relationship between the fields of view of the high-magnification camera and the wide-angle camera in the following manner:
0.8β< α< 1.1β
if inequality 0.8 is satisfiedβ< α< 1.1βMatching the visual field ranges of the two cameras, reasonably designing and selecting a vibrating mirror type holder system, and superposing the dynamic visual field range of the high-magnification camera and the fixed visual field range of the wide-angle camera to draw a dynamic visual field simulation diagram as a dynamic visual field simulation result of the vibrating mirror type holder;
if inequality 0.8 is not satisfiedβ< α< 1.1βIf the field of view of the two cameras is not matched, the design and the model selection of the galvanometer type pan-tilt system are unreasonable, the models of the wide-angle camera, the high-magnification camera and the two-dimensional galvanometer are changed, and the steps (1) to (4) are repeated until the inequality 0.8 is metβ< α< 1.1βTo the position.
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