CN115097590A - Zooming guide driving mechanism of infrared optical system and control method - Google Patents
Zooming guide driving mechanism of infrared optical system and control method Download PDFInfo
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Abstract
An infrared optical system zooming guide driving mechanism and a control method belong to the technical field of infrared imaging, and particularly relate to an optical system zooming guide driving mechanism and a control method thereof. The zooming guide driving mechanism for infrared optical system includes one polished rod guide rail, one rack guide rail and one motor with incremental coder. In the control method of the zoom guiding driving mechanism of the infrared optical system, a motor of the zoom optical system rotates at a constant speed, and a motor of the compensation optical system rotates at a non-constant speed according to a compensation curve equation. The mechanism has compact structure, small occupied space and easy miniaturization; the operation speed is high, and quick zooming or view field switching is easy to realize; the vertical axis stability is good, and the thermal stability and the consistency of the optical axis are good; the load bearing capacity of the double guide rails arranged in parallel is high.
Description
Technical Field
The invention belongs to the technical field of infrared imaging, and particularly relates to an optical system zooming guide driving mechanism and a control method thereof.
Background
The infrared optical system can be classified into a discontinuous zoom system (a switching zoom system) in which the focal length of the optical system is changed by switching the relevant lens group in the optical system, i.e., a switching zoom structure, which is generally used to change the focal length of the optical system by two-stage zooming and three-stage zooming, and a continuous zoom structure in which the focal length of the optical system is changed by continuous change of the axial clearance between the lens group and the compensating lens group.
The basic principle of the optical system with variable focal length is to change the combined focal length of the system by using the movement of two or more optical lens groups in the optical system, simultaneously keep the position of an image surface stationary, and keep the image quality good all the time in the zooming process. A conventional zoom optical system generally includes four lens groups, i.e., a front fixed group, a zoom group, a compensation group, and a rear fixed group. A set of mechanism is designed in the structural design to realize the continuous zooming function, and the zoom lens group and the compensation lens group are ensured to continuously move along the optical axis direction according to different moving tracks. The zooming lens group and the compensation lens group can cause the bounce of the optical axis of the system in the moving process along the optical axis direction, and the imaging quality of the optical system is directly influenced by the size of the optical axis bounce amount, so the design of the guide driving mechanism for the movement of the zooming lens group and the compensation lens group is the core technology of the structural design.
The existing guide driving mechanisms are various, and the common mechanisms have the following forms:
1. and the combined mechanism is driven by a feed rod guide rail and a ball screw motor. The structure has higher precision and high running speed, and because the tracks of the simultaneous movement of the zooming and the compensation are different, two sets of guide driving mechanisms are required, the space is occupied, and the design of a control system is difficult. The mechanism has poor stability in the vertical axis direction, and the vibration of the ball screw is easily transmitted to the moving lens group in the continuous zooming process, so that the image shaking phenomenon can occur. Therefore, the mechanism is mostly used for infrared optical-mechanical systems such as two-view-field single-motion lens group (the lens has the functions of zooming and focusing).
2. Two parallel arranged feed rod guide rails and a ball screw motor drive combined mechanism. The structure has high displacement precision, high running speed and large load bearing. The tracks of the simultaneous movement of zooming and compensation are different, two sets of guide driving mechanisms are needed, the occupied space is large, and the design of a control system is difficult. In the continuous zooming process, the vibration of the ball screw is easily transmitted to the lens, and the image shaking phenomenon can occur.
3. Two vertical beam guide rails and a ball screw motor drive combined mechanism. The structure has high displacement precision and large bearing capacity, and is an over-positioning structure, so that the installation and adjustment difficulty is large, and when the environmental temperature changes greatly, the thermal stability of the optical axis is poor, and the mechanism is easy to block. The tracks of the simultaneous movement of zooming and compensation are different, two sets of guide driving mechanisms are needed, the occupied space is large, and the design of a control system is difficult. In the continuous zooming process, the vibration of the ball screw is easily transmitted to the lens, and the image shaking phenomenon can occur.
4. The lever guide rail and the cam rod motor drive the combined mechanism. The mechanism is comfortable and stable in the moving process, the blocking phenomenon is not easy to occur, the cam rod drives the zoom group and the compensation group lens to move according to the cam curve rule, and in addition, a group of focusing groups are required to be designed for high-temperature and low-temperature image plane thermal compensation. The cam rod guide mechanism has the advantages of high processing difficulty, large occupied space, low motion precision and poor heat stability of a vertical axial optical axis. In addition, the mechanism has low running speed, and is not easy to realize fast view field switching and fast zooming.
5. The three groups of cam cylinders are combined and nested with the motor driving mechanism. The mechanism needs three groups of cam cylinders of a zoom group, a compensation group and a focusing group to be combined and nested, the cam cylinders are difficult to process, the thermal stability of the optical axis is poor, the consistency of the optical axis is poor and the assembly and the adjustment are inconvenient after the cam cylinders are nested and combined, and the mechanism is multi-purpose for the civil field. In addition, the mechanism has low running speed, and is not easy to realize fast view field switching and fast zooming.
Disclosure of Invention
The invention aims to provide a novel direct-drive zoom focusing mechanism based on a rack type guide rail and an incremental motor encoder, which has the advantages of simplified structure, easiness in assembly and adjustment and good stability.
The zooming guide driving mechanism for infrared optical system includes one polished rod guide rail, one rack guide rail and one motor with incremental coder.
The control method of the zooming guide driving mechanism of the infrared optical system comprises the steps that a motor of the zooming optical system rotates at a constant speed, and a motor of the compensating optical system rotates at a non-constant speed according to a compensating curve equation;
the zoom optical system motor and the compensation optical system motor need to search zero at two ends of a stroke range, and two sets of motor forward and reverse position counters are cleared in sequence; each group of motors is provided with a positive counting zero position and a negative counting zero position so as to eliminate the influence of the inside of the motors and the meshing clearance of gears on the motion control precision;
the motor compensation curve equation of the compensation optical system is obtained by the following method:
and 5, calibrating and fitting curves of different temperature zones, dividing a working temperature range into a plurality of temperature zones, and obtaining a forward compensation curve and a reverse compensation curve of each temperature zone by adopting the method of the steps 1-4 in each temperature zone.
In the continuous zooming process, a plurality of common focal points are selected as fixed observation and aiming view fields, and the positions and the directions of motors of the focal points are stored. When the motor is used, the calibration data is directly called to control the motor, so that the field of view can be rapidly switched. The calibration data is stored in the servo control circuit board data storage unit
The zoom optical system and the compensation optical system perform smooth linear motion in the direction of an optical axis on the guide rail to realize optical zoom or compensate image plane drift caused by the movement of a zoom lens so as to realize stable and clear imaging of an image plane; or the environmental temperature of the optical system changes or temperature gradient exists to cause image plane drift, the image plane is ensured to be clear by focusing through the linear motion of the compensation group, and the compensation group has the function of thermal compensation focusing.
The continuous zooming process of the zoom group driving motor is generally set to be in uniform rotation, and if the compensation group driving motor is controlled according to an optical compensation curve, an ideal clear image cannot be obtained, mainly because of optical and structural part processing errors and installation and adjustment errors. Therefore, the control of the compensation group driving motor needs to carry out forward and reverse calibration fitting according to the actual clear image motor position in the continuous zooming process. The more position data acquisition points are, the more accurate curve fitting is, and the higher the control precision is. And finally, controlling the compensation driving motor according to the forward calibration curve obtained by fitting in the continuous zooming process from the short coke to the long coke.
In addition, the infrared optical lens is greatly influenced by temperature, the refractive index of the material of the infrared optical lens can change linearly with the temperature, and the position of the image plane of the whole optical system can also change with the temperature. At the moment, the compensation group has the function of thermal compensation of the image surface position, and stable and clear imaging of the image surface can be kept through the axial movement of the compensation group. Therefore, the control curves of the driving motors of the compensation groups in different working environment temperatures of the infrared optical system are different. Therefore, the working temperature range is divided into a plurality of temperature zones, each temperature zone needs to be subjected to calibration fitting of the control curve of the driving motor of the compensation group, and similarly, the more temperature zones are divided, the higher the thermal compensation precision is. When the system works normally, the compensation curve of the current temperature zone is called according to the working temperature to control the motor, each temperature zone of the compensation group is provided with a forward compensation control curve and a reverse compensation control curve, and all temperature zones of the zoom group use the same group of forward or reverse linear zoom curves.
The compensation group also has a real-time focusing function, the driving motor carries out forward or reverse, small-step or large-step rotation to focus the optical system according to the instruction, and the general real-time focusing value is not stored and called.
The mechanically compensated continuous zooming optical system is widely applied because of its simple optical-mechanical structure, good imaging quality, and easy realization of larger zoom ratio and smaller image plane drift, and becomes the mainstream design method of infrared optical-mechanical system. The mechanical compensation continuous zooming optical system consists of a front fixed group, a zooming group, a compensation group and a rear fixed group, the secondary imaging system also comprises a relay group, and the relay group has the functions of restricting the effective aperture of the front fixed group and eliminating stray light by utilizing a middle real image surface. As shown in fig. 10, the zoom group changes the optical focal length, the compensation group keeps the image plane position stable and clear, and the compensation group has both image plane thermal compensation and focusing functions. In the continuous zooming process, the zooming group and the compensation group move oppositely, the zooming group moves linearly, and the compensation group moves nonlinearly according to the compensation curve.
In the invention, the continuous zooming optical system usually adopts a mechanical compensation design method, the zoom group moves along the optical axis direction to realize optical zoom, and meanwhile, the compensation group moves along the optical axis direction to compensate the drift of an image plane, thereby realizing stable and clear imaging of the image plane. In addition, the compensation group also has the function of optical thermal compensation focusing.
The motor is provided with the incremental encoder, the rotation amount, the rotation speed, the rotation direction and the rotation position of the motor can be accurately measured through the photoelectric encoder, and the measured physical quantities form closed-loop feedback to accurately control the motor. The direction, speed and position of the movement of the zoom group and the compensation group can be accurately controlled in real time through motor control. The resolution ratio of the photoelectric encoder is much higher than that of an electromagnetic encoder and a mechanical encoder, and the requirement of optical focusing compensation precision can be met. The incremental encoder can output a certain number of uniformly distributed pulses when the motor rotates for one circle, the encoder is provided with at least two channels, the two channels output square wave signals, the phase difference between the square wave signals is 90 degrees e, namely 1/4 periods, and the phase difference can be used for judging the rotation direction of the motor. Incremental encoders measure not absolute position but relative position, i.e. the position of a point relative to another reference point. For this reason, the signal edges must be counted up or down in quadrature, depending on the motor rotation and in combination with its phase sequence. The location is lost upon interruption of the power supply, so that each time the commissioning or power-down restarts, the positioning system must move to a predetermined reference location to initialize the location counter (zero-seeking). The reference position is typically determined using an external sensor, such as a reference point switch or a limit switch.
The mechanism of the invention is provided with two guide rails which are arranged in parallel, and has the advantages of strong bearing capacity and good vertical axial stability; the zoom group and the compensation group (which has the function of image surface thermal compensation focusing) independently move and control, and the zoom group and the compensation group have simple structures, compact volumes and easy control; the motor with the incremental encoder is fixedly arranged on the mirror base, and the direct drive of the zoom group and the compensation group is realized through the engagement of the gear on the motor shaft and the rack on the guide rail, so that the structure is simplified, the miniaturization layout design is easy, the motor is simple to control, and the precision is high; in addition, the direct-drive structure eliminates the interference such as the rotation vibration of the screw rod, so that the zooming process is smooth, the consistency of the optical axis and the thermal stability are good, the installation and the adjustment are easy, and the quick view field switching or the quick continuous zooming can be realized. On the other hand, a control method of the drive motor of the zoom group and the compensation group based on the structure is also introduced, the control precision of the method is high, the gap error of the mechanical movement mechanism can be eliminated, the logic is clear, and the realization is easy. The mechanism has compact structure, small occupied space and easy miniaturization; the operation speed is high, and the fast zooming or the view field switching is easy to realize; the vertical axis stability is good, and the thermal stability and the consistency of the optical axis are good; the load bearing capacity of the double guide rails arranged in parallel is high.
Drawings
Fig. 1 is a front side view of the zoom mechanism.
Fig. 2 is a rear side view of the zoom mechanism.
Fig. 3 is a plan view of the zoom mechanism.
Fig. 4 is a bottom view of the zoom mechanism.
FIG. 5 is a schematic diagram of the positions of the long focus zooming group and the compensation group.
FIG. 6 is a schematic diagram of the positions of the zoom group and the compensation group.
FIG. 7 is a schematic diagram of the positions of the short focal length zoom group and the compensation group.
FIG. 8 is a schematic diagram of the motion curves of the zoom group and the compensation group.
FIG. 9 is a schematic diagram of the motion curves of the zoom group and the compensation group for different operating temperatures.
FIG. 10 is a schematic diagram of an opto-mechanical system of a continuous zoom thermal imager in accordance with embodiment 1.
FIG. 11 is a diagram of an optical-mechanical system of the thermal imager in embodiment 2.
Fig. 12 is a graph of the motion curves of the zoom group and the compensation group.
FIG. 13 shows the position data of the zoom group and the focus group.
Fig. 14 is a graph of the fitted zoom group motion curve and compensation group motion curve.
Wherein, a rack guide rail 1, a polished rod guide rail 2, a zoom group slide block 3, a compensation group slide block 4, a zoom lens base 5, a zoom lens base and slide block fixing bolt 6, a zoom lens frame 7, a zoom optical lens 8, a zoom lens frame and zoom lens base fixing bolt 9, a zoom group driving motor 10, a driving gear 11, a motor bracket 12, a motor driving component and zoom lens base fixing bolt 13, a compensation lens base 14, a compensation lens frame 15, a compensation optical lens 16, a compensation lens frame and compensation lens base fixing bolt 17, a compensation lens base and slide block fixing bolt 18, a compensation group driving motor 19, a motor reduction box 20, an incremental photoelectric encoder 21, a motor output shaft and driving gear fixing bolt 22, a continuous zooming mechanical compensation optical system front fixing group 23, a zoom group 24, a compensation group 25, a rear fixing group 26, a folding reflector 27 and a relay group 28, the system comprises a first infrared detector assembly 29, a three-view-field optical compensation optical system front fixed group 30, a zooming front lens group 31, a zooming rear lens group 32, an intermediate fixed group 33, zooming front and rear fixed lens frames 34, a driving motor assembly 35, a folding reflector 36, a rear fixed group 37 and a second infrared detector assembly 38.
Detailed Description
Example 1: the zoom guiding driving mechanism of the infrared optical system comprises a polished rod guide rail, a rack guide rail and two motors with incremental encoders, wherein the two guide rails are arranged on the same plane in parallel, and the zoom optical system and the compensating optical system are both arranged on the two guide rails through two sliding blocks.
The variable power optical system comprises a variable power lens frame, a variable power lens seat and a variable power optical lens; the compensation optical system comprises a compensation lens frame, a compensation lens base and a compensation optical lens.
The motor with the incremental encoder is provided with an incremental photoelectric encoder and a motor reduction box, the incremental photoelectric encoder and the motor reduction box are respectively fixed on the side surfaces of the zoom lens base and the compensating lens base through a motor bracket, and a gear is fixedly arranged on a motor shaft and is meshed with the rack guide rail;
the zoom optical lens is arranged in the zoom lens frame, and the zoom lens frame is fixedly arranged on the zoom lens base through bolts.
The motor support is fixedly arranged on the side faces of the zoom lens base and the compensating lens base through bolts, so that a driving gear of the motor shaft is well meshed with the rack, and the rotation of the motor shaft drives the gear to rotate through the meshing of the gear and the rack.
A zoom guiding driving mechanism control method of an infrared optical system comprises the following steps that a zoom optical system motor rotates at a constant speed, and a compensation optical system motor rotates at a non-constant speed according to a compensation curve equation:
fig. 12 is a graph showing the motion curves of the zoom group and the compensation group, reflecting the displacement of the two motion groups with respect to time. The movement starting point of the zoom group short focus end is zero point, the incident direction of the optical axis is positive direction, the zoom group short focus end moves linearly at a constant speed, and the relation between the displacement and the time is a linear equation. The compensation group is non-uniform linear motion, the relation of the displacement and the time is described by a logarithmic function, an exponential function, a power function or a polynomial function in a fitting mode, and the relation is related to the design of compensation parameters of the optical system.
As seen from fig. 12, in the process of continuously shifting the short focus to the long focus:
the short-focus view field is designed to be a T1 time point, the corresponding zoom group is positioned at the position of a guide rail S1, and the compensation group is positioned at the position of a guide rail S6; the middle focus view field is designed to be a T2 time point, the corresponding zoom group is positioned at the position of a guide rail S2, and the compensation group is positioned at the position of a guide rail S5; the tele-field is designed to be at the time point of T3, the corresponding zoom group is at the position of the guide rail S3, and the compensation group is at the position of the guide rail S4.
Firstly, calibrating a forward direction, namely calibrating an incident direction of an optical axis, setting a zero-searching position of a motor encoder of a zoom group to be an S0 position in the figure 12, and setting a zero-searching position of a motor encoder of a compensation group to be an S7; changing from short focus to long focus, collecting and recording position data of a zoom group and a focusing group of 10 points in 1 to 10 seconds, as shown in fig. 13; fitting a variable-magnification group motion curve and a compensation group forward motion curve by adopting a least square method according to the data, wherein as shown in fig. 14, the variable-magnification group moves linearly at a constant speed and is described by adopting a linear equation, and the displacement of the variable-magnification group is S (variable-magnification) =19 t-10; the compensation group is in linear non-uniform motion and is described by a logarithmic function, and the displacement of the compensation group is S (compensation) =50.1ln (t) + 296.5;
secondly, the calibration is reversed, the long focus is changed to the short focus position, and the zero searching position of the motor encoders of the zoom group and the compensation group is the other end point of the respective stroke range; similarly, the position data of the zoom group and the focusing group of 10 points in the reverse direction of 1 to 10 seconds are acquired and recorded, and a motion curve of the zoom group and a reverse motion curve of the compensation group are fitted by adopting a least square method according to the data.
And thirdly, calibrating curves of different temperature zones, dividing the working temperature range into a plurality of temperature zones, and obtaining a forward compensation curve and a reverse compensation curve of each temperature zone by adopting the method of the step 1-4 in each temperature zone.
After all temperature zones are calibrated, the servo control program can call the corresponding compensation curve according to the current working temperature, so that continuous and clear imaging is realized.
The position information of the zooming group and the compensation group is monitored and recorded in real time through the encoder, the data is fed back to the control program through the counting of the number of the pulse waves by the encoder, and the control program controls the rotating speed, the direction and the like of the motor to form a closed-loop control loop according to the data of the counter. And according to the command of the control program, stopping moving once the zoom group and the compensation group move to the position set by calibration.
The continuous zooming time is modified and adjusted through a motor control program, coefficients of motion curve functions of the corresponding zooming group and the compensation group related to time can be changed, and constant terms are not changed.
Example 2: the zooming guide driving mechanism of the infrared optical system is only provided with a motor of an incremental encoder, the motor is installed and fixed on the side surfaces of the fixed picture frames of the front group and the rear group with variable magnification, and synchronous equidistant axial movement of the front group and the rear group of lenses with variable magnification is realized through the meshing rotation of a gear and a rack on a motor shaft. The axial synchronous large-step movement of the front lens and the rear lens of the zoom group can realize optical zoom, and the small-step movement can realize focusing and thermal compensation of an image plane.
A method for controlling a zooming guide driving mechanism of an infrared optical system,
firstly, after the system is powered on, the motor rotates to search zero at two ends of a travel range, and the forward position counter and the reverse position counter of the motor are cleared in sequence. The incremental motor encoder has two positive and negative counting zero positions, so that the influence of the inside of the motor and the meshing clearance of gears on the motion control precision can be eliminated.
Secondly, firstly, calibrating a positive zooming process, gradually switching from a short focus to a long focus position, respectively recording the number and the directions of square wave signals of a compensation motor encoder when a plurality of observation and aiming field images are clear, and storing data by corresponding the information and corresponding field names; and finally, calling and controlling a driving motor according to the position and direction information stored in the forward direction in the process of switching the short-focus view field to the long-focus view field.
Thirdly, calibrating a reverse zooming process, gradually switching from a long focus to a short focus, respectively recording the number and the directions of square wave signals of a compensation motor encoder when the images of several viewing and aiming fields are clear, and storing data by corresponding the information and the corresponding field names; and finally, calling and controlling a driving motor according to the position and direction information stored in the forward direction in the process of switching the view field from the long focus to the short focus.
Compared with an optical system adopting a mechanical compensation mode, the optical design difficulty of the optical compensation continuous zooming system is large, the zoom ratio is difficult to design greatly, but the structure simplifies the mechanical structure, is favorable for controlling the visual axis and the calibration thereof well, and omits a group of electromechanical control systems, thereby reducing the appearance, cost and quality of the whole system. In engineering application, because the design difficulty of a continuous zooming optical system adopting an optical compensation mode is very high, and domestic research is less, the optical system adopting the optical compensation mode generally only selects three or four fixed focal lengths as viewing and aiming visual fields, so that the optical design difficulty is simplified, servo control is simple, and during actual use, the fixed focal lengths of the fixed visual fields are rapidly switched.
The zoom mechanism can be applied to special application occasions, such as compact optical system layout, small optical lens size and harsh requirements on the size and weight of an optical-mechanical system. In actual use, a polished rod guide rail can be removed, and only the rack type guide rail is reserved, so that miniaturization can be realized, weight can be reduced, and the stability of the vertical axis direction can be ensured for small-size moving lenses.
Claims (3)
1. The zooming guide driving mechanism of the infrared optical system is characterized by comprising a polished rod guide rail, a rack guide rail and a motor with an incremental encoder, wherein the two guide rails are arranged on the same plane in parallel, and the zooming optical system and the compensating optical system are both arranged on the two guide rails through sliders.
2. The zoom guiding driving mechanism of infrared optical system is controlled by the method, in the method, the motor of zoom optical system rotates at uniform speed, the motor of compensation optical system rotates at non-uniform speed according to the equation of compensation curve;
the zoom optical system motor and the compensation optical system motor need to search zero at two ends of a stroke range, and two sets of motor forward and reverse position counters are cleared in sequence; each group of motors is provided with a positive counting zero position and a negative counting zero position so as to eliminate the influence of the inside of the motors and the meshing clearance of gears on the motion control precision;
the motor compensation curve equation of the compensation optical system is obtained by the following method:
step 1, calibrating the forward direction, gradually switching an infrared system from a short focus to a long focus position, and acquiring and recording the number and the direction of square wave signals of a compensation motor encoder when a plurality of images are clear in the process;
step 2, performing least square curve fitting according to the obtained encoder information and the number and direction of the square signals to obtain a positive compensation curve equation;
step 3, calibrating and reversing, gradually switching the infrared system from a long focus to a short focus position, and acquiring and recording the number and direction of square wave signals of the compensation motor encoder when a plurality of images are clear in the process;
step 4, performing least square method curve fitting according to the obtained encoder information and the number and direction of the square wave signals to obtain a reverse compensation curve equation;
and 5, calibrating and fitting curves of different temperature zones, dividing a working temperature range into a plurality of temperature zones, and obtaining a forward compensation curve and a reverse compensation curve of each temperature zone by adopting the method of the steps 1-4 in each temperature zone.
3. The method according to claim 1, wherein several common focal points are selected as fixed viewing fields during continuous zooming, and the positions and directions of motors of the focal points are stored, and calibration data is directly called for motor control during use, so as to facilitate fast switching of the viewing fields; the calibration data is stored in the servo control circuit board data storage unit.
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| CN213876152U (en) * | 2020-12-24 | 2021-08-03 | 西安中科立德红外科技有限公司 | Continuous zooming mechanism |
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