CN113916510B - Multi-optical-axis image deviation calibration method based on servo rotation - Google Patents
Multi-optical-axis image deviation calibration method based on servo rotation Download PDFInfo
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
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Abstract
The invention relates to a multi-optical axis image deviation calibration method based on servo rotation, which utilizes a turntable position output high-precision compensation method to realize calibration under the condition that the disassembly and the readjustment of an optical path system are not carried out, wherein the calibration method firstly carries out parallelism evaluation and secondly carries out specific calibration. The multi-optical axis image deviation calibration method based on servo rotation adopts the method that the optical axis deviation of the multi-optical path system is compensated by utilizing the position output high precision of the turntable, and realizes the calibration under the condition that the optical path system is not disassembled and re-calibrated, thereby converting products with the precision which cannot meet the use requirement of the system into usable products, improving the outfield maintainability of the products, being capable of being used as a routine maintenance work, being capable of being completed when the products are periodically inspected, greatly improving the maintainability of the products and saving the time and the labor cost.
Description
Technical Field
The invention relates to a complex multi-optical-path photoelectric calibration system, in particular to a multi-optical-axis image deviation calibration method based on servo rotation.
Background
The servo deviation calibration is mainly applied to photoelectric sighting products on various vehicle-mounted, ship-mounted, airborne and other large-scale platforms, and is used for rapidly and accurately eliminating deviation after deviation among multiple light paths of the multiple light path system occurs in various environments, and the sighting precision of the system is maintained.
At present, in order to detect and identify targets in various climatic conditions, most of complex photoelectric sighting products are provided with visible light and infrared television channels, and meanwhile, in order to acquire distance information of the targets, a laser ranging or laser measuring system is correspondingly provided, and for the optical parallel precision among the multiple light path channels, the information of the exposed size, the distance and the like of the targets to be considered is related, the parallelism is generally higher, and the parallelism is better than 15 angular seconds. The parallelism among optical axes becomes a very important index, and the realization of the whole function of the product is directly influenced.
The multi-path system is mounted on a vehicle or similar platform after calibration is completed and the reliable bathtub curve stabilization period is entered, and the product relying on optical, mechanical and electronic components is cured for a certain period of time. However, over time, the stage has undergone various uses such as high temperature, low temperature, air pressure, shock and vibration, etc., and the absolute position of this optical axis in space has changed somewhat. The variations are common to each other and to the multiple optical axes. Therefore, once a deviation occurs in one or two optical axes, the system cannot realize an accurate aiming target, which leads to deviation of parallelism indexes, reduced accuracy and even failure to realize certain functions.
In practical use, some products always deviate from the index range, and at the moment, the core index of the photoelectric system is out of tolerance, so that the upper-level requirements cannot be met.
Such products, already mounted on the whole vehicle, are quite complex if field maintenance is to be performed. Because the light path adjustment process is very tedious, a single light path to a foundation needs to be disassembled, the adjustment time is long, the on-site repair is usually impossible, and the factory return is needed and more time is spent.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the problem that the photoelectric sighting product in the prior art deviates from the index range, and the core index of the photoelectric system is out of tolerance at the moment, so that the multi-optical axis image deviation calibration method based on servo rotation is provided.
In order to solve the technical problems, the method for calibrating the multi-optical axis image deviation based on servo rotation of the invention utilizes a method for compensating the position output of a turntable with high precision to realize calibration under the condition of not carrying out disassembly and readjustment of an optical path system, and the method for calibrating firstly carries out parallelism evaluation and secondly carries out specific calibration, and the method for calibrating the parallelism comprises the following steps:
step S1: switching a video channel of the photoelectric system to a visible light long focus, and aiming at a far physical target A by utilizing a main division;
step S2: switching to the visible light short focus, observing how much the difference between the real object A and the main division is on the visible light short focus image interface, if the difference is small, indicating that the visible light long focus is parallel to the visible light short focus, and if the difference is large, calibrating is needed;
step S3: switching to an infrared channel, observing how much the difference between a real object target A and a main division is on an infrared image interface, if the difference is small, indicating that the visible light long focus is parallel to the infrared, and if the difference is large, calibrating is needed;
step S4: the video channel of the photoelectric system is sequentially switched to the position below the visible light long focus and the infrared channel, the main division is utilized to aim at a far physical object A, the distance measurement is carried out through the laser channel, if the distance measurement performance is good in any one of the visible light long focus and the infrared channel, the calibration of the laser distance measurement channel can be carried out, otherwise, the calibration of the laser distance measurement channel cannot be carried out;
the specific calibration is designed based on software interface operation, and comprises the following steps:
step S1: the upper system is entered into a calibration interface, and the interface is a non-product normal use interface and is a maintenance interface;
step S2: switching a video channel of the photoelectric system to a visible light long-focus channel, aiming at a far physical object A by utilizing a main division, and pressing a corresponding soft key;
step S3: switching video channels of the photoelectric system to visible light short-focus and infrared channels in sequence, aiming at a remote object A by utilizing a main division, and pressing corresponding soft keys in sequence;
step S4: after the steps are completed, switching to a visible light long-focus channel, controlling to aim the division at the target A, and switching to a visible light short-focus channel and an infrared channel in sequence, wherein the division is aimed at the target A; and (3) ranging is performed under the visible light long-focus channel and the infrared channel, and the ranging distance is stable in value.
In one embodiment of the invention, the optoelectronic system has four channels of visible long focus, visible short focus, infrared and laser.
In one embodiment of the present invention, the object A is an object with a slightly sharp or slender or symmetrical characteristic.
In one embodiment of the invention, when the calibration method is used for linkage, through the observation and aiming characteristics of the photoelectric system, the photoelectric systems of different channels aim at free space targets, and the deviation angles of the photoelectric systems and the free space targets are observed and measured;
when the deviation angle value is used as a correction quantity, the upper system automatically superimposes the original calibration position on the correction quantity when the channel is cut in, and the photoelectric servo steering is controlled at the moment, so that the space compensation of the deviation is completed.
Compared with the prior art, the technical scheme of the invention has the following advantages: the multi-optical axis image deviation calibration method based on servo rotation adopts the method that the optical axis deviation of the multi-optical path system is compensated by utilizing the position output high precision of the turntable, and realizes the calibration under the condition that the optical path system is not disassembled and re-calibrated, thereby converting products with the precision which cannot meet the use requirement of the system into usable products, improving the outfield maintainability of the products, being capable of being used as a routine maintenance work, being capable of being completed when the products are periodically inspected, greatly improving the maintainability of the products and saving the time and the labor cost.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings.
A and b in fig. 1 are schematic diagrams of optical axes without correction and with correction;
FIG. 2 is a schematic diagram of a calibration flow of a multi-optical axis image deviation calibration method based on servo rotation;
fig. 3 is a schematic diagram after optical axis calibration.
As shown in the figure, 1, short visible light focus, 2, long visible light focus, 3 and target A.
Detailed Description
As shown in fig. 2, the present embodiment provides a multi-optical axis image deviation calibration method based on servo rotation, wherein the calibration method uses a method of compensating for the high precision of turntable position output, so that calibration can be realized without disassembly and readjustment of an optical path system, and the calibration method firstly performs parallelism evaluation and secondly performs specific calibration;
the complex photoelectric system is provided with a servo platform, which can be two-axis or three-axis, and finally can realize the free space pointing change of the optical sighting shafting. The relative positional relationship between two or three is determined by the correlation between the optical axes, and is stable.
For a multi-optical path system, because the working mechanisms of a plurality of independent optical channels are different, each channel has a self working mode, and the respective optical aiming line or optical axis is mostly based on the self mechanical reference, so that the multi-optical paths have a better connection foundation when being combined. When a plurality of single light paths are combined, the single light paths need to be mutually used as a reference for observation, and the mutual deviation is confirmed by adopting the relation between every two single light paths. In general, adjustment among multi-optical axis systems is performed by mechanically trimming or adding an adjusting pad, and better optical axis parallelism is obtained by repeated micro trimming and pad trimming, or adjustment is performed by some fine adjustment mechanism, and parallelism among optical axes after correction is less than or equal to 15 ".
After the calibration, there is a certain mechanical stress, so in order to continuously reduce the internal stress of the optical system, the optical system needs to be aged to stabilize the optical axis, and this process is quite time-consuming. And then, the weak links of the system are found through an environmental test, and when some links fail, compensation is performed, so that the reliability of the system is improved.
When the system is processed by a superior system (a comprehensive processor or fire control processing), the photoelectric multi-optical axis is considered to meet the system requirement, and further the information of the target is acquired through the photoelectric multi-optical axis aiming, so that the superior observation and pointing functions are realized.
The parallelism evaluation includes the following steps:
step S1: switching a video channel of the photoelectric system to a visible light long focus 2, and aiming at a far physical target A3 by utilizing a main division;
step S2: switching to the visible light short focus 1, observing how much the difference between a real object A3 and a main division is on an image interface of the visible light short focus 1, if the difference is small, indicating that the visible light long focus 2 is parallel to the visible light short focus 1, and if the difference is large, calibrating is needed;
step S3: as shown in fig. 1, switching to an infrared channel, and observing how much the difference between a real object target A3 and a main division is on an infrared image interface at the moment, if the difference is small, the visible light long focus 2 is parallel to infrared, and if the difference is large, calibration is needed;
step S4: the video channel of the photoelectric system is sequentially switched to the position below the visible light long focus 2 and the infrared channel, the main division is utilized to aim at a far physical object A3, the distance measurement is carried out through the laser channel, if the distance measurement performance is good under any channel of the visible light long focus 2 or the infrared channel, the calibration of the laser distance measurement channel can be carried out, otherwise, the calibration of the laser distance measurement channel cannot be carried out;
the specific calibration is designed based on software interface operation, and comprises the following steps:
step S1: the upper system is entered into a calibration interface, and the interface is a non-product normal use interface and is a maintenance interface;
step S2: switching a video channel of the photoelectric system to a visible light long focus 2, aiming at a far physical target A3 by utilizing a main division, and pressing a corresponding soft key;
step S3: switching video channels of a photoelectric system to a visible light short-focus 1 and an infrared channel in sequence, aiming at a remote object A by utilizing a main division, and pressing corresponding soft keys in sequence;
step S4: after the steps are completed, switching to the visible light long focus 2, controlling to aim the division at the target A3, and switching to the visible light short focus 1 and the infrared channel in sequence, wherein the division is aimed at the target A3; and the distance measurement is carried out under the visible light long focus 2 and the infrared channel, as shown in fig. 3, the distance measurement distance is stable in value.
The photoelectric system is provided with four channels of visible light long focus 2, visible light short focus 1, infrared and laser.
The object A3 is an object with slightly sharp or slender or symmetrical characteristics.
When the calibration method is used for linkage, through the observation characteristics of the photoelectric system, the photoelectric systems of different channels aim at free space targets, and the deviation angles of the photoelectric systems and the free space targets are observed and measured;
when the deviation angle value is used as a correction quantity, the upper system automatically superimposes the correction quantity on the original calibration position when the channel is cut in, and the photoelectric servo steering is controlled at the moment, so that the space compensation of the deviation is completed, and the stable photoelectric channel pointing to be parallel is realized.
The invention provides a quasi-dynamic high-precision optical axis system by fully considering the actual complex application environment under the condition of not changing the built-in reference, thereby further improving the aiming precision of the system and accelerating the outfield maintenance speed and convenience.
The invention quickly repairs long-time steady-state deviation when shafting deviation occurs in a complex application environment, thereby avoiding a processing mode of re-performing optical machine adjustment on the dismantling of a multi-optical-path system, improving the environment interference resistance of complex products and increasing the stability and reliability of the system.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.
Claims (4)
1. The method for calibrating the multi-optical axis image deviation based on servo rotation utilizes a turntable position output high-precision compensation method to realize calibration under the condition that the disassembly and the readjustment of an optical path system are not carried out, and the method for calibrating firstly carries out parallelism evaluation and secondly carries out specific calibration, and is characterized in that the method for calibrating the parallelism comprises the following steps:
step S1: switching a video channel of the photoelectric system to a visible light long focus, and aiming at a far physical target A by utilizing a main division;
step S2: switching to the visible light short focus, observing how much the difference between the real object A and the main division is on the visible light short focus image interface, if the difference is small, indicating that the visible light long focus is parallel to the visible light short focus, and if the difference is large, calibrating is needed;
step S3: switching to an infrared channel, observing how much the difference between a real object target A and a main division is on an infrared image interface, if the difference is small, indicating that the visible light long focus is parallel to the infrared, and if the difference is large, calibrating is needed;
step S4: the video channel of the photoelectric system is sequentially switched to the position below the visible light long focus and the infrared channel, the main division is utilized to aim at a far physical object A, the distance measurement is carried out through the laser channel, if the distance measurement performance is good in any one of the visible light long focus and the infrared channel, the calibration of the laser distance measurement channel can be carried out, otherwise, the calibration of the laser distance measurement channel cannot be carried out;
the specific calibration is designed based on software interface operation, and comprises the following steps:
step S1: the upper system is entered into a calibration interface, and the interface is a non-product normal use interface and is a maintenance interface;
step S2: switching a video channel of the photoelectric system to a visible light long-focus channel, aiming at a far physical object A by utilizing a main division, and pressing a corresponding soft key;
step S3: switching video channels of the photoelectric system to visible light short-focus and infrared channels in sequence, aiming at a remote object A by utilizing a main division, and pressing corresponding soft keys in sequence;
step S4: after the steps are completed, switching to a visible light long-focus channel, controlling to aim the division at the target A, and switching to a visible light short-focus channel and an infrared channel in sequence, wherein the division is aimed at the target A; and (3) ranging is performed under the visible light long-focus channel and the infrared channel, and the ranging distance is stable in value.
2. The method for calibrating multi-optical axis image deviation based on servo rotation according to claim 1, wherein: the photoelectric system is provided with four channels of visible light long focus, visible light short focus, infrared and laser.
3. The method for calibrating multi-optical axis image deviation based on servo rotation according to claim 1, wherein: the object A is an object with slightly sharp or slender or symmetrical characteristics.
4. The method for calibrating multi-optical axis image deviation based on servo rotation according to claim 1, wherein: when the calibration method is used for linkage, through the observation characteristics of the photoelectric system, the photoelectric systems of different channels aim at free space targets, and the deviation angles of the photoelectric systems and the free space targets are observed and measured;
when the deviation angle value is used as a correction quantity, the upper system automatically superimposes the original calibration position on the correction quantity when the channel is cut in, and the photoelectric servo steering is controlled at the moment, so that the space compensation of the deviation is completed.
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