CN109060146B - Scanning galvanometer control system for area array infrared wide area imaging - Google Patents
Scanning galvanometer control system for area array infrared wide area imaging Download PDFInfo
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Abstract
The invention discloses a scanning galvanometer control system for area array infrared wide area imaging, which comprises an interface module, a control module, a driving module and an interface unit, wherein each module is integrated in an area array thermal imager; the interface module acquires a control end instruction of the wide area imaging system through two data lines, converts the instruction into parallel data and transmits the parallel data to the control module; the control module analyzes the instruction, and can also independently solve the information of the encoder and the gyroscope to obtain angle compensation information; the driving module is connected with the control module and drives the single-shaft or double-shaft galvanometer to perform scanning motion. The method solves the problem of imaging blurring caused by the motion of the thermal imager in the area array infrared wide area imaging system of periodic scanning, reciprocating scanning or two-dimensional scanning and the like, and the technical scheme of the invention can compensate the motion of the area array detector in integral imaging, so that the thermal imager can be imaged clearly when in motion, and further a clear wide area image is spliced in the imaging system.
Description
Technical Field
The invention belongs to the technical field of area array infrared wide area imaging, and particularly relates to a scanning galvanometer control system for area array infrared wide area imaging.
Background
In the area array infrared wide area imaging system, the imaging system controls an area array thermal imager to carry out reciprocating scanning, periodic scanning or two-dimensional scanning and other modes through a servo platform to obtain a single scene image of a scene in a certain area, and then the wide-area scene infrared image is obtained through image splicing.
The area array detector can be stared for imaging, but the area array detector needs longer integration time in the imaging process, wherein the long wave area array detector needs hundreds of microseconds, and the medium wave area array detector is in the millisecond level.
The high-speed rotation of the servo platform easily causes the trailing phenomenon of scenes in the formed images to cause the fuzzy phenomenon, so that the signal to noise ratio of the target is reduced, and the subsequent image splicing or target extraction is not facilitated.
The turntable speed can be reduced in order to inhibit the trailing phenomenon, but the imaging period of the system is increased, and the real-time performance is reduced. Meanwhile, the shaking of the platform can also cause image shaking, so that the wide-area imaging image has an unstable phenomenon.
Disclosure of Invention
The invention aims to provide a scanning galvanometer control system for area array infrared wide area imaging according to the defects of the prior art, and solves the problems of imaging blurring, shaking and the like caused by the motion of an area array thermal imager in area array infrared wide area imaging systems such as periodic scanning, reciprocating scanning or two-dimensional scanning and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows: a scanning galvanometer control system for area array infrared wide area imaging, comprising: the driving module and the interface unit are used for driving the single-axis/double-axis scanning galvanometer to perform scanning motion and comprise a regulator, a trap circuit, a following circuit, a driving circuit (driving power amplifier), a differential amplifying circuit, a power supply module and an AGC power supply for supplying power to the single-axis/double-axis scanning galvanometer; the control module is connected with an image acquisition end, an angle encoder and a gyroscope of the wide-area imaging system and a driving module to generate an image acquisition trigger signal, analyzes the instruction transmitted by the image acquisition end and the interface module, controls the driving module, and can independently resolve information of the angle encoder and the gyroscope and acquire an angle instruction (angle compensation information) through the interface unit; the control module and the driving module are integrated in the area array thermal imager.
The scanning galvanometer control system for area array infrared wide area imaging further comprises an interface module integrated in the area array thermal imager, the interface module is connected with the control module and the control end of the wide area imaging system, and all instructions of the wide area imaging system end are obtained through two data lines and converted into parallel data to be sent to the control module. The interface module adopts FPGA as a core controller, obtains an angle instruction and an operation instruction sent by a control end of the wide area imaging system through 1 path of clock line and 1 path of data line, determines a two-line data protocol through negotiation with the system end, converts the data quantity to be not less than 2Mb/s, and converts each instruction into 16-bit parallel data through the interface module and sends the data to the control module. The interface module is an optional module.
The scanning galvanometer control system for area array infrared wide area imaging is characterized in that the interface unit comprises an external interface, an internal interface and an isolating circuit. The external interface comprises: the system comprises a power interface, two-way data interfaces, a trigger signal interface, an absolute grating encoder interface, an incremental encoder interface, an SPI interface, a 422 serial port, an I2c interface and a scanning motor interface; and the external interfaces carry out data isolation. The internal interface includes: 16-bit parallel data interface, 3-bit read-write control line interface, scanning galvanometer angle information interface, drive module output control interface and angle instruction interface.
The scanning galvanometer control system for area array infrared wide area imaging is characterized in that a driving module adopts a low-voltage high-current high-power supply module, an adjustable amplifying circuit (an adjustable resistor) in a regulator is used for adjusting angle instruction amplitude and bias, and the resistance value of the adjustable resistor is adjusted according to the deblurring imaging effect of a wide area imaging system end so as to compensate angle instruction errors and enable the deblurring effect to be optimal; the high-precision AGC power supply supplies power to a position sensor of the scanning galvanometer, a position signal of the scanning galvanometer is obtained by a position sensor signal through a differential amplification circuit, the amplitude of the position signal of the scanning galvanometer is proportional to the AGC power supply voltage, and then the proportion of the amplitude of the position signal of the scanning galvanometer to the actual scanning angle is adjusted.
The drive module also comprises a PID/PD controller, the PID/PD controller generates a control signal according to an angle instruction and scanning galvanometer angle feedback information, and the control signal enters a drive circuit to drive the scanning galvanometer to scan and move according to a given control instruction. According to the requirement of accuracy or rapidity, the angle instruction and the scanning galvanometer angle feedback information generate control signals through a PID/PD controller, the control signals pass through the two-stage adjustable trap circuit and then enter the driving circuit through the following circuit, so that the scanning galvanometer is driven to scan and move according to the given control instruction, and the driving circuit is switched on and off according to the operation instruction.
The control module adopts a DSP as a core processor, automatically calculates an angle encoder to obtain scanning galvanometer scanning compensation quantity required by deblurring, calculates gyroscope information to obtain a thermal imager attitude angle to obtain scanning galvanometer scanning compensation quantity required by image stabilization, and combines the two compensation quantities into an angle instruction, so that the scanning galvanometer control system has independent working capacity and reduces power consumption; and after high-precision DA conversion is carried out on the angle instruction, the driving module is controlled, and the operating instruction is output through a level signal to control the output of the driving module. The control module generates a trigger signal through an eQEP module in the control module DSP in a linear interval of motion in the integral imaging of the complete compensation area array detector, and controls the single-field image acquisition of the thermal imager. The control module converts the scanning galvanometer position signal acquired by the driving module through the high-precision AD module, and the trigger signal precision is improved.
The invention has the beneficial effects that:
1. the invention is integrated in the thermal imager of the area array, the thermal imager of the area array can rely on the control end of the wide area imaging system to finish the motion compensation, and can also automatically resolve the information of the angle encoder and the gyroscope to finish the motion compensation, thus increasing the adaptability of the thermal imager of the area array.
2. The interface module of the invention adopts a two-wire communication mode, the two-wire data protocol is determined by consulting with the system end, the use is convenient, the overhead of a data communication wire is reduced, the data volume is not less than 2Mb/s, and the requirement of instruction transmission can be met.
3. The invention provides a plurality of external interface units, which are compatible with a plurality of types of angle encoders, gyroscopes and other attitude sensors and are convenient for the area array thermal imager to automatically calculate the compensation quantity of the scanning galvanometer.
4. The invention is suitable for one-dimensional circumferential scanning, reciprocating scanning and two-dimensional scanning.
Drawings
FIG. 1 is a functional block diagram of the present invention;
FIG. 2 is a schematic diagram of a two-wire communication protocol of an interface module and an imaging system according to the present invention;
FIG. 3 is a functional block diagram of the drive circuit of the present invention;
FIG. 4 is a schematic diagram of a scanning galvanometer position sensor signal differential amplification circuit of the present invention;
fig. 5 is a schematic diagram of a two-stage tunable trap circuit of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides a scanning galvanometer control system for area array infrared wide area imaging. FIG. 1 is a schematic block diagram of the present invention; the method comprises the following steps: the thermal imaging system comprises an interface module, a control module, a driving module and an interface unit, wherein all the modules are integrated in the thermal imaging system. The interface module acquires each instruction of the wide area imaging system end through two data line interfaces, converts the instruction into parallel data and transmits the parallel data to the control module, and the interface module is an optional module; the control module analyzes and controls the driving module for the instruction, the control module can independently solve the encoder and the gyroscope information through an interface to obtain an angle instruction, and the control module generates an image acquisition trigger signal; the driving module is connected with the control module and drives the single-shaft or double-shaft galvanometer to perform scanning motion.
The interface module adopts FPGA as a core controller, an angle instruction and an operation instruction sent by a control end of a wide area imaging system are obtained through 1 path of clock line and 1 path of data line, a two-line data protocol is determined through negotiation with the system end, the data volume is not less than 2Mb/s, the instruction transmission requirement of the imaging system can be met, as shown in figure 2, the frequency of the 1 path of data line is 2M/Hz, the 1 path of data line is a data line, 64 bits of data are 1 period, 1 clock of a starting bit is high level, then 20 bits of data from high level to low level are obtained, the data enters an idle period after the data transmission is finished and is always low level until the high level is generated, and new data transmission is started.
Each instruction is converted into 16-bit parallel data through an interface module, the data is sent to a control module, conversion from high-speed data transmission to low-speed data operation is completed, and the interface module is an optional module.
The control module adopts DSP as a core processor, resolves each instruction input by the interface module, if the interface module is not selected, the control module can automatically resolve an encoder to obtain scanning compensation amount of a scanning mirror required by deblurring, resolves gyroscope information to obtain attitude angle of the thermal imager to obtain scanning compensation amount of the scanning mirror required by image stabilization, and combines the two compensation amounts into an angle instruction, so that the scanning mirror control system has independent working capacity and reduces power consumption; the scanning mirror control system has independent working capacity and reduces power consumption; the method comprises the steps of obtaining angle encoder information through an enhanced orthogonal coding module eQEP or an external interface in a DSP, calculating the rotating speed of a servo platform through a frequency measurement method (M method) or a speed measurement method (T method), and obtaining attitude information of a thermal imager through a gyroscope by adopting a four-element method, wherein the specific method comprises the following steps:
in the formula (I), wherein
，
，
，
Four elements of a quaternion, there is a one-to-one correspondence between the quaternion and the euler angle,
in order to be the azimuth angle,
in order to be the pitch angle,
is a roll angle.
After the angle instruction is resolved, the angle instruction is converted into an analog quantity control driving module after high-precision DA conversion, and a level signal is output to the operation instruction to control the output of the driving module; in a linear interval of motion in the integral imaging of the complete compensation area array detector, an eQEP module in a control module DSP generates a trigger signal to control the single-field image acquisition of the thermal imager, and the control module converts a scanning galvanometer position signal acquired by a driving module through a high-precision AD module, so that the precision of the trigger signal is improved.
As shown in fig. 3, the driving module can drive a single-axis or dual-axis scanning galvanometer (1-way or 2-way scanning galvanometer), and a low-voltage high-current high-power module is adopted to meet the use requirement of the single-axis/dual-axis scanning galvanometer; the angle instruction adjusts the amplitude and the offset through an adjustable amplifying circuit in the adjuster, the amplitude and the offset of the angle instruction are adjusted through an adjustable resistor, and the resistance value of the adjustable resistor is adjusted according to the deblurring imaging effect of the wide area imaging system end so as to compensate the error of the angle instruction and enable the deblurring effect to be optimal; the driving module adopts a high-precision AGC power supply to supply power for the scanning galvanometer position sensor, the position sensor signal obtains a scanning galvanometer position signal through a differential amplifying circuit, the amplitude of the scanning galvanometer position signal is proportional to the AGC power supply voltage, and then the proportion of the amplitude of the scanning galvanometer position signal to the actual scanning angle is adjusted.
As shown in fig. 4, which is a schematic diagram of a differential amplifier circuit, the R7= R8 scanning galvanometer position OUTPUT in the diagram is:
OUTPUT=
in the formula: IA, IB are position sensor signals.
The angle instruction and the angle information pass through the selectable PID controller, the PID/PD control circuit is selected to generate a control signal according to the accuracy or rapidity requirement, the control signal passes through the two-stage adjustable trap circuit, and as shown in figure 5, the two-stage trap circuit filters two-order resonant frequency of the scanning galvanometer, wherein:
the gain of the trap is calculated as:
the resonant frequency is calculated as follows:
wherein C is
，
Fr1 is the first order notch frequency,
the second order resonant frequency dependent parameter can be calculated similarly.
The control signal enters the driving circuit through the following circuit, so that the scanning galvanometer is driven to scan according to a given control instruction, and the driving circuit is switched on and off according to an operation instruction.
The interface unit comprises an external interface, an internal interface and an isolation circuit; the external interface comprises a power supply interface, two data interfaces, a trigger signal interface, an absolute grating encoder interface, an incremental encoder interface, an SPI interface, a 422 serial interface, an I2c interface and a scanning motor interface, and the external interfaces are all used for data isolation. The internal interface includes: 16-bit parallel data interface, 3-bit read-write control line interface, scanning mirror angle information interface, drive module output control interface and angle instruction interface.
The above-described embodiments are merely illustrative of the principles and effects of the present invention, and some embodiments may be applied, and it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the inventive concept of the present invention, and these embodiments are within the scope of the present invention.
Claims (8)
1. The utility model provides a scanning galvanometer control system for infrared wide area imaging of area array which characterized in that: comprises that
The driving module and the interface unit are used for driving the single-axis/double-axis scanning galvanometer to perform scanning motion and comprise a regulator, a trap circuit, a following circuit, a driving circuit, a differential amplifying circuit, a power supply module and an AGC power supply for supplying power to the single-axis/double-axis scanning galvanometer;
the control module is connected with an image acquisition end, an angle encoder, a gyroscope and a driving module of the wide-area imaging system, analyzes the instructions transmitted by the image acquisition end and the interface module, independently resolves information of the angle encoder and the gyroscope through the interface unit and obtains angle instructions;
the system also comprises an interface module integrated in the area array thermal imager, the interface module is connected with the control module and the control end of the wide area imaging system, and is used for acquiring instructions of the wide area imaging system end through two data lines, converting the instructions into parallel data and transmitting the parallel data to the control module;
the interface unit comprises an external interface, an internal interface and an isolation circuit;
the control module, the driving module, the interface module and the interface unit are integrated in the area array thermal imager.
2. The scanning galvanometer control system for area array infrared wide area imaging, as claimed in claim 1, wherein the interface module employs FPGA as a core controller, and obtains an angle command and an operation command sent by a control terminal of the wide area imaging system through 1 clock line and 1 data line, the two-line data protocol is determined through negotiation with the system terminal, the data amount is not less than 2Mb/s, and each command is converted into 16-bit parallel data through the interface module and sent to the control module.
3. The scanning galvanometer control system for area array infrared wide area imaging according to claim 1, wherein the external interface comprises: the system comprises a power interface, two-way data interfaces, a trigger signal interface, an absolute grating encoder interface, an incremental encoder interface, an SPI interface, a 422 serial port, an I2c interface and a scanning motor interface; and the external interfaces carry out data isolation.
4. The scanning galvanometer control system for area array infrared wide area imaging according to claim 1, wherein the internal interface comprises: 16-bit parallel data interface, 3-bit read-write control line interface, scanning galvanometer angle information interface, drive module output control interface and angle instruction interface.
5. The scanning galvanometer control system for area array infrared wide area imaging, as claimed in claim 1, characterized in that the driving module employs a low voltage, high current and high power supply module, and the angle command amplitude and offset are adjusted by an adjustable amplifying circuit in the adjuster to compensate the angle command error; and the AGC power supply supplies power to the position sensor of the scanning galvanometer.
6. The scanning galvanometer control system for area array infrared wide area imaging, as claimed in claim 5, wherein the driving module further comprises a PID/PD controller, the PID/PD controller generates a control signal according to the angle command and the scanning galvanometer angle feedback information, and the control signal enters the driving circuit to drive the scanning galvanometer to scan according to the given control command.
7. The scanning galvanometer control system for area array infrared wide area imaging according to claim 1, characterized in that the control module adopts a DSP as a core processor, automatically calculates an angle encoder to obtain scanning compensation amount of the scanning galvanometer required for deblurring, calculates gyroscope information to obtain attitude angle of a thermal imager to obtain scanning compensation amount of the scanning galvanometer required for image stabilization, and combines the two compensation amounts into an angle instruction, so that the scanning galvanometer control system has independent working capacity and reduces power consumption.
8. The scanning galvanometer control system for area array infrared wide area imaging, as claimed in claim 7, wherein the control module controls thermal imager single field image acquisition by controlling eQEP module in DSP to generate trigger signal.
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| CN110032130B (en) * | 2019-06-14 | 2019-08-23 | 江苏域盾成鹫科技装备制造有限公司 | A kind of simulation galvanometer sensor digital system |
| US11311266B2 (en) | 2020-06-29 | 2022-04-26 | Uih America, Inc. | Systems and methods for limited view imaging |
| CN113376225B (en) * | 2021-01-20 | 2023-03-14 | 中国科学技术大学 | High-resolution imaging device for nano material and imaging analysis method thereof |
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