Laser radar vibration suppression device position optimization method and device and computer equipment

Abstract

The invention relates to a laser radar vibration suppression device position optimization method and device and computer equipment. The method comprises the following steps: performing modal analysis on an initial position of a radar to obtain a modal form equation; deducing and analyzing according to the modal form equation and the state parameters to obtain an analysis matrix equation; performing optimization calculation according to the analysis matrix equation and a preset optimization strategy to obtain an optimization calculation result; and determining a target radar position based on an optimization calculation result. By adopting the method, the vibration suppression device and the sensor can play the target position with the maximum energy efficiency, and the stability, the reliability and the working efficiency of the radar system are improved through accurate analysis and optimization.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and in particular, to a method, device, and computer device for optimizing the position of a lidar vibration suppression device. Background Art

[0002] With the continuous development of commercial vehicle intelligent technologies, lidar, as an important sensor, is widely used in fields such as autonomous driving and environmental perception. Lidar can sense the surrounding environment by emitting laser beams and receiving reflected signals, providing accurate three-dimensional data for the intelligent driving system. However, during vehicle operation, especially when the engine is running or driving on unstructured roads, the lidar will encounter severe vibrations, which will affect the stability of the lidar, resulting in a decrease in its measurement accuracy and even inability to work properly. Therefore, in order to ensure the normal operation of the lidar, vibration suppression technology must be adopted to ensure that the lidar can operate stably in various complex driving environments.

[0003] In the prior art, a common approach is to install shock absorbers, spring brackets, or other vibration-absorbing materials to reduce vibration transmission.

[0004] However, in the prior art, traditional mechanical vibration damping methods are difficult to precisely adjust for different working conditions, and the damping effect usually depends on the vehicle's operating state and road conditions, making it difficult to ensure the damping effect in different usage environments. Summary of the Invention

[0005] Based on this, it is necessary to provide a method, device, computer device, computer-readable storage medium, and computer program product for optimizing the position of a lidar vibration suppression device that can suppress the jitter of the lidar and thus ensure the normal operation of the lidar in view of the above technical problems.

[0006] In a first aspect, the present application provides a method for optimizing the position of a lidar vibration suppression device. The method includes:

[0007] Performing modal analysis on the initial position of the radar to obtain a modal form equation;

[0008] Deriving and analyzing based on the modal form equation and state parameters to obtain an analysis matrix equation;

[0009] Performing optimization calculations based on the analysis matrix equation and a preset optimization strategy to obtain an optimization calculation result;

[0010] Determining the target radar position based on the optimization calculation result.

[0011] In one of the embodiments, performing modal analysis on the initial position of the radar to obtain a modal form equation includes:

[0012] Construct a position matrix based on the initial position of the radar;

[0013] Perform damping calculation according to the position matrix to obtain a damping matrix;

[0014] Construct a position equation based on the position matrix and the damping matrix;

[0015] Perform modal analysis on the position equation to obtain a modal form equation.

[0016] In one embodiment, constructing a position equation based on the position matrix and the damping matrix includes:

[0017] Construct a dynamic equation for the installation position based on the position matrix and the damping matrix;

[0018] Construct a sensor equation based on the dynamic equation and sensor parameters;

[0019] Set the dynamic equation and the sensor equation as the position equation.

[0020] In one embodiment, performing derivation and analysis according to the modal form equation and state parameters to obtain an analysis matrix equation includes:

[0021] Perform derivation according to the state parameters and the modal form equation to obtain a state equation;

[0022] Construct an output equation based on a preset sensor;

[0023] Perform analysis according to the state equation and the output equation to obtain an analysis matrix equation.

[0024] In one embodiment, performing optimization calculation according to the analysis matrix equation and a preset optimization strategy to obtain an optimization calculation result includes:

[0025] Analyze the analysis matrix equation to obtain an analytical matrix;

[0026] Determine the singular value based on the analytical matrix;

[0027] Perform optimization processing on the singular value according to the preset optimization strategy to obtain a comprehensive optimization criterion;

[0028] Perform position calculation according to the comprehensive optimization criterion and the target optimization function to obtain an optimization calculation result.

[0029] In one embodiment, performing optimization processing on the singular value according to the preset optimization strategy to obtain a comprehensive optimization criterion includes:

[0030] Perform data calculation according to the controllable singular value and the actuator optimization criterion to obtain a controllable criterion coefficient;

[0031] Data calculation is performed according to observable singular values and sensor optimization criteria to obtain observable criterion coefficients;

[0032] The controllable criterion coefficients and observable criterion coefficients are normalized to obtain normalized controllable coefficients and normalized observable coefficients, and the normalized controllable coefficients and normalized observable coefficients are set as the comprehensive optimization criterion.

[0033] In a second aspect, the present application also provides a lidar vibration suppression device, which is applicable to the position optimization of the lidar vibration suppression device described in any of the above embodiments. The device includes:

[0034] A support base;

[0035] A lidar, which is placed on the upper surface of the support base;

[0036] A suppression module, which is placed at the edge of the upper surface of the support base. The suppression module includes a sensor, an actuating component, and a control component. The control component is placed beside the sensor, and both the actuating component and the control component are connected to the sensor through a wire harness.

[0037] In one embodiment, the actuating component includes a piezoelectric ceramic actuator.

[0038] In one embodiment, a first electrode is provided on the upper surface of the sensor, and a second electrode is provided on the lower surface of the sensor. The first electrode and the second electrode are connected to a power supply.

[0039] In a third aspect, the present application also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0040] Perform modal analysis on the initial position of the radar to obtain the modal form equation;

[0041] Derive and analyze according to the modal form equation and state parameters to obtain the analysis matrix equation;

[0042] Perform optimization calculation according to the analysis matrix equation and a preset optimization strategy to obtain an optimization calculation result;

[0043] Determine the target radar position based on the optimization calculation result.

[0044] In a fourth aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0045] Perform modal analysis on the initial position of the radar to obtain the modal form equation;

[0046] Derive and analyze according to the modal form equation and state parameters to obtain the analysis matrix equation;

[0047] Perform optimization calculations according to the analysis matrix equation and the preset optimization strategy to obtain the optimization calculation results;

[0048] Determine the target radar position based on the optimization calculation results.

[0049] In a fifth aspect, the present application also provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0050] Perform modal analysis on the initial position of the radar to obtain the modal form equation;

[0051] Derive and analyze according to the modal form equation and state parameters to obtain the analysis matrix equation;

[0052] Perform optimization calculations according to the analysis matrix equation and the preset optimization strategy to obtain the optimization calculation results;

[0053] Determine the target radar position based on the optimization calculation results.

[0054] The above laser radar vibration suppression device position optimization method, device, computer device, storage medium and computer program product, through modal analysis of the initial radar position, further identify the vibration characteristics, that is, clarify the key installation positions of the vibration suppression device and the sensor; then combine the state parameters to derive and analyze the modal form equation to clarify the relationship between the vibration characteristics and the installation position, so that the subsequent optimization process can more finely adjust the position of the radar system; then use the preset optimization strategy to optimize and calculate the analysis matrix equation to obtain the target position that can make the vibration suppression device and the sensor exert the maximum energy efficiency; through precise analysis and optimization, the stability, reliability and working efficiency of the radar system are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a schematic flow chart of the laser radar vibration suppression device position optimization method in an embodiment;

[0056] Figure 2 It is a schematic flow chart of the optimization calculation steps in an embodiment;

[0057] Figure 3 It is a structural block diagram of the laser radar vibration suppression device in an embodiment;

[0058] Figure 4 It is a schematic installation structure diagram of the suppression module in an embodiment;

[0059] Figure 5 It is a schematic connection structure diagram of the control component in an embodiment;

[0060] Figure 6 It is the internal structure diagram of a computer device in an embodiment.

[0061] Description of the reference numerals in the drawings:

[0062] 10 - Support base, 20 - Lidar, 30 - Suppression module;

[0063] 310 - Sensor, 320 - Actuating component, 330 - Control component;

[0064] 311 - First electrode, 312 - Second electrode. Detailed implementation manners

[0065] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] In one embodiment, as Figure 1 shown, a method for optimizing the position of a lidar vibration suppression device is provided. In this embodiment, this method is exemplified by being applied to a terminal. It can be understood that this method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0067] Step 102, perform modal analysis on the initial position of the radar to obtain the modal form equation.

[0068] Exemplarily, first determine the installation position where the lidar is to be installed, then construct the mass matrix and stiffness matrix of this installation position, and then calculate the damping matrix of the damping through them. Then, establish the dynamic equation of the installation position by combining the dynamic characteristics of the installation position with the mass matrix, stiffness matrix and damping matrix, and construct the sensor equation according to the installation position of the sensor. Then, perform modal analysis on the lidar vibration suppression device to obtain the modal equations of the actuator and the sensor, that is, the modal form equation.

[0069] Step 104, perform derivation and analysis according to the modal form equation and the state parameters to obtain the analysis matrix equation.

[0070] Exemplarily, after the modal equations of the actuator and the sensor, i.e., the modal form equations, the internal state of the device is analyzed by introducing state parameters, and the state parameters are correlated with the dynamic equations, and then the state equation can be obtained. At the same time, there is a certain correlation between the internal state of the device and the final output, so the output equation is constructed. Then, through the analysis of the overall device, the analysis matrix equation related to the overall device is obtained.

[0071] Step 106, perform optimization calculations according to the analysis matrix equation and the preset optimization strategy to obtain the optimization calculation result.

[0072] Among them, the preset optimization strategy includes a preset optimization criterion and an objective optimization function.

[0073] Exemplarily, after obtaining the analysis matrix equation, it is analyzed to obtain an analytical matrix expression related to the installation position, and then the singular value is calculated. Then the singular value is input into the preset optimization criterion for optimizing the installation position, and the relevant optimization criterion coefficient is calculated. Then the optimization criterion coefficient is input into the objective optimization function, and the optimization calculation result is calculated.

[0074] Step 108, determine the target radar position based on the optimization calculation result.

[0075] Exemplarily, through the analysis of the optimization calculation result, the most preferred installation position, i.e., the target radar position, is obtained.

[0076] In the above method for optimizing the position of the lidar vibration suppression device, the modal analysis of the initial radar position is carried out to identify the vibration characteristics, that is, to clarify the key installation positions of the vibration suppression device and the sensor; then, combined with the state parameters, the modal form equation is deduced and analyzed to clarify the relationship between the vibration characteristics and the installation position, so that the subsequent optimization process can more finely adjust the position of the radar system; then, the preset optimization strategy is used to optimize the analysis matrix equation to obtain the target position that can make the vibration suppression device and the sensor exert the maximum energy efficiency; through precise analysis and optimization, the stability, reliability and working efficiency of the radar system are improved.

[0077] In an exemplary embodiment, the modal analysis of the initial position of the radar is carried out to obtain the modal form equation, including:

[0078] Construct a position matrix based on the initial position of the radar; perform damping calculation according to the position matrix to obtain a damping matrix; construct a position equation based on the position matrix and the damping matrix; perform modal analysis on the position equation to obtain the modal form equation.

[0079] Exemplarily, it is necessary to determine the installation position of the lidar, construct the corresponding mass matrix and stiffness matrix based on this position, and then calculate the damping matrix of Rayleigh damping through the mass matrix and stiffness matrix. Then, combining with the dynamic characteristics of the lidar installation position, using the mass matrix, stiffness matrix and damping matrix, establish the dynamic equation of the installation position, and at the same time construct the sensor equation according to the installation position of the sensor.

[0080] After that, perform modal analysis on the dynamic equation and the sensor equation respectively to obtain the modal form equation, specifically:

[0081] (3)

[0082] (4)

[0083] Among them, is the first m main control modes, is dimensional main control mode matrix, is the i-th natural frequency, is the i-th modal damping ratio, is the measurement vector, are the output matrices of the acceleration, velocity, and displacement sensors respectively, is the control force vector generated by the actuator, is composed of the m-th main control mode shapes dimensional matrix, is the i-th modal shape.

[0084] In an exemplary embodiment, construct a position equation based on the position matrix and the damping matrix, including:

[0085] Construct the dynamic equation of the installation position based on the position matrix and the damping matrix; construct the sensor equation based on the dynamic equation and the sensor parameters; set the dynamic equation and the sensor equation as the position equation.

[0086] Among them, the position matrix includes the mass matrix and the stiffness matrix.

[0087] Exemplarily, after constructing the mass matrix and the stiffness matrix and calculating the damping matrix, combining with the dynamic characteristics of the device, establish the dynamic equation of the installation position, specifically:

[0088] (1)

[0089] Among them, M is the mass matrix, K is the stiffness matrix, C is the damping matrix, q is the state parameter, is the velocity parameter, is the acceleration parameter, u is the control input, is the input matrix.

[0090] Meanwhile, a sensor equation is constructed according to the installation position of the sensor, specifically as follows:

[0091] (2)

[0092] Among them, , and are the sensor matrices of acceleration, velocity, and displacement respectively.

[0093] In an exemplary embodiment, derivation and analysis are performed based on the modal form equation and state parameters to obtain an analysis matrix equation, including:

[0094] Derivation is performed based on the state parameters and modal form equation to obtain a state equation; an output equation is constructed based on a preset sensor; analysis is performed based on the state equation and output equation to obtain an analysis matrix equation.

[0095] Exemplarily, before analysis, parameter selection and model construction need to be performed on the device. After the state parameters are selected, a state equation is constructed, specifically as follows:

[0096] (5)

[0097] Among them, x is , is the state variable, is the derivative of the state variable, is the state matrix, is the input matrix.

[0098] And, , , , in in

[0099] (6)

[0100] In in , is the i-th row of.

[0101] Meanwhile, an output equation is constructed, specifically as follows:

[0102] (7)

[0103] Among them, is the output matrix, , , is the direct influence matrix from input to output, , and a velocity sensor is selected for the sensor.

[0104] Then, the device equipped with the lidar is specifically analyzed through controllability analysis and observability analysis. The controllability is judged by the controllability Gram matrix, and the matrix needs to satisfy the Lyapunov equation, specifically:

[0105] (9)

[0106] where is the controllability Gram matrix.

[0107] The observability is judged by the observability Gram matrix, and the matrix needs to satisfy the Lyapunov equation, specifically:

[0108] (10)

[0109] where is the observability Gram matrix.

[0110] When the time approaches infinity, the controllability Gram matrix , and the observability Gram matrix .

[0111] In an exemplary embodiment, as shown in Figure 2 , optimization calculations are performed according to the analysis matrix equation and the preset optimization strategy to obtain the optimization calculation results, including:

[0112] Step 202: Analyze according to the analysis matrix equation to obtain the analysis matrix;

[0113] where the analysis matrix equation includes the Lyapunov equation satisfied by the controllability Gram matrix and the Lyapunov equation satisfied by the observability Gram matrix.

[0114] Exemplarily, after obtaining the Lyapunov equation satisfied by the controllability Gram matrix and the Lyapunov equation satisfied by the observability Gram matrix, by solving them, the corresponding analytical forms, that is, the analysis matrices, are obtained. The analytical form of the controllability Gram matrix is specifically:

[0115] (11)

[0116]

[0117]

[0118] where is the i-th row of the state equation B matrix when the actuator / sensor equation takes as the state variable, and n is the degree of freedom after discretization.

[0119] The analytical form of the observability Gram matrix is specifically as follows:

[0120] (12)

[0121]

[0122] Wherein, is the i-th column of the C matrix of the output equation when the sensor is a velocity sensor, is the j-th column of the C matrix of the output equation when the sensor is a velocity sensor.

[0123] Step 204: Determine the singular values based on the analytical matrix.

[0124] Exemplarily, the analytical forms of the controllability and observability Gram matrices of the system are solved. From this, the singular values of the Gram matrix can be calculated, where the singular values represent the controllability and observability degrees of the main control modes.

[0125] Step 206: Optimize the singular values according to the preset optimization strategy to obtain the comprehensive optimization criterion.

[0126] Wherein, the preset optimization strategy includes the vibration suppression device position optimization configuration criterion and the sensor optimization configuration criterion.

[0127] Exemplarily, the product of the optimization criteria in the vibration suppression device position optimization configuration criterion and the sensor optimization configuration criterion of the preset optimization strategy is divided into two parts. The first part is the arithmetic mean of all singular values, and the second part is the geometric mean of all singular values.

[0128] The vibration suppression device position optimization configuration criterion is specifically as follows:

[0129] (13)

[0130] Wherein, m is the number of main control modes, is the singular value of the controllability Gram matrix, and this value represents the controllability degrees of all main control modes.

[0131] The sensor optimization configuration criterion is specifically as follows:

[0132] (14)

[0133] Wherein, is the singular value of the observability Gram matrix, and this value represents the observability degrees of all main control modes.

[0134] In the process of optimizing the positions of the actuator and the sensor, the analytical forms of the controllability Gram matrix and the observability Gram matrix can be substituted into the optimization criteria of the above equations (13) and (14). This can reduce the computational amount and avoid solving the high-order Lyapunov equation.

[0135] Based on the calculation of the controllable singular values and the actuator optimization criteria, we first obtained the controllability criterion coefficients. By analyzing the controllability of the system and combining the optimization criteria of the actuator, the influence of each system parameter on the control performance was calculated to determine the controllability criterion coefficients. Similarly, based on the calculation of the observable singular values and the sensor optimization criteria, the observability criterion coefficients were obtained. By evaluating the observability of the system and combining the performance requirements of the sensor, the influence of each parameter on the observation performance was calculated, and finally the observability criterion coefficients were obtained. After obtaining the corresponding controllability criterion coefficients and observability criterion coefficients, since there is a large difference in the order of magnitude, it is necessary to normalize them to convert the two optimization criteria into the same order of magnitude.

[0136] Step 208: Calculate the position according to the comprehensive optimization criterion and the target optimization function to obtain the optimized calculation result.

[0137] Exemplarily, when the position optimization objective function of the vibration suppression device and the sensor is calculated to obtain the maximum value, the position matrix at this time is the optimal installation position.

[0138] In an exemplary embodiment, the singular values are optimized according to a preset optimization strategy to obtain a comprehensive optimization criterion, including:

[0139] Perform data calculation according to the controllable singular values and the actuator optimization criteria to obtain the controllability criterion coefficients; perform data calculation according to the observable singular values and the sensor optimization criteria to obtain the observability criterion coefficients; normalize the controllability criterion coefficients and the observability criterion coefficients to obtain the normalized controllability coefficients and the normalized observability coefficients, and set the normalized controllability coefficients and the normalized observability coefficients as the comprehensive optimization criterion.

[0140] Among them, the preset optimization strategy includes the actuator optimization criterion and the sensor optimization criterion; the singular values include the controllable singular values and the observable singular values.

[0141] Exemplarily, after obtaining the corresponding controllability criterion coefficient Jc and observability criterion coefficient Jo, since there is a large difference in the order of magnitude, it is necessary to normalize them to convert the two optimization criteria Jc and Jo into the same order of magnitude, that is, multiply Jc by 1000 to convert it into the order of magnitude of 102, and similarly divide Jo by 10 to obtain the same order of magnitude of , , , .

[0142] Since the vibration suppression device and the sensor are installed in alignment, two criterion coefficients of the same order of magnitude are combined into a comprehensive optimization criterion J for controllability / observability: . Among them, , is the weight of controllability, is the weight of observability. In this paper, and are taken , that is, the objective function for the position optimization of the vibration suppression device and the sensor is:

[0143] (15).

[0144] In an exemplary embodiment, a method for optimizing the position of a lidar vibration suppression device is provided, and the method includes:

[0145] Construct a position matrix based on the initial position of the radar.

[0146] Perform damping calculation according to the position matrix to obtain a damping matrix.

[0147] Construct a dynamic equation of the installation position based on the position matrix and the damping matrix.

[0148] Construct a sensor equation based on the dynamic equation and the sensor parameters.

[0149] Set the dynamic equation and the sensor equation as the position equation.

[0150] Perform modal analysis on the position equation to obtain a modal form equation.

[0151] Derive according to the state parameters and the modal form equation to obtain a state equation.

[0152] Construct an output equation based on a preset sensor.

[0153] Analyze according to the state equation and the output equation to obtain an analysis matrix equation.

[0154] Analyze the analysis matrix equation to obtain an analysis matrix.

[0155] Determine the singular value based on the analysis matrix.

[0156] Perform data calculation according to the controllable singular value and the actuator optimization criterion to obtain a controllability criterion coefficient.

[0157] Perform data calculation according to the observable singular value and the sensor optimization criterion to obtain an observability criterion coefficient.

[0158] Normalize the controllability criterion coefficient and the observability criterion coefficient to obtain the normalized controllability coefficient and the normalized observability coefficient, and set the normalized controllability coefficient and the normalized observability coefficient as the comprehensive optimization criterion.

[0159] Perform position calculation according to the comprehensive optimization criterion and the target optimization function to obtain the optimized calculation result.

[0160] Determine the target radar position based on the optimized calculation result.

[0161] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown according to the indications of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps in other steps.

[0162] Based on the same inventive concept, the embodiments of the present application also provide a lidar vibration suppression device for implementing the above-mentioned lidar vibration suppression device position optimization method. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more of the following lidar vibration suppression device embodiments can refer to the limitations on the lidar vibration suppression device position optimization method in the above text, and will not be repeated here.

[0163] In one embodiment, as Figure 3 and Figure 4 shown, a lidar vibration suppression device is provided, which is applicable to the lidar vibration suppression device position optimization method described in any of the above embodiments. The lidar vibration suppression device includes a support base 10, a lidar 20, and a suppression module 30. The lidar 20 is arranged on the upper surface of the support base 10, and the suppression module 30 is arranged at the edge of the upper surface of the support base 10.

[0164] Continue to refer to Figure 3 and Figure 4 , the suppression module 30 includes a sensor 310, an actuating assembly 320, and a control assembly 330. The control assembly 330 is arranged beside the sensor 310, and both the actuating assembly 320 and the control assembly 330 are connected to the sensor 310 through a wire harness. Among them, the actuating assembly 320 includes a piezoelectric ceramic actuator.

[0165] Refer to Figure 5 , the upper surface and the lower surface of the sensor 310 are respectively provided with a first electrode 311 and a second electrode 312. The first electrode 311 is connected to the positive pole of the power supply, and the second electrode 312 is connected to the negative pole of the power supply, so as to realize the power supply to the sensor 310.

[0166] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in Figure 6 . The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store lidar position data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it realizes a method for optimizing the position of a lidar vibration suppression device.

[0167] Those skilled in the art can understand that Figure 6 the structure shown in

[0168] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0169] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are realized.

[0170] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by the processor, the steps in the above method embodiments are realized.

[0171] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions.

[0172] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logics, data processing logics based on quantum computing, etc., without limitation.

[0173] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0174] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A method for optimizing the position of a laser radar vibration suppression device, characterized in that: The method comprises: Perform modal analysis on the initial position of the radar to obtain the modal form equation; Performing derivation and analysis based on the modal form equation and state parameters to obtain an analysis matrix equation; Perform optimization calculation according to the analysis matrix equation and the preset optimization strategy to obtain optimization calculation results; The target radar position is determined based on the optimization calculation result.

2. The method according to claim 1, characterized in that: The modal analysis is performed on the initial position of the radar to obtain the modal form equation, including: Constructing a position matrix based on the initial position of the radar; Performing damping calculation according to the position matrix to obtain a damping matrix; constructing a position equation based on the position matrix and the damping matrix; A modal analysis is performed on the position equation to obtain a modal form equation.

3. The method according to claim 2, characterized in that The constructing of the position equation based on the position matrix and the damping matrix comprises: constructing a dynamic equation of the installation position based on the position matrix and the damping matrix; constructing a sensor equation based on the kinetic equation and sensor parameters; The dynamic equation and the sensor equation are set as position equations.

4. The method according to claim 1, characterized in that: The derivation and analysis based on the modal form equation and the state parameters to obtain the analysis matrix equation includes: Derivation is performed based on the state parameters and the modal form equation to obtain a state equation; Build output equations based on preset sensors; An analysis is performed based on the state equation and the output equation to obtain an analysis matrix equation.

5. The method according to claim 1, characterized in that The performing of optimization calculation according to the analysis matrix equation and the preset optimization strategy to obtain the optimization calculation result includes: Perform analysis according to the analytical matrix equation to obtain an analytical matrix; determining singular values ​​based on the analytical matrix; Optimizing the singular values ​​according to the preset optimization strategy to obtain a comprehensive optimization criterion; The position calculation is performed according to the comprehensive optimization criterion and the target optimization function to obtain the optimization calculation result.

6. The method according to claim 5, characterized in that The preset optimization strategy includes an actuator optimization criterion and a sensor optimization criterion; the singular values ​​include controllable singular values ​​and observable singular values; The step of optimizing the singular values ​​according to the preset optimization strategy to obtain a comprehensive optimization criterion includes: Data calculation is performed according to controllable singular values ​​and actuator optimization criteria to obtain controllable criterion coefficients; Calculate data based on observable singular values ​​and sensor optimization criteria to obtain observable criterion coefficients; The controllable criterion coefficient and the observable criterion coefficient are normalized to obtain a normalized controllable coefficient and a normalized observable coefficient, and the normalized controllable coefficient and the normalized observable coefficient are set as a comprehensive optimization criterion.

7. A laser radar vibration suppression device, applicable to the laser radar vibration suppression device position optimization method according to claims 1 to 5, characterized in that: The device comprises: Support base; A laser radar, wherein the laser radar is arranged on the upper surface of the supporting base; The suppression module is arranged at the edge of the upper surface of the support base, and the suppression module includes a sensor, an actuating component and a control component. The control component is arranged next to the sensor, and the actuating component and the control component are both connected to the sensor through a wiring harness.

8. The device according to claim 7, characterized in that The actuating assembly includes a piezoelectric ceramic actuator.

9. The device according to claim 7, characterized in that A first electrode is disposed on the upper surface of the sensor, and a second electrode is disposed on the lower surface of the sensor. The first electrode and the second electrode are connected to a power source.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

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