CN109391776B - Focusing compensation control method for photoelectric pod continuous zooming infrared assembly - Google Patents

Focusing compensation control method for photoelectric pod continuous zooming infrared assembly Download PDF

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CN109391776B
CN109391776B CN201811498057.3A CN201811498057A CN109391776B CN 109391776 B CN109391776 B CN 109391776B CN 201811498057 A CN201811498057 A CN 201811498057A CN 109391776 B CN109391776 B CN 109391776B
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motor
zooming
infrared
focusing
focusing compensation
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CN109391776A (en
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张龙浩
沈腾
赵胜斌
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Luoyang Institute of Electro Optical Equipment AVIC
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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
    • H04N23/67—Focus control based on electronic image sensor signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/30—Transforming light or analogous information into electric information
    • H04N5/33—Transforming infrared radiation

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  • Closed-Circuit Television Systems (AREA)
  • Control Of Position Or Direction (AREA)
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Abstract

The invention provides a focusing compensation control method for a photoelectric pod continuous zooming infrared assembly, which comprises the steps of calibrating clear points and view field sizes of a zooming motor and a focusing compensation motor in the infrared assembly at a plurality of positions by utilizing a collimator tube and a rotary table, calculating position curves of the zooming motor and the focusing compensation motor capable of keeping an image clear and corresponding view fields thereof through linear interpolation operation, keeping a given value of an infrared view field to be uniformly changed according to a zooming instruction during control, calculating given values of the zooming motor and the focusing compensation motor according to the view field and the focusing clear curves, measuring the current positions of the zooming motor and the focusing compensation motor by utilizing a photoelectric encoder, and keeping the motor and a lens at the given positions through a control algorithm according to a difference value of the given values of the current position and the current position of the motor so as to keep the image clear. The invention does not need image information processing, has small calculation amount, low cost and high adjusting speed, and can keep the image clear on the whole zooming stroke when observing a distant object.

Description

Focusing compensation control method for photoelectric pod continuous zooming infrared assembly
Technical Field
The invention belongs to an automatic control technology, and relates to a novel focusing compensation control method for a photoelectric pod continuous zooming infrared assembly.
Background
At present, the photoelectric pod increasingly adopts a continuous zooming infrared component to replace the traditional multi-view-field infrared component, and the zooming and focusing control of the continuous zooming infrared component is more complicated than that of a plurality of view-field infrared components.
The existing continuous zooming infrared components in photoelectric pods at home and abroad generally adopt manual focusing or carry out focusing compensation based on image processing.
Manual focusing needs to be performed again after each zooming, the operation amount is large, and the efficiency is low. The image processing calculation is carried out after the image is required to be collected for focusing compensation based on the image processing, then the lens is dragged to move back and forth through the focusing mechanism to find a clear point, the image processing calculation amount is large, the cost is high, and the focusing speed is slow.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a focusing compensation control method for a photoelectric pod continuous zooming infrared assembly. Because the photoelectric pod generally observes a plurality of far targets, the focusing compensation control method ensures that the visual field of the infrared zooming component is uniformly changed on the whole zooming stroke, and the focal length is always aligned to infinity, so that the image is kept clear when the infrared component of the photoelectric pod observes a far object, and the method has the advantages of no need of image information processing, small calculation amount, low cost, high adjusting speed and the like.
The basic principle of the invention is as follows: the method comprises the steps of calibrating clear points and view field sizes of a zooming motor and a focusing compensation motor at multiple positions in an infrared assembly by using a collimator and a rotary table, calculating position curves of the zooming motor and the focusing compensation motor capable of keeping an image clear and view fields corresponding to the zooming motor and the focusing compensation motor by linear interpolation operation, keeping the given values of the infrared view fields uniformly changed according to zooming instructions during control, calculating the given values of the zooming motor and the focusing compensation motor according to the view fields and the focusing clear curves, measuring the current positions of the zooming motor and the focusing compensation motor by using a photoelectric encoder, and keeping the motors and lenses at the given positions by using a control algorithm according to the difference between the given values of the current position and the current position of the motors so as to keep the image.
The technical scheme of the invention is as follows:
the focusing compensation control method for the photoelectric pod continuous zooming infrared assembly is characterized by comprising the following steps of: the method comprises the following steps:
step 1: calibrating the clear curve of the infrared component: setting M points covering the stroke on the stroke of a zoom motor of the continuous zoom infrared component, and obtaining that the encoder values of the zoom motor corresponding to the M position points are respectively P1,P2,P3，…，PM(ii) a The continuous zooming infrared component is placed on the rotary table, is aligned with an infinite distance target in the collimator, and is locked at the position P by the zooming motor1Position, controlling the focusing compensation motor of the continuous zooming infrared assembly, and recording the encoder value T of the focusing compensation motor when the target is clear1And measuring the azimuth field-of-view degree theta of the infrared image at the moment by using the rotary table1(ii) a Then the zoom motor is locked at P2Repeating the above steps to obtain corresponding focusing compensationCompensated motor encoder value T2And infrared image azimuth field of view degree theta2And the analogy is repeated to obtain that the zoom motor is in P1,P2,P3，…，PMFocusing compensation motor encoder value T corresponding to position1,T2,T3，…，TMAnd the degree theta of the azimuth field of view of the infrared image1,θ2,θ3，…，θM；
Step 2: in the actual control process, the continuous zooming infrared assembly is subjected to self-checking, and the zooming motor is adjusted to P after the self-checking1Position, adjusting the focus compensation motor to T1A location; setting a variable x between 0 and N, wherein the initial value of the variable x is 0, and N is a set value; incrementing x by 1 at each calculation cycle end time when a zoom command to increase the field of view is received, and decrementing x by 1 at each calculation cycle end time when a zoom command to decrease the field of view is received;
and step 3: in each calculation period, a given value theta of the current field of view is calculated according to the current x valuex：
Figure BDA0001897397270000021
And determining thetaxThe azimuth field of view degree interval of the infrared image is thetaxAt thetanAnd thetan+1N is 1,2, …, M, according to the formula
Figure BDA0001897397270000022
Obtaining a given value P of the position of the zoom motorx(ii) a Then according to PxCalculating a given value T of a position of a focus compensation motor required for making an image clear at that timex：
Figure BDA0001897397270000023
Obtaining the position of the zoom motorSet value PxAnd a given value T of the position of the focus compensation motorxAnd then, acquiring current position values of the zooming motor and the focusing compensation motor, and adjusting the zooming motor and the focusing compensation motor according to corresponding position deviation to enable the zooming motor and the focusing compensation motor to be positioned at given positions.
Advantageous effects
The invention ensures that the field of view of the infrared zooming component of the photoelectric pod is uniformly changed on the whole zooming stroke, and the focal length is always aligned to infinity, thereby avoiding frequent manual focusing during the infrared zooming of the pod, and having the advantages of no need of image information processing, small operand, low cost, high adjusting speed and the like
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a block diagram of the electro-optic pod continuous zoom infrared focus compensation control of the present invention.
Detailed Description
The following detailed description of embodiments of the invention is intended to be illustrative, and not to be construed as limiting the invention.
The photoelectric pod continuous zooming infrared assembly is provided with two lenses which can be controlled, two linear motors are used for controlling the movement of the lenses, a zooming motor is used for controlling the movement of a zooming lens, and a focusing compensation motor is used for controlling the movement of the focusing compensation lens. And respectively collecting the rotating positions of the two motors by using the two photoelectric encoders so as to calculate the moving distance of the lens.
Firstly, calibrating a clear curve of the infrared component: m points which are approximately equal in distance and cover the stroke are arranged on the stroke of a zoom motor of the continuous zoom infrared assembly, wherein M is 20 in the embodiment, and the values of zoom motor encoders corresponding to the M position points are respectively P1,P2,P3，…，PM(ii) a The continuous zooming infrared component is placed on the rotary table, is aligned with an infinite distance target in the collimator, and is locked at the position P by the zooming motor1Position, controlling the focusing compensation motor of the continuous zooming infrared assembly, and recording the encoder value T of the focusing compensation motor when the target is clear1And measuring the azimuth field-of-view degree theta of the infrared image at the moment by using the rotary table1(ii) a Then the zoom motor is locked at P2Repeating the above processes to obtain corresponding focusing compensation motor encoder value T2And infrared image azimuth field of view degree theta2And the analogy is repeated to obtain that the zoom motor is in P1,P2,P3，…，PMFocusing compensation motor encoder value T corresponding to position1,T2,T3，…，TMAnd the degree theta of the azimuth field of view of the infrared image1,θ2,θ3，…，θM。
Step 2: in the actual control process, the continuous zooming infrared assembly is subjected to self-checking, and the zooming motor is adjusted to P after the self-checking1Position, adjusting the focus compensation motor to T1A location; setting a variable x between 0 and N, wherein N is a set value, and N is 5000 in this embodiment, and the initial value of the variable x is 0; when a zoom command to increase the field of view is received, x is incremented by 1 at each calculation cycle end time, and when a zoom command to decrease the field of view is received, x is decremented by 1 at each calculation cycle end time.
And step 3: in each calculation period, a given value theta of the current field of view is calculated according to the current x valuex：
Figure BDA0001897397270000041
When the infrared component zooms towards the increasing direction of the view field, theta becomes larger at a constant speed along with time, and when the infrared component zooms towards the decreasing direction of the view field, theta becomes smaller at a constant speed along with time. Determining thetaxThe azimuth field of view degree interval of the infrared image is thetaxAt thetanAnd thetan+1N-1, 2, …, M,then according to the formula, linear interpolation is carried out by using the calibration result:
Figure BDA0001897397270000042
obtaining a given value P of the position of the zoom motorx(ii) a Then according to PxCalculating a given value T of a position of a focus compensation motor required for making an image clear at that timex：
Figure BDA0001897397270000043
Updating T continuously according to the zooming instruction by using the algorithmxAnd PxA given value P of the zoom motor position is obtained in each calculation cyclexAnd a given value T of the position of the focus compensation motorxAnd then, acquiring current position values of the zooming motor and the focusing compensation motor, and adjusting the zooming motor and the focusing compensation motor according to corresponding position deviation to enable the zooming motor and the focusing compensation motor to be positioned at given positions.
The algorithm keeps the field of view theta of the infrared assembly to be enlarged at a constant speed along with time through interpolation operation, and simultaneously ensures that the infrared assembly is clear at the position of M calibrated points and is clear at other points during zooming through interpolation operation.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims (1)

1. A focusing compensation control method for a photoelectric pod continuous zooming infrared assembly is characterized by comprising the following steps: the method comprises the following steps:
step 1: calibrating the clear curve of the infrared component: zooming motor of continuous zooming infrared assemblySetting M points covering the stroke on the stroke, and obtaining the zoom motor encoder values corresponding to the M position points as P1,P2,P3，…，PM(ii) a The continuous zooming infrared component is placed on the rotary table, is aligned with an infinite distance target in the collimator, and is locked at the position P by the zooming motor1Position, controlling the focusing compensation motor of the continuous zooming infrared assembly, and recording the encoder value T of the focusing compensation motor when the target is clear1And measuring the azimuth field-of-view degree theta of the infrared image at the moment by using the rotary table1(ii) a Then the zoom motor is locked at P2Repeating the above processes to obtain corresponding focusing compensation motor encoder value T2And infrared image azimuth field of view degree theta2And the analogy is repeated to obtain that the zoom motor is in P1,P2,P3，…，PMFocusing compensation motor encoder value T corresponding to position1,T2,T3，…，TMAnd the degree theta of the azimuth field of view of the infrared image1,θ2,θ3，…，θM；
Step 2: in the actual control process, the continuous zooming infrared assembly is subjected to self-checking, and the zooming motor is adjusted to P after the self-checking1Position, adjusting the focus compensation motor to T1A location; setting a variable x between 0 and N, wherein the initial value of the variable x is 0, and N is a set value; incrementing x by 1 at each calculation cycle end time when a zoom command to increase the field of view is received, and decrementing x by 1 at each calculation cycle end time when a zoom command to decrease the field of view is received;
and step 3: in each calculation period, a given value theta of the current field of view is calculated according to the current x valuex：
Figure FDA0002639072540000011
And determining thetaxThe azimuth field of view degree interval of the infrared image is thetaxAt thetanAnd thetan+1N is 1,2, …, M, according to the formula
Figure FDA0002639072540000012
Obtaining a given value P of the position of the zoom motorx(ii) a Then according to PxCalculating a given value T of a position of a focus compensation motor required for making an image clear at that timex：
Figure FDA0002639072540000013
Obtaining a given value P of the position of the zoom motorxAnd a given value T of the position of the focus compensation motorxAnd then, acquiring current position values of the zooming motor and the focusing compensation motor, and adjusting the zooming motor and the focusing compensation motor according to corresponding position deviation to enable the zooming motor and the focusing compensation motor to be positioned at given positions, so that the field of view of the continuous zooming infrared assembly of the photoelectric pod is uniformly changed on the whole zooming stroke.
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CN104092933A (en) * 2014-04-11 2014-10-08 华为技术有限公司 Method and device for carrying out temperature compensation on camera
CN108259760A (en) * 2018-03-22 2018-07-06 浙江大华技术股份有限公司 A kind of zoom focus-compensating method and device of ball cover ball machine

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CN101034240A (en) * 2006-03-10 2007-09-12 鸿富锦精密工业（深圳）有限公司 Automatic focusing method used for testing camera module group
CN108830216B (en) * 2018-06-11 2021-11-16 北京理工大学 Continuous zooming target identification system and method with adjustable view field

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CN104092933A (en) * 2014-04-11 2014-10-08 华为技术有限公司 Method and device for carrying out temperature compensation on camera
CN108259760A (en) * 2018-03-22 2018-07-06 浙江大华技术股份有限公司 A kind of zoom focus-compensating method and device of ball cover ball machine

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