CN106094391B - Focus control method applied to star loaded camera - Google Patents
Focus control method applied to star loaded camera Download PDFInfo
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- CN106094391B CN106094391B CN201610595838.9A CN201610595838A CN106094391B CN 106094391 B CN106094391 B CN 106094391B CN 201610595838 A CN201610595838 A CN 201610595838A CN 106094391 B CN106094391 B CN 106094391B
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- focusing
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- arm microprocessor
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- stepper motor
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
- G03B13/32—Means for focusing
- G03B13/34—Power focusing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Automatic Focus Adjustment (AREA)
- Studio Devices (AREA)
Abstract
Applied to the focusing control system and focus control method of star loaded camera, it is related to spaceborne mechanism control system design field, including stepper motor, stepper motor driving circuit and camera focal plane；It is characterized in that；Further include ARM microprocessor and back springing type magnetic linear displacement sensor；Back springing type magnetic linear displacement sensor is vertically mounted on camera focal plane rear, obtains analog voltage when camera focal plane linear movement, and analog voltage is sent to ARM microprocessor；ARM microprocessor calculates the rotation step number and directional information of stepper motor according to the camera focal plane preset position that center machine is sent, and then sends drive signal to stepper motor driving circuit, and camera focal plane is made to reach pre- focusing position；The difference for the order that ARM microprocessor is sent according to center machine is realized and is focused to the closed loop focusing and open loop of star loaded camera.The method of the invention has the characteristics that of low cost, circuit complexity is low, data processing is simple.
Description
Technical field
The present invention relates to microsatellite mechanism control system design fields, and in particular to a kind of to utilize back springing type straight-line displacement
Sensor and star loaded camera focusing system design and implementation methods based on microminiature ARM microprocessor.
Background technology
Along with the fast development of aerospace industry, it is used widely by the moonlet of core of camera load, space is distant
Feel the image quality, visual field, resolution ratio of image becomes extraneous focus of attention gradually.Moonlet can essence due to the advantage of volume
Gesture stability and adjustment really are completed, camera is allow to save bias current adjusting mechanism.But the residing delivery of star loaded camera and environment
Variation, such as shock and vibration, temperature, pressure, distance uncontrollable factor, may lead to the refraction of lens in Space Optical System
The variations such as rate, thickness, radius of curvature, lens material internal force, distorted reflector, metal structure, these miniature deformations can all make sky
Between camera defocus, seriously affect image quality.In order to ensure space camera obtain optimum resolution image, it is necessary to focal plane into
Row compensation, focusing system just become an important component of star loaded camera, 51 microcontrollers, code-disc are used under traditional mode
The closed loop focusing function of system is completed with photoelectric conversion circuit, this design peripheral circuit is complicated, quality is heavy, of high cost, volume
Greatly, the direction of moonlet future development is not met.51 microcontrollers since its own resource is limited, required peripheral hardware is more, volume is big,
Power consumption is high, the speed of service has been replaced by more ARM microprocessors, but due to the requirement of space flight reliability, still accounted for slowly
There is one seat.With the raising of manufacture craft, stability and reliability greatly improves ARM chips, and relies on its price low
The features such as honest and clean, resourceful, low in energy consumption, is gradually suitable for inexpensive microsatellite system.
In order to realize being accurately positioned and measuring for position of focal plane, focusing system must there are one feedback signals to form closed loop.
Now, the device that can provide this feedback signal includes mainly rotary transformer, potentiometer, magnetic linear displacement sensor, magnetic
The equipment such as encoder, photoelectric encoder.Potentiometer is typical contact type angle sensor, and there are one on the materials such as carbon resistance
Sliding contact, the shift position of this variable resistance and angle sliding contact is proportional.Touch sensor it is intrinsic
Disadvantage is service life and limited reliability；Rotary transformer is the feedback coder exported by cosine and sinusoidal signal.
When the shaft is rotated, the feedback signal of rotary transformer can provide absolute location information, but it is poor with low-speed performance, decoding electricity
Road is sufficiently complex, electromagnetism interference performance is weak, the shortcomings of involving great expense；Photoelectric encoder is typical contactless, digitlization
Angle transducer calculates focal plane physical location by measuring turbine and worm rotational angle and mechanism reduction ratio, and precision is high, contactless mill
Broken, high resolution；Magnetic linear displacement sensor (LDT) is the feedback transducer for measuring linear movement, is suitable for straight line
Position traverse measurement can act directly at focal plane, it is contactless without abrasion, reliability is high, small, anti-interference ability
By force, easy to maintain, interface is simple, cheap, although precision be less than photoelectric encoder, meet focal plane index accuracy enough.
For blank of the camera space focusing system based on back springing type magnetic linear displacement sensor and ARM microprocessor
Use limitation, it is necessary to propose a kind of low, low in energy consumption, at low cost, mechanism size for cheap microsatellite circuit complexity
It is small to be easy to modular star loaded camera focusing system design and implementation methods.
Invention content
The present invention be solve the focusing control system of existing star loaded camera there are circuit structures complicated, data processing is cumbersome,
The problems such as poor reliability and low precision, provides a kind of focusing control system and focus control method applied to star loaded camera.
Applied to the focusing control system of star loaded camera, including stepper motor, stepper motor driving circuit and camera focal plane；
It is characterized in that；Further include ARM microprocessor and back springing type magnetic linear displacement sensor；
The back springing type magnetic linear displacement sensor is vertically mounted on camera focal plane rear, obtains camera focal plane straight line and moves
Analog voltage when dynamic, and the analog voltage is sent to ARM microprocessor；The ARM microprocessor is according to center machine
The camera focal plane preset position of transmission calculates the rotation step number and directional information of stepper motor, then to stepper motor driving circuit
Drive signal is sent, the stepper motor driving circuit Driving Stepping Motor makes camera focal plane reach pre- focusing position；It is described
The difference for the order that ARM microprocessor is sent according to center machine is realized and is focused to the closed loop focusing and open loop of star loaded camera.
Applied to the focus control method of star loaded camera, this method is realized by following steps：
Step 1: adjustment focusing transmission mechanism and straight-line motion mechanism, stepper motor is mounted on focusing transmission mechanism；
Step 2: the measuring probe of back springing type magnetic linear displacement sensor is withstood on to position and the fixation of camera focal plane,
The pushed up position feedback analog voltage of probe is received by ARM microprocessor；
Step 2: the measuring probe of back springing type magnetic linear displacement sensor is mounted on camera focal plane rear and fixation,
The analog voltage of back springing type magnetic linear displacement sensor feedback when ARM microprocessor acquires camera focal plane movement；
Step 3: the ARM microprocessor is instructed according to the focusing that center machine is sent, focus；If what is received is
The instruction of open loop focusing, the focussing process of ARM microprocessor are：
Step 3 one receives the open loop focusing step number that center machine is sent；
Step 3 two, the drive signal that a sequential is sent to stepper motor driving circuit, while step number of focusing subtracts 1；
Step 3 three judges whether focusing step number is 0, if not, returning to step three or two；If so, focusing is completed；
If the instruction of the closed loop focusing received, the focussing process of ARM microprocessor are：
Step 3 four receives the closed loop focusing preset position information that center machine is sent；
Step 3 five, ARM microprocessor read the value of back springing type magnetic linear displacement sensor；
Step 3 six, step number of being focused according to the mathematic interpolation of the sensor of preset position and reading；
Step 3 seven, the drive signal that a sequential is sent to motor-drive circuit, while step number of focusing subtracts 1；
Step 3 eight judges whether focusing step number is 0, if so, executing step 3 nine；If not, executing step 3 seven；
Step 3 nine, ARM microprocessor read the value of back springing type magnetic linear displacement sensor；
Step 3 ten judges that whether read the value of sensor and preset position difference is less than closed loop thresholding, holds if not, returning
Row step 3 six；If so, focusing is completed.
Beneficial effects of the present invention：The present invention is according to the requirement of microsatellite focusing system, using back springing type magnetic linear
Displacement sensor and the design and realization that star loaded camera focusing system is carried out based on microminiature ARM microprocessor, make to focus on star
System has the characteristics that of low cost, circuit complexity is low, data processing is simple, reliability is high, precision is high, is very suitable for micro-
Moonlet focusing system.Embody the following：
One, the present invention is exported using back springing type magnetic linear displacement sensor as focal plane measuring device as three-wire system.Position
Displacement sensor output voltage amount can directly be acquired by ARM, not need RS422S data communication lines.Line is simple, easy to control,
Supply voltage is optional, AD acquisition precisions are high.
Two, displacement sensor probe directly acts on focal plane in the present invention, and different tradition measures turbine snail using encoder
The method that bar and focal plane measure position fitting.This method precision and reliability higher, easily designed and installation.
Three, it is not to be powered always that focusing system is in-orbit in the present invention, it is possible to reduce its single-particle inversion and bolt-lock problem,
Completely can using the small ARM chips of technical grade as the processor of focusing system, its own is resourceful, processing speed is fast,
It is of low cost, low in energy consumption, vacuum high/low temperature condition still can be with normal operation.
Four, stepper motor driving circuit is connected using multiple metal-oxide-semiconductor cascades in the present invention, ensures that a metal-oxide-semiconductor is hit
It wears back driving circuit still to work normally, driving front end is isolated using triode level-one, digital signal and analog signal isolating.
The driving circuit can improve the reliability that space works without motor under backup instances.
Five, for ARM microprocessor individually at erection system, a whole set of focusing system externally only has power supply and center machine logical in the present invention
Believe interface, it is more convenient in focusing test, focusing environmental test, it is easy to modularization.
Description of the drawings
Fig. 1 is the functional block diagram of the focusing control system of the present invention applied to star loaded camera；
Fig. 2 is the flow chart of the focus control method of the present invention applied to star loaded camera.
Specific implementation mode
Specific implementation mode one, embodiment is described with reference to Fig. 1, is applied to the novel focusing control system of star loaded camera
System, including ARM microprocessor, stepper motor, stepper motor driving circuit, center machine, focusing transmission mechanism, straight-line motion mechanism
With back springing type magnetic linear displacement sensor；
Back springing type magnetic linear displacement sensor substitution conventional codec described in present embodiment completes position of focal plane
It measures, sensor measurement is visited and is mounted on focal plane rear, the 12 AD completions pair carried using the small ARM microprocessor of technical grade
Analog voltage acquisition, quantization and the coding of displacement sensor output, obtain position of focal plane at this time, ARM microprocessor is further according in
The pre- focusing position quantity that scheming provides calculates the rotation step number of stepper motor, direction, then exports the motor driving of respective numbers
Electromotive signal.Driving motor makes focal plane reach preset position.The ARM microprocessor according to receive center machine instruction difference
The closed loop and opened loop control of camera focal plane may be implemented.Finally focal plane is made to reach desired location.
Stepper motor driving circuit described in present embodiment completes the level conversion for export ARM microprocessor as can be with
Control the drive signal of motor rotation；Focusing transmission mechanism and straight-line motion mechanism complete motor and turn to focal plane linear movement
Connect work；Back springing type magnetic linear displacement sensor is fed back when back springing type magnetic linear displacement sensor moves linearly focal plane
Analog voltage feed back to ARM microprocessor.
The output of back springing type magnetic linear displacement sensor described in present embodiment be three-wire system, i.e. a power cord,
A piece analog voltage line, a ground wire.Displacement sensor, which exports analog quantity, directly to acquire utilization by ARM, need not be additional
RS422S data communication lines.Line is simple, easy to control, and supply voltage is optional, AD acquisition precisions are high.Back springing type is magnetic straight
The measuring probe of linear movement pick-up directly acts on camera focal plane, carries out directly measuring output respective mode to camera focal plane depth
Analog quantity voltage, different tradition measure the method that turbine and worm and camera focal plane measure position fitting using encoder.This method essence
Degree and reliability higher, easily designed and installation.
Stepper motor driving circuit described in present embodiment uses field-effect tube cascade, ensures that a metal-oxide-semiconductor is hit
It wears back driving circuit still to work normally, driving front end is isolated using triode level-one, digital signal and analog signal isolating.
The driving circuit can improve the reliability that space works without motor under backup instances.
For ARM microprocessor described in present embodiment individually at erection system, a whole set of focusing system externally only has power supply in
Scheming communication interface, it is more convenient in focusing test, focusing environmental test, it is easy to modularization.
The in-orbit focusing control system applied to star loaded camera described in present embodiment is not to be powered always, can be subtracted
Its few single-particle inversion and bolt-lock problem, completely can using the small ARM chips of technical grade as the processor of focusing system,
Own resource is abundant, processing speed is fast, of low cost, low in energy consumption, experiments have shown that vacuum high/low temperature condition still can be normal
Operation.
Specific implementation mode two, embodiment is described with reference to Fig. 2, and present embodiment is described in specific implementation mode one
The focus control method of novel focusing control system applied to star loaded camera, this method are realized by following steps：
One, according to focusing Demand Design focusing transmission mechanism, straight-line motion mechanism, stepper motor is mounted on transmission mechanism
On, and confirm decelerating through motor ratio；
Two, using back springing type magnetic linear displacement sensor as the device for measuring feedback signal, probe tightly withstands on camera
Position of focal plane and fixation, pop one's head in pushed up position feedback analog voltage amount among the range near, it is ensured that focal plane is elastic all to exist
Within the scope of sensor measurement.
Three, the ARM microprocessor is instructed according to the focusing that center machine is sent, and is focused；If what is received is open loop
The focussing process of the instruction of focusing, ARM microprocessor is：
Step 3 one receives the open loop focusing step number that center machine is sent；
Step 3 two, the drive signal that a sequential is sent to stepper motor driving circuit, while step number of focusing subtracts 1；
Step 3 three judges whether focusing step number is 0, if not, returning to step three or two；If so, focusing is completed；
If the instruction of the closed loop focusing received, the focussing process of ARM microprocessor are：
Step 3 four receives the closed loop focusing preset position information that center machine is sent；
Step 3 five, ARM microprocessor read the value of back springing type magnetic linear displacement sensor；
Step 3 six, step number of being focused according to the mathematic interpolation of the sensor of preset position and reading；
Step 3 seven, the drive signal that a sequential is sent to motor-drive circuit, while step number of focusing subtracts 1；
Step 3 eight judges whether focusing step number is 0, if so, executing step 3 nine；If not, executing step 3 seven；
Step 3 nine, ARM microprocessor read the value of back springing type magnetic linear displacement sensor；
Step 3 ten judges that whether read the value of sensor and preset position difference is less than closed loop thresholding, holds if not, returning
Row step 3 six；If so, focusing is completed.
The minimum system centered on ARM microprocessor is designed in present embodiment, it is independent at case, mainly by ARM microprocessors
The compositions such as device module, motor drive module, power module, signal acquisition module.Wherein, motor driving is using series connection field-effect tube
Design, driving front end are isolated using triode level-one, improve space motor functional reliability.
Back springing type magnetic linear displacement sensor and stepper motor are connected to above-mentioned minimum system electricity by present embodiment
Case.Software is downloaded by downloading mouth, software section includes mainly：Interrupt service subroutine：It is mainly used to control the rotation of motor
The instruction that frequency and responsing center's machine issue；Displacement sensor acquires subprogram：It is substantially carried out displacement sensor analog voltage
AD acquisitions, quantization, coding and processing, focus for closed loop and use；RS422 communicates subprogram：RS422 communicates subprogram and receives center
Computer instruction feeds back position of focal plane information simultaneously；Watchdog reset subprogram：Processor gives built-in house dog timing dog-feeding, really
It resets and restarts when protecting program fleet；Open loop focusing subprogram：Send four respective numbers drive level signals of motor；Closed loop is focused
Subprogram：It constantly acquires practical position of focal plane and sends drive level signal, camera focal plane is made to reach preset position.
Focus adjustment method described in present embodiment measures turbine and worm station acquisition and focal plane instead of conventional codec
The method of position linearity fitting.But directly withstand on displacement sensor probe at focal plane, when being moved linearly by focal plane
The voltage analog of feedback directly measures focal plane depth.It is simulated for the first time using technical grade microminiature ARM microprocessor simultaneously
Amount acquisition, center machine communication and focusing motor drive signal generate, and keep focusing system individually controllable and realize closed loop focusing and open
Ring two kinds of functions of focusing.ARM microprocessor and the equal first Application of linear displacement transducer in the whole series design are focused in space flight is
In system, this method has the characteristics that of low cost, circuit complexity is low, data processing is simple, reliability is high, precision is high.It is practical
Control accuracy of focusing in is suitable for inexpensive microsatellite and uses up to 6um.
Claims (3)
1. applied to the focus control method of star loaded camera, including focusing control system, the focusing control system include stepping
Motor, stepper motor driving circuit, camera focal plane ARM microprocessor and back springing type magnetic linear displacement sensor；
The back springing type magnetic linear displacement sensor is vertically mounted on camera focal plane rear, when obtaining camera focal plane linear movement
Analog voltage, and the analog voltage is sent to ARM microprocessor；The ARM microprocessor is sent according to center machine
Camera focal plane pre- focusing position calculate stepper motor rotation step number and directional information, then to stepper motor driving circuit
Drive signal is sent, the stepper motor driving circuit Driving Stepping Motor makes camera focal plane reach the pre- focusing position；Institute
The difference for the order that ARM microprocessor is sent according to center machine is stated, realizes and focuses to the closed loop focusing and open loop of star loaded camera；Also
Including focusing transmission mechanism and straight-line motion mechanism, the stepper motor is fixed on focusing transmission mechanism, the camera focal plane
It is fixed on straight-line motion mechanism；It is characterized in that focus control method is realized by following steps：
Step 1: adjustment focusing transmission mechanism and straight-line motion mechanism, stepper motor is mounted on focusing transmission mechanism；
Step 2: the measuring probe of back springing type magnetic linear displacement sensor to be withstood on to position and the fixation of camera focal plane, pop one's head in
Pushed up position feedback analog voltage is received by ARM microprocessor；
Step 3: the ARM microprocessor is instructed according to the focusing that center machine is sent, focus；If what is received is open loop
The focussing process of the instruction of focusing, ARM microprocessor is：
Step 3 one receives the open loop focusing step number that center machine is sent；
Step 3 two, the drive signal that a sequential is sent to stepper motor driving circuit, while step number of focusing subtracts 1；
Step 3 three judges whether focusing step number is 0, if not, returning to step three or two；If so, focusing is completed；
If the instruction of the closed loop focusing received, the focussing process of ARM microprocessor are：
Step 3 four receives the pre- focusing position information of closed loop that center machine is sent；
Step 3 five, ARM microprocessor read the value of back springing type magnetic linear displacement sensor；
Step 3 six, step number of being focused according to the mathematic interpolation of pre- focusing position and the sensor of reading；
Step 3 seven, the drive signal that a sequential is sent to motor-drive circuit, while step number of focusing subtracts 1；
Step 3 eight judges whether focusing step number is 0, if so, executing step 3 nine；If not, executing step 3 seven；
Step 3 nine, ARM microprocessor read the value of back springing type magnetic linear displacement sensor；
Step 3 ten judges whether read the value of back springing type magnetic linear displacement sensor and pre- focusing alternate position spike is less than closed loop door
Limit, if not, returning to step three or six；If so, focusing is completed.
2. the focus control method according to claim 1 applied to star loaded camera, which is characterized in that the stepper motor
Driving circuit is connected using multiple metal-oxide-semiconductors, and in the front end connecting triode of driving circuit.
3. the focus control method according to claim 1 applied to star loaded camera, which is characterized in that the back springing type magnetic
Property linear displacement transducer output use three-wire system.
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| CN201610595838.9A CN106094391B (en) | 2016-07-27 | 2016-07-27 | Focus control method applied to star loaded camera |
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| CN111880283A (en) * | 2020-08-24 | 2020-11-03 | 长春通视光电技术有限公司 | Control system of zoom optical system |
| CN113660403B (en) * | 2021-08-23 | 2023-06-02 | 长春理工大学 | Satellite-borne ultra-miniature monitoring camera |
| CN116819854B (en) * | 2023-08-31 | 2023-11-07 | 长光卫星技术股份有限公司 | Focusing driving system and method for remote sensing satellite load subsystem and mechanical shell |
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| US20050212953A1 (en) * | 2004-03-23 | 2005-09-29 | Alex Kuo | Piezoelectric focusing apparatus and method for the same |
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