CN111336983A - Dynamic tracking and aiming method and system for optical system - Google Patents
Dynamic tracking and aiming method and system for optical system Download PDFInfo
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- CN111336983A CN111336983A CN201911346675.0A CN201911346675A CN111336983A CN 111336983 A CN111336983 A CN 111336983A CN 201911346675 A CN201911346675 A CN 201911346675A CN 111336983 A CN111336983 A CN 111336983A
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Abstract
The invention provides a dynamic tracking method and a dynamic tracking system for an optical system, which are provided for overcoming the defects of large structure size, low tracking precision, large detector image surface size and low frame frequency of a dynamic tracking means in the prior art. The method of the invention comprises the following steps: mounting an imaging detector on a two-dimensional movement mechanism, and enabling a movement plane of the imaging detector to be parallel to an image plane of the imaging detector; the two-dimensional motion mechanism is used for driving the imaging detector 2 to move on the focal plane of the optical lens 1 in a vertical axis manner; and the computer calculates deviation according to the scanning result of the imaging detector, controls the two-dimensional motion mechanism to move and realizes the tracking of the target. The system comprises an optical lens, an imaging detector and a two-dimensional movement mechanism, wherein the imaging detector is arranged on the two-dimensional movement mechanism. The invention is suitable for the high-energy laser dynamic tracking and aiming system.
Description
Technical Field
The invention relates to the field of optical dynamic tracking and aiming, in particular to a dynamic tracking and aiming method and system for an optical system
Background
The prior dynamic tracking and aiming method of the optical system has application requirements in a plurality of aspects such as remote detection, high-precision tracking and aiming at micro-arc magnitude, precise angle measurement and the like. The existing dynamic precise tracking and aiming realization methods are many, and the principles and the characteristics are different: the first method adopts a turntable to drive a whole machine to rotate, the principle of which is shown in fig. 1, when a target moves, the whole machine including an imaging detector needs to be driven to rotate so that the target can be imaged on the detector, and the method has the disadvantages of large structural size and low tracking accuracy. The second scanning method adopts a two-dimensional oscillating mirror in front of an optical lens, and the method needs a detector with larger image plane size, has the defects of low tracking precision and low frame frequency, and deviates from the development trend of miniaturization and high precision of a fine tracking system of an optical system in the future.
Disclosure of Invention
The invention aims to solve the defects of large structure size, low tracking precision, large detector image surface size and low frame frequency of the dynamic tracking means in the prior art.
According to a first aspect of the present invention, there is provided an optical system dynamic tracking method, including: s1: the imaging detector 2 is arranged on the two-dimensional movement mechanism 3, and the movement plane of the imaging detector 2 is parallel to the image plane of the imaging detector 2; the two-dimensional motion mechanism 3 comprises a horizontal motion table 3-2 and a vertical motion table 3-1; the two-dimensional motion mechanism 3 is used for driving the imaging detector 2 to move on the focal plane of the optical lens 1 in a vertical axis manner; s2: and the computer calculates deviation according to the scanning result of the imaging detector, controls the two-dimensional motion mechanism to move and realizes the tracking of the target.
Preferably, the specific process of step S2 is: s2-1: acquiring a target image acquired by an imaging detector, and calculating a target deviation value; s2-2: calculating the movement amount of the two-dimensional movement mechanism according to the target deviation amount; s2-3: controlling the two-dimensional motion mechanism to drive the imaging detector to move; s2-4: steps S2-1 to S2-3 are repeated until the target deviation amount is 0.
Preferably, the optical system is a high-energy laser optical system.
According to a second aspect of the present invention, there is provided a dynamic tracking system comprising an optical lens, an imaging detector and a two-dimensional movement mechanism, wherein the imaging detector is mounted on the two-dimensional movement mechanism.
Preferably, the two-dimensional motion mechanism comprises a vertical motion platform and a horizontal motion platform, and the imaging detector is mounted on the vertical motion platform.
Preferably, the optical system dynamic tracking system further includes a computer, the computer including: the deviation value calculation module is used for acquiring a target image acquired by the imaging detector and calculating target deviation; the movement amount calculation module is used for calculating the movement amount of the two-dimensional movement mechanism according to the target deviation amount; and the two-dimensional motion mechanism control module is used for controlling the two-dimensional motion mechanism to drive the imaging detector to move.
Preferably, the optical system dynamic tracking system further includes: the tracking detection module is used for detecting whether the target deviation amount is 0, and if not, the two-dimensional mechanism is controlled to drive the imaging detector to move until the target deviation amount is 0; if yes, the two-dimensional motion mechanism stops moving.
Preferably, the system is a high-energy laser dynamic tracking system.
The invention has the technical effects of simple principle, small structural size and high tracking precision, reduces the requirement on the image surface area of the detector and is beneficial to realizing high frame frequency detection.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic diagram of the prior art; wherein FIG. 1(a) is the state of the system when the target is not moving; FIG. 1(b) is a schematic view of the rotating turret complete machine for tracking after the target is moved; 1-optical lens, 2-imaging detector;
FIG. 2 is a flowchart of a dynamic tracking method for an optical system according to an embodiment of the present invention;
FIG. 3 is a flow chart of one embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a dynamic tracking system according to a second embodiment of the present invention; 3-a two-dimensional translation mechanism;
FIG. 5 is a schematic structural diagram of a vertical motion stage and a horizontal motion stage according to a second embodiment of the present invention; 3-1-vertical motion platform, 3-2-horizontal motion platform.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The first embodiment is as follows: the present embodiment provides an optical system dynamic tracking method, as shown in fig. 2, 4, and 5, including:
step S1: the imaging detector 2 is arranged on the two-dimensional movement mechanism 3, and the movement plane of the imaging detector 2 is parallel to the image plane of the imaging detector 2; the two-dimensional motion mechanism 3 comprises a horizontal motion table 3-2 and a vertical motion table 3-1; the two-dimensional motion mechanism 3 is used for driving the imaging detector 2 to move on the focal plane of the optical lens 1 in a vertical axis mode.
Step S2: and the computer calculates deviation according to the scanning result of the imaging detector 2, controls the two-dimensional motion mechanism to move and realizes the tracking of the target.
Step S1 replaces the rotation control of the turn table and the swing mirror in the prior art with the displacement control in the horizontal and vertical directions, and it is easier to achieve high precision and high frame rate, and it is not necessary to increase the image plane size. In the embodiment shown in fig. 5, the imaging detector 2 is mounted on a vertical moving stage 3-1, the vertical moving stage 3-1 is disposed on a horizontal moving stage 3-2, and the range of motion of the imaging detector 2 is in a plane perpendicular to the optical axis.
The specific process of step S2 is:
step S2-1: and acquiring a target image acquired by the imaging detector, and calculating a target deviation amount.
Step S2-2: the movement amount of the two-dimensional movement mechanism is calculated from the target deviation amount.
Step S2-3: and controlling the two-dimensional motion mechanism to drive the imaging detector to move.
Step S2-4: steps S2-1 to S2-3 are repeated until the target deviation amount is 0.
For example, when a target is required to be imaged at the center of the image plane of the detector, if the computer detects that the target deviates from the center position, the displacement required by the deviation between the horizontal motion table and the vertical motion table is calculated, and then the two-dimensional translation mechanism is controlled to drive the detector to execute the specified displacement. PID closed-loop control can be selected for continuous detection of target deviation, and a two-dimensional translation mechanism is continuously controlled, so that continuous tracking and aiming of the target are realized. The flow chart of this example is shown in fig. 3.
One preferred application of the embodiment is a high-energy laser optical system, which needs remote detection, micro-arc-degree high-precision tracking and precise angle measurement in the field of high-energy laser, and if other methods in the prior art are used, the requirements of precision and equipment miniaturization in the field of high-energy laser are not easy to achieve.
The second embodiment is as follows:
the present embodiment provides a dynamic tracking system, as shown in fig. 4 and 5, including an optical lens 1, an imaging detector 2, and a two-dimensional movement mechanism 3, where the imaging detector 2 is mounted on the two-dimensional movement mechanism 3. The two-dimensional motion mechanism 3 comprises a vertical motion platform 3-1 and a horizontal motion platform 3-2, and the imaging detector 2 is arranged on the vertical motion platform 3-1.
The dynamic tracking and aiming system further comprises a computer, and the computer specifically comprises: the deviation value calculation module is used for acquiring a target image acquired by the imaging detector and calculating target deviation; the movement amount calculation module is used for calculating the movement amount of the two-dimensional movement mechanism according to the target deviation amount; and the two-dimensional motion mechanism control module is used for controlling the two-dimensional motion mechanism to drive the imaging detector to move. In order to realize continuous tracking and aiming, the system also comprises a tracking detection module used for detecting whether the target deviation amount is 0, if not, the two-dimensional mechanism is controlled to drive the imaging detector to move until the target deviation amount is 0; if yes, the two-dimensional motion mechanism stops moving.
In a preferred embodiment, the embodiment may be a high-energy laser dynamic tracking system, which is used to meet the actual requirements of remote detection, high-precision tracking at micro-arc degree and precise angle measurement.
Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (8)
1. A method for dynamic tracking of an optical system, comprising:
s1: the imaging detector (2) is arranged on the two-dimensional movement mechanism (3), and the movement plane of the imaging detector (2) is parallel to the image plane of the imaging detector (2); wherein the two-dimensional motion mechanism (3) comprises a horizontal motion platform (3-2) and a vertical motion platform (3-1); the two-dimensional motion mechanism (3) is used for driving the imaging detector (2) to move on the vertical axis of the focal plane of the optical lens (1);
s2: and the computer calculates deviation according to the scanning result of the imaging detector (2), controls the two-dimensional motion mechanism to move and realizes the tracking of the target.
2. The optical system dynamic tracking method according to claim 1, wherein the specific process of step S2 is as follows:
s2-1: acquiring a target image acquired by an imaging detector, and calculating a target deviation value;
s2-2: calculating the movement amount of the two-dimensional movement mechanism according to the target deviation amount;
s2-3: controlling the two-dimensional motion mechanism to drive the imaging detector to move;
s2-4: steps S2-1 to S2-3 are repeated until the target deviation amount is 0.
3. The optical system dynamic tracking method according to claim 1 or 2, wherein the optical system is a high-energy laser optical system.
4. The dynamic tracking and aiming system is characterized by comprising an optical lens (1), an imaging detector (2) and a two-dimensional movement mechanism (3), wherein the imaging detector (2) is installed on the two-dimensional movement mechanism (3).
5. The dynamic tracking system according to claim 4, wherein the two-dimensional motion mechanism (3) comprises a vertical motion stage (3-1) and a horizontal motion stage (3-2), and the imaging detector (2) is mounted on the vertical motion stage (3-1).
6. The dynamic tracking system of claim 4 or 5, further comprising a computer, the computer comprising:
the deviation value calculation module is used for acquiring a target image acquired by the imaging detector and calculating target deviation;
the movement amount calculation module is used for calculating the movement amount of the two-dimensional movement mechanism according to the target deviation amount;
and the two-dimensional motion mechanism control module is used for controlling the two-dimensional motion mechanism to drive the imaging detector to move.
7. The dynamic tracking system of claim 6, further comprising:
the tracking detection module is used for detecting whether the target deviation amount is 0, and if not, the two-dimensional mechanism is controlled to drive the imaging detector to move until the target deviation amount is 0; if yes, the two-dimensional motion mechanism stops moving.
8. The dynamic tracking system of claim 4, wherein the system is a high-energy laser dynamic tracking system.
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| CN207280597U (en) * | 2017-09-27 | 2018-04-27 | 安徽科技学院 | A kind of heat radiation infrared scanning imaging experimental device |
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Patent Citations (7)
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| CN102221450A (en) * | 2011-04-18 | 2011-10-19 | 中国工程物理研究院应用电子学研究所 | Tracking-pointing deviation measurement device for laser system |
| CN103605377A (en) * | 2013-10-30 | 2014-02-26 | 浙江工业大学 | Global sky-cloud real-time dynamic monitoring device |
| CN103592807A (en) * | 2013-11-13 | 2014-02-19 | 中国科学院长春光学精密机械与物理研究所 | Earth plasmasphere dynamic tracking imager |
| CN103840757A (en) * | 2014-03-26 | 2014-06-04 | 电子科技大学 | Solar tracking method and device for photovoltaic power generation equipment |
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Application publication date: 20200626 |