CN117055208B - External closed loop beam pointing calibration device, method and quick reflection mirror system - Google Patents
External closed loop beam pointing calibration device, method and quick reflection mirror system Download PDFInfo
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Abstract
The invention relates to the technical field of quick reflection mirror calibration, and discloses an external closed loop beam pointing calibration device, an external closed loop beam pointing calibration method and a quick reflection mirror system, wherein the device comprises: the device comprises a sensor module, a data processing module, a light beam receiving module and an actuator module; the beam receiving module is arranged between the quick reflection mirror and the optical antenna and is used for splitting the main light path beam reflected by the quick reflection mirror to obtain split Lu Guangshu; the sensor module is positioned on the optical path of the split-path light beam, acquires the position detection information of the split-path light beam in the optical detection unit of the sensor module, and sends the position detection information to the data processing module; the actuator module is electrically connected with the data processing module and receives a control signal of the data processing module to adjust the angle of the quick reflection mirror; the data processing module compares the data processing module with the position detection information according to the preset position information of the split-beam light beam in the light detection unit, and adjusts the quick reflection mirror through the actuator module according to the comparison result so as to enable the real-time position of the split-beam light beam in the light detection unit to coincide with the preset position.
Description
Technical Field
The invention relates to the technical field of quick reflection mirror calibration, in particular to an external closed loop beam pointing calibration device and method and a quick reflection mirror system.
Background
A low cost external closed loop beam pointing device is a technique for precisely controlling the beam pointing at a target. The main application fields of the method comprise laser communication, laser radar, space communication and the like. The technology mainly aims to solve the problem that the traditional open-loop beam pointing device cannot meet the requirements of high precision and high stability. Meanwhile, the problem of overhigh cost of the traditional closed loop optical path pointing system is solved.
The traditional open-loop beam pointing device mainly realizes the control of beam pointing through preset parameters, when the environment or system state changes, the beam pointing generates deviation, and the closed-loop beam pointing device can be adjusted in real time by receiving feedback signals, so that the accuracy and stability of the beam pointing are ensured.
The traditional light path pointing closed-loop control device generally uses a mechanical structure to adjust the angle of the reflecting mirror, a transmission mechanism of the angle is needed, a mechanical fit gap possibly exists, and a series of problems of untimely response, poor pointing precision, insufficient stability and the like of the reflecting mirror can be caused. Meanwhile, when the current closed-loop beam pointing control device controls the reflector and the detector to realize the control and detection of beam pointing, two main controls are needed to respectively control the reflector and the detector, so that the cost is greatly increased, the processing time of data is increased, and the response time of the reflector is influenced.
Disclosure of Invention
The embodiment of the invention aims to provide an external closed loop beam pointing calibration device, an external closed loop beam pointing calibration method and a quick reflector system, wherein the distance deviation between the light spot center of a light path and a preset position is obtained through a light detection unit, and the deflection angle value of the quick reflector is correspondingly calibrated according to the corresponding relation between the distance difference and the deflection angle of the quick reflector, so that the integrated processing of the control of the quick reflector and the beam detection calibration control is realized, the equipment cost is reduced, the problem that the precision of the quick reflector is reduced due to the factors such as temperature, humidity and friction in the surrounding environment is solved, and the pointing precision and response time of the quick reflector beam are greatly improved.
To solve the above technical problem, a first aspect of an embodiment of the present invention provides an external closed loop beam pointing calibration apparatus, including: the device comprises a sensor module, a data processing module, a light beam receiving module and an actuator module;
the beam receiving module is arranged between the quick reflector and the optical antenna, and is used for splitting the main light path beam reflected by the quick reflector to obtain split Lu Guangshu;
the sensor module is positioned on the light path of the split light path light beam, acquires the position detection information of the split light Lu Guangshu in the sensor module light detection unit, and sends the position detection information to the data processing module;
the executor module is electrically connected with the data processing module and receives a control signal of the data processing module to adjust the angle of the quick reflection mirror;
the data processing module compares the data processing module with the position detection information according to the preset position information of the light splitting module Lu Guangshu in the light detection unit, and adjusts the quick reflection mirror through the actuator module according to a comparison result so that the real-time position of the light splitting module Lu Guangshu in the light detection unit coincides with the preset position.
Further, the light detection unit is a CMOS sensor, the CMOS sensor receives the split-path light beam, obtains a light spot position of the split-path light beam in the CMOS sensor, and sends the light spot position to the data processing module;
the spot position information includes: and (5) the central position coordinates of the light spots.
Further, the data processing module receives the light spot center position coordinates obtained by the light detection unit sent by the sensor module;
when the central position coordinates of the light spots are located in a first preset area of the light detection unit, controlling the quick reflection mirror to keep the existing state;
when the light spot center position coordinate is positioned in a second preset area of the light detection unit, controlling the quick reflection mirror to deflect at an angle according to the distance between the light spot center position coordinate and the center of the light detection unit so as to enable the light spot center position coordinate and the light detection unit to coincide;
the first preset area is a set of points with a distance from the center of the light detection unit being smaller than or equal to a first preset radius value, and the second preset area is a set of points with a distance from the center of the light detection unit being larger than the first preset radius value and smaller than or equal to a second preset radius value.
Further, the method further comprises the following steps:
when the light spot center position coordinate is positioned in a third preset area of the light detection unit, marking the light spot center position coordinate as an abnormal point and recording;
the third preset area is a set of points having a distance from the center of the light detection unit greater than the third preset radius value.
Further, when the number of times that the light spot center position coordinates are located in the third preset area of the light detection unit is greater than the first preset number of times or the second preset number of times continuously occurs, the data processing module sends out an alarm signal and opens closed loop control.
Further, the method further comprises the following steps: an image caching module;
the image buffer module is connected with the data processing module and receives corrected image data sent by the data processing module.
Accordingly, a second aspect of the embodiments of the present invention provides an external closed loop beam pointing calibration method, which calibrates a main optical path reflected by a fast reflector based on any external closed loop beam pointing calibration device, including the following steps:
acquiring the position coordinates of the beam splitting path at the center of a light spot of a light detection unit of the sensor module based on the light beam receiving module;
calculating a distance value between the center of the light spot and the center position of the sensor module;
judging whether the distance value is smaller than or equal to a first preset radius value;
if so, keeping the current angle of the quick reflection mirror unchanged;
if not, controlling the quick reflection mirror to correspondingly adjust the corresponding angle according to the distance value, so that the center of the light spot coincides with the center of the light detection unit.
Further, when the distance value is greater than the first preset radius value, the method further includes:
judging whether the distance value is larger than a second preset radius value or not;
if so, marking the central position coordinate of the light spot as an abnormal point and recording;
and if not, executing the step of controlling the quick reflection mirror to rotate by a corresponding angle according to the distance between the light spot center position coordinate and the sensor center.
Further, after marking the coordinates of the central position of the light spot as an abnormal point and recording, the method further comprises:
judging whether the times of the distance value being larger than the second preset radius value is larger than the first preset times or whether the second preset times appear continuously;
if so, an alarm signal is sent out based on the data processing module, and closed-loop control is disconnected.
Further, before the controlling the quick reflection mirror correspondingly adjusts the corresponding angle according to the distance value, the method further includes:
controlling the deflection angle of the quick reflection mirror to be zero based on the actuator module, and enabling the light spot center position of the beam splitting path light beam to be located at the center position of the sensor module;
and controlling the quick reflection mirror to rotate gradually from a first preset angle value to a second preset angle value, stepping to a third preset angle value, and recording the position of the light spot center during each rotation to obtain the calibration value of the position coordinates of the light spot center, the center distance of the sensor and the deflection angle of the quick reflection mirror.
Accordingly, a third aspect of the embodiments of the present invention provides a quick-reflecting mirror system, which at least includes any one of the above-mentioned external closed-loop beam pointing calibration apparatuses, for calibrating a deflection angle of the quick-reflecting mirror.
Accordingly, a fourth aspect of the embodiment of the present invention provides an electronic device, including: at least one processor; and a memory coupled to the at least one processor; wherein the memory stores instructions executable by the one processor to cause the at least one processor to perform the outer closed loop beam pointing calibration method described above.
Accordingly, a fifth aspect of embodiments of the present invention provides a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the outer closed loop beam pointing calibration method described above.
The technical scheme provided by the embodiment of the invention has the following beneficial technical effects:
the distance deviation between the light spot center of the light path and the preset position is obtained through the light detection unit, the deflection angle value of the quick-reflecting mirror is correspondingly calibrated according to the corresponding relation between the distance difference and the deflection angle of the quick-reflecting mirror, the integrated processing of the control of the quick-reflecting mirror and the light beam detection calibration control is realized, the equipment cost is reduced, the problem that the precision of the quick-reflecting mirror is reduced due to the factors such as temperature, humidity and friction in the surrounding environment is solved, and the pointing precision and response time of the light beam of the quick-reflecting mirror are greatly improved.
Drawings
FIG. 1 is a schematic diagram of an external closed loop beam pointing calibration apparatus according to an embodiment of the present invention;
FIG. 2 is a detailed schematic diagram of the connection of the device provided in the embodiment of the present invention during normal operation;
fig. 3 is a flowchart of an external closed loop beam pointing calibration method according to an embodiment of the present invention.
Reference numerals:
1. a data processing module, 2, a quick-reflection mirror driving box, 3, a sensor module, 4, a quick reflection mirror, 5, a main light path, 6, a half lens, 7 and an optical antenna.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Referring to fig. 1, a first aspect of an embodiment of the present invention provides an external closed loop beam pointing calibration apparatus, including: the device comprises a sensor module 3, a data processing module, a light beam receiving module and an actuator module; the beam receiving module is arranged between the quick reflector 4 and the optical antenna 7 and is used for splitting the light beam of the main light path 5 reflected by the quick reflector 4 to obtain split Lu Guangshu; the sensor module 3 is positioned on the optical path of the split-path light beam, acquires the position detection information of the split-path light beam in the optical detection unit of the sensor module 3, and sends the position detection information to the data processing module; the actuator module is electrically connected with the data processing module and receives a control signal of the data processing module to adjust the angle of the quick reflection mirror 4; the data processing module compares the data processing module with the position detection information according to the preset position information of the split-beam light beam in the light detection unit, and adjusts the quick reflection mirror 4 through the actuator module according to the comparison result so as to enable the real-time position of the split-beam light beam in the light detection unit to coincide with the preset position.
The evaluation index of the low cost external closed loop beam pointing device generally includes: pointing accuracy, stability, response time, operating range, and noise. Pointing accuracy refers to the deviation between the actual arrival of the beam at the target position and the theoretical desired position. Stability refers to the ability of a light beam to maintain consistency across various environmental and system conditions. Response time refers to the time required for the system to adjust the beam pointing direction from the receipt of the feedback signal. The working range refers to the range of beam orientations that the system can achieve, and is typically measured in terms of angle. Noise refers to errors introduced by the system in receiving the feedback signal and adjusting the beam direction, and may come from various aspects such as opto-electronic devices and sensors.
Alternatively, the fast mirror 4 may be a voice coil fast mirror system, a core component of an actuator module. In conventional variable beam control, when the laser beam deviates from the target position, the laser transmitter needs to be turned to adjust the beam pointing direction. The traditional mode of controlling the light beam has the defects of low positioning precision, low reaction speed, high energy consumption and the like. The voice coil quick reflecting mirror is used for controlling the direction of the light beam, when the laser beam deviates from the target position, the direction of the light beam is regulated by controlling the swing of the mirror surface of the voice coil quick reflecting mirror 4, so that the deviation between the light beam and the target position is compensated, and the voice coil quick reflecting mirror has the advantages of rapidness, accuracy, low energy consumption and the like. Specifically, the main components of the voice coil quick reflection mirror comprise a reflection mirror, a quick reflection mirror support, a quick reflection mirror base, a flexible supporting structure, a displacement measuring sensor, a voice coil motor and a main control module.
Specifically, the sensor module 3 mainly detects the central position of the beam, and the detector with high sampling frequency and detection precision can meet the requirements of high bandwidth and high precision of the closed-loop beam pointing system. In order to meet the micro-arc level fine tracking requirement of the fine tracking, the detection accuracy of the light detection unit in the sensor module 3 needs to be less than 2 μrad. To meet the closed loop bandwidth requirements of an accurate tracking system, the sensor is required to have a high frame frequency. Meanwhile, the frame frequency of the tracking detection unit is required to be more than tens of times of the closed loop bandwidth of the system.
Further, the light detection unit is a CMOS sensor, and the CMOS sensor receives the split-path light beam, acquires the light spot position of the split-path light beam in the CMOS sensor and sends the light spot position to the data processing module; the spot position information includes: and (5) the central position coordinates of the light spots.
CMOS (complementary metal oxide semiconductor) cameras are digital cameras using CMOS sensors, which are widely used in the fields of photography and light detection, and have many advantages. Each pixel of the CMOS sensor can capture light independently and convert it into digital signals, which generally provides higher quality images, while noise can be reduced by technical means, better dynamic range can be obtained, and more detail features can be captured in complex scenes such as bright and dim. At the same time CMOS cameras generally have a higher shutter speed and a more compact and lightweight structure with lower power consumption than conventional CCD (charge coupled device) sensors. On the other hand, CMOS cameras are lower in cost and are more suitable for detecting the energy and pointing signal of the light beam as a whole.
The imaging principle of the CMOS detector is that an analog image is digitized by utilizing a photoelectric conversion principle, and meanwhile, each pixel of the CMOS detector is connected with an amplifier and outputs data, so that the output speed of the image data is improved.
Specifically, the data processing module may employ an FPGA. The structure of the FPGA is a logic unit array LCA, and mainly comprises an internal connection module, a configurable logic module CLB, an input-output module IOB and the like. The FPGA has programmability, the design and development modes are essentially circuit design, the function logic circuits are built by field programming universal devices, the logic circuits are kept relatively independent and can be performed in parallel, and the FPGA can also be mutually coordinated through handshake signals and control signals, so that the FPGA has the advantages of strong processing capacity, short development period and high flexibility.
After the CMOS sensor detects the target information, the data processing module calculates the deflection angle calibration value of the quick reflection mirror 4 from the distance between the light spot center point of the light splitting beam path and the center point of the CMOS sensor (namely, the off-target amount), and transmits the deflection angle calibration value to the voice coil motor controller. After receiving the deflection angle calibration value of the target position, the motor driving box 2 forms an optical closed loop with the sensor module 3, further controls deflection of the voice coil quick-reflecting mirror, precisely controls the direction of the light beam, and finally enables the target position of the light spot center to be always located at the center of the field of view of the CMOS sensor, so that the laser beam of the main light path 5 can be irradiated at the center position of the optical coupling module.
Specifically, the data processing module receives the central position coordinates of the light spots obtained by the light detection unit sent by the sensor module 3; when the central position coordinates of the light spots are located in a first preset area of the light detection unit, the quick reflection mirror 4 is controlled to keep the existing state; when the central position coordinate of the light spot is positioned in a second preset area of the light detection unit, the quick reflection mirror 4 is controlled to deflect at an angle according to the distance between the central position coordinate of the light spot and the center of the light detection unit, so that the central position coordinate of the light spot and the center of the light detection unit are overlapped; the first preset area is a set of points with a distance from the center of the light detection unit being smaller than or equal to a first preset radius value, and the second preset area is a set of points with a distance from the center of the light detection unit being larger than the first preset radius value and smaller than or equal to a second preset radius value.
Further, the method further comprises the following steps: when the central position coordinate of the light spot is positioned in a third preset area of the light detection unit, marking the central position coordinate of the light spot as an abnormal point and recording; the third preset area is a set of points having a distance from the center of the light detection unit greater than a third preset radius value.
Further, when the number of times that the central position coordinate of the light spot is located in the third preset area of the light detection unit is greater than the first preset number of times or the second preset number of times continuously occurs, the data processing module sends out an alarm signal and opens closed-loop control.
Further, the method further comprises the following steps: an image caching module; the image buffer module is connected with the data processing module and receives the corrected image data sent by the data processing module.
In summary, through the connection of the cable, the external closed loop beam pointing calibration apparatus, before receiving the beam information by the optical antenna 7, splits the main optical path 5 by the semi-transparent mirror 6, irradiates the CMOS sensor with the split beam without affecting the information of the main optical path 5, and establishes the mapping relationship between the photoelectric position on the CMOS sensor and the position of the main optical path 5 on the optical antenna 7, so that the main optical path 5 can accurately irradiate the center of the optical antenna 7 when the light irradiates the center of the CMOS sensor. When the external closed loop beam pointing calibration device is started, the CMOS sensor captures the beam position information and transmits the information to the FPGA for processing, the FPGA receives the image data and then sends the obtained target position to the quick-reflecting mirror driving box 2 in the actuator module, and the quick-reflecting mirror 4 is driven to deflect so as to stabilize the beam position at the central position of the sensor.
Referring to fig. 2, a specific implementation manner of the technical solution of the present invention is described below with a specific embodiment:
the hardware mainly comprises an FPGA chip and a CMOS image detector, wherein the FPGA chip adopts a chip of a KINTEX-7 system of Xilinx company, and the model of the chip is XC7K325TFFG900. The chip is connected with 4 DDR3 with 512 Mbytes of capacity on an HP port; 1 128Mb of QSPI FLASH static memory chips are connected; the peripheral interfaces also comprise PCIEx8 interfaces, optical fiber interfaces, 40-pin expansion interfaces, SD card interfaces, SDI input/output interfaces, UART serial interfaces and the like.
The COMS sensor uses a VITA1300 with 130 ten thousand pixels and 150 frame rate global shutter. VITA1300 has the following characteristics: the resolution is 1280x1024, the pixel size is 4.8 mm x4.8 mm, the device can collect monochromatic or color images, a 10-bit analog-to-digital converter is arranged on the top, four LVDS serial outputs or parallel COMS outputs are respectively arranged, the LVDS outputs are 150 frames per second, and the COMS outputs are 37 frames per second, and the device has the characteristics of global shutter and rolling shutter triggering, serial peripheral interface SPI, automatic exposure control, phase-locked loop PLL and the like.
After the light beam is imaged on the CMOS sensor, data are transmitted to a data processing module, and the relation between the deflection angle and the off-target amount can be deduced according to the imaging principle according to the off-target amount of the imaging pixels of the CMOS sensor, the focal length of the imaging system, the object distance of the target and the pitching angle of the target relative to the horizontal plane. When the CMOS sensor receives the beam, the data processing module needs to calculate the spot center point of the beam path of the split beam quickly, which is beneficial to control the motion of the actuator module servo mechanism. The center of the beam irradiation position is determined according to the geometric characteristics of the beam by a centroid algorithm. The centroid algorithm is realized by firstly setting a threshold value, extracting a light spot through the threshold value, calculating the position of the light spot, and averaging pixels which are not zero at the position of the light spot to obtain the central position of the light spot. The centroid algorithm has the advantages of high stability, strong anti-interference capability, simple calculation and the like for targets such as rectangles, circles, ellipses and the like by higher positioning precision.
After the CMOS image detector transmits data to the data processing module, the FPGA-based light spot imaging is mainly divided into an image data processing unit, a centroid algorithm position extraction unit and a control instruction unit.
The image data processing unit mainly completes correction processing on received image data, the corrected image is sent to the data buffer module, and the data bit LVDS signals collected by the detector contain clock signals, synchronizing signals and data signals, so that when the image data is required to be displayed normally, pixel data are required to be read out in ascending order or are required to be read out in descending order. The image correction method comprises the following steps: judging whether the output pixel cores are odd or even, if the pixel cores are odd, sequencing the pixels into ascending order by the shift register, and finishing correction; if it is even, the pixel ordering is unchanged.
The centroid algorithm extraction position unit mainly completes the extraction of the target position in the normal image data. The extraction of the target position is mainly divided into two steps: firstly, checking whether the current pixel is a target pixel, and if so, adding one to the number of the target pixels; if the pixel is not the target pixel, the number of the target pixels is kept unchanged; and then after the current frame is finished, calculating the average gray value of the frame, and calculating the centroid coordinate position.
Compared with the traditional closed-loop beam pointing device which needs to use two different main control modules respectively when controlling the quick reflection mirror 4 and receiving sensor data, the invention integrates the functions of the two main control modules into one main control module, thereby greatly saving the cost; in addition, the invention adopts a real-time feedback mechanism, and can continuously detect and adjust the light beam, thereby realizing high-precision and stable light beam pointing, and meeting the requirements of the fields of laser communication, laser radar and the like on high-precision light beam pointing. Meanwhile, the invention improves the adaptability and the robustness of the quick reflection mirror 4 system, and a real-time feedback mechanism can control the light beam to shift so as to reduce errors caused by noise, temperature and other reasons.
Accordingly, referring to fig. 3, a second aspect of the embodiment of the present invention provides an external closed loop beam pointing calibration method, which calibrates a main optical path 5 reflected by a fast reflector 4 based on any external closed loop beam pointing calibration device, and includes the following steps:
step S100, acquiring, based on the beam receiving module, the position coordinates of the beam splitting path beam at the center of the light spot of the light detecting unit of the sensor module 3.
In step S200, a distance value between the center of the light spot and the center position of the sensor module 3 is calculated.
Step S300, judging whether the distance value is smaller than or equal to a first preset radius value.
Step S400, if yes, the current angle of the quick reflection mirror 4 is kept unchanged.
Step S500, if not, the quick reflection mirror 4 is controlled to correspondingly adjust the corresponding angle according to the distance value, so that the center of the light spot coincides with the center of the light detection unit.
Further, when the distance value is greater than the first preset radius value, the method further includes:
in step S610, it is determined whether the distance value is greater than a second preset radius value.
In step S620, if yes, the spot center position coordinates are marked as abnormal points and recorded.
Step S630, if not, the step of controlling the quick reflection mirror 4 to rotate by a corresponding angle according to the distance between the position coordinates of the light spot center and the center of the sensor is executed.
Specifically, the closed loop judgment logic of the data processing module is as follows: the default first preset area (i.e. the closed loop good range, the circular area with a radius value smaller than the first preset radius value R1) is the good radius range of the spot coordinates, and the second preset area (i.e. the closed loop adjustment area, the radius value of which is larger than the first preset radius value R1 and smaller than or equal to the second preset radius value R2) is the maximum radius range allowed by the mark spot coordinates. When the coordinate point is located in R1, automatic adjustment is not needed, the default closed loop condition is good, and when the coordinate point is located in a range between R1 and R2, the motor is driven to enable the coordinate point to return to the range of R1.
Further, after marking the spot center position coordinates as the outlier and recording in step S620, the method further includes:
in step S621, it is determined whether the number of times the distance value is greater than the second preset radius value is greater than the first preset number of times or whether the second preset number of times occurs continuously.
Step S622, if yes, sends out an alarm signal based on the data processing module and opens the closed loop control.
When the coordinate point is out of the range of R2, regarding the coordinate point as an abnormal point in a single condition, and storing records; and when the coordinate points appear out of the range of R2 for a large number of times or continuously appear, the alarm is given and the closed loop is opened.
Further, before the controlling the quick reflection mirror 4 in step S500 correspondingly adjusts the corresponding angle according to the distance value, the method further includes:
in step S501, the actuator module controls the deflection angle of the fast reflecting mirror 4 to be zero, and the center position of the spot of the split beam is located at the center position of the sensor module 3.
Step S502, the quick reflection mirror 4 is controlled to rotate gradually from a first preset angle value to a second preset angle value, the step is a third preset angle value, the position of the center of the light spot during each rotation is recorded, and the calibration value of the position coordinates of the center of the light spot, the center distance of the sensor and the deflection angle of the quick reflection mirror 4 is obtained.
Specifically, the target position coordinates in the CMOS sensor and the deflection angle of the fast mirror 4 need to be calibrated. First, in the initialization state, the deflection angle of the quick reflection mirror 4 is controlled to be zero, and the target is located at the center position of the CMOS sensor. And sending a control command to enable the X axis of the quick reflection mirror 4 to gradually increase to +500 ' from-500 ' with 100 ' as a step, recording the coordinate of the target imaging position, and calibrating to obtain a corresponding relation between the X axis coordinate position of the quick reflection mirror 4 and the coordinate position of the CMOS sensor. After calibration, the position coordinates of the light spot on the CMOS sensor correspond to the deflection angle of the quick reflection mirror 4, when the light spot is positioned at the central position of the CMOS sensor, the deflection angle of the quick reflection mirror 4 is zero, and meanwhile, the light beam of the main light path 5 irradiates at the central position of the optical antenna 7.
Accordingly, a third aspect of the embodiments of the present invention provides a quick-reflecting mirror system, at least including any of the above-mentioned external closed-loop beam pointing calibration apparatuses, for calibrating the deflection angle of the quick-reflecting mirror 4.
Accordingly, a fourth aspect of the embodiment of the present invention provides an electronic device, including: at least one processor; and a memory coupled to the at least one processor; the memory stores instructions executable by a processor to cause the at least one processor to perform the outer closed loop beam pointing calibration method.
Accordingly, a fifth aspect of embodiments of the present invention provides a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the outer closed loop beam pointing calibration method described above.
The embodiment of the invention aims to protect an external closed loop beam pointing calibration device, an external closed loop beam pointing calibration method and a quick reflection mirror system, wherein the device comprises: the device comprises a sensor module, a data processing module, a light beam receiving module and an actuator module; the beam receiving module is arranged between the quick reflection mirror and the optical antenna and is used for splitting the main light path beam reflected by the quick reflection mirror to obtain split Lu Guangshu; the sensor module is positioned on the optical path of the split-path light beam, acquires the position detection information of the split-path light beam in the optical detection unit of the sensor module, and sends the position detection information to the data processing module; the actuator module is electrically connected with the data processing module and receives a control signal of the data processing module to adjust the angle of the quick reflection mirror; the data processing module compares the data processing module with the position detection information according to the preset position information of the split-beam light beam in the light detection unit, and adjusts the quick reflection mirror through the actuator module according to the comparison result so as to enable the real-time position of the split-beam light beam in the light detection unit to coincide with the preset position. The technical scheme has the following effects:
the distance deviation between the light spot center of the light path and the preset position is obtained through the light detection unit, the deflection angle value of the quick-reflecting mirror is correspondingly calibrated according to the corresponding relation between the distance difference and the deflection angle of the quick-reflecting mirror, the integrated processing of the control of the quick-reflecting mirror and the light beam detection calibration control is realized, the equipment cost is reduced, the problem that the precision of the quick-reflecting mirror is reduced due to the factors such as temperature, humidity and friction in the surrounding environment is solved, and the pointing precision and response time of the light beam of the quick-reflecting mirror are greatly improved.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (9)
1. An outer closed loop beam pointing alignment apparatus, comprising: the device comprises a sensor module, a data processing module, a light beam receiving module and an actuator module, wherein the quick reflection mirror is a voice coil quick reflection mirror; the beam receiving module is arranged between the quick reflector and the optical antenna, and is used for splitting the main light path beam reflected by the quick reflector to obtain split Lu Guangshu;
the sensor module is positioned on the light path of the split light path light beam, acquires the position detection information of the split light Lu Guangshu in the sensor module light detection unit, and sends the position detection information to the data processing module;
the executor module is electrically connected with the data processing module and receives a control signal of the data processing module to adjust the angle of the quick reflection mirror;
the data processing module compares the data processing module with the position detection information according to the preset position information of the light splitting Lu Guangshu in the light detection unit, and adjusts the quick reflection mirror through the executor module according to a comparison result so as to enable the real-time position of the light splitting Lu Guangshu in the light detection unit to coincide with the preset position;
the light detection unit is a CMOS sensor, the CMOS sensor receives the split-path light beam, obtains the light spot position of the split-path light beam in the CMOS sensor, and sends the light spot position to the data processing module;
the spot position information includes: the central position coordinates of the light spots;
the data processing module receives the central position coordinates of the light spots, which are obtained by the light detection unit and sent by the sensor module;
when the central position coordinates of the light spots are located in a first preset area of the light detection unit, controlling the quick reflection mirror to keep the existing state;
when the light spot center position coordinate is positioned in a second preset area of the light detection unit, controlling the quick reflection mirror to deflect at an angle according to the distance between the light spot center position coordinate and the center of the light detection unit so as to enable the light spot center position coordinate and the light detection unit to coincide;
the first preset area is a set of points with a distance from the center of the light detection unit being smaller than or equal to a first preset radius value, and the second preset area is a set of points with a distance from the center of the light detection unit being larger than the first preset radius value and smaller than or equal to a second preset radius value.
2. The outer closed loop beam pointing alignment apparatus of claim 1 further comprising:
when the light spot center position coordinate is positioned in a third preset area of the light detection unit, marking the light spot center position coordinate as an abnormal point and recording;
the third preset area is a set of points having a distance from the center of the light detection unit greater than a third preset radius value.
3. The external closed loop beam pointing calibration apparatus according to claim 2, wherein the data processing module issues an alarm signal and opens closed loop control when the number of times the spot center position coordinates are located in the third preset area of the light detection unit is greater than the first preset number of times or the second preset number of times occurs continuously.
4. The outer closed loop beam pointing alignment apparatus of claim 1 further comprising: an image caching module;
the image buffer module is connected with the data processing module and receives corrected image data sent by the data processing module.
5. An outer closed loop beam pointing calibration method, characterized in that the main optical path of the fast reflection mirror is calibrated based on the outer closed loop beam pointing calibration apparatus according to any one of claims 1-4, comprising the steps of:
acquiring the position coordinates of the beam splitting path at the center of a light spot of a light detection unit of the sensor module based on the light beam receiving module;
calculating a distance value between the center of the light spot and the center position of the sensor module;
judging whether the distance value is smaller than or equal to a first preset radius value;
if so, keeping the current angle of the quick reflection mirror unchanged;
if not, controlling the quick reflection mirror to correspondingly adjust the corresponding angle according to the distance value, so that the center of the light spot coincides with the center of the light detection unit.
6. The method of claim 5, further comprising, when the distance value is greater than the first predetermined radius value:
judging whether the distance value is larger than a second preset radius value or not;
if so, marking the central position coordinate of the light spot as an abnormal point and recording;
and if not, executing the step of controlling the quick reflection mirror to rotate by a corresponding angle according to the distance between the light spot center and the center position of the sensor module.
7. The method of claim 6, further comprising, after marking the spot center position coordinates as outliers and recording:
judging whether the times of the distance value being larger than the second preset radius value is larger than the first preset times or whether the second preset times appear continuously;
if so, an alarm signal is sent out based on the data processing module, and closed-loop control is disconnected.
8. The method for calibrating an external closed loop beam direction according to any of claims 5-7, wherein before said controlling said fast mirror to correspondingly adjust the corresponding angle according to said distance value, further comprises:
controlling the deflection angle of the quick reflection mirror to be zero based on the actuator module, and enabling the light spot center position of the beam splitting path light beam to be located at the center position of the sensor module;
and controlling the quick reflection mirror to rotate gradually from a first preset angle value to a second preset angle value, stepping to a third preset angle value, and recording the position of the light spot center during each rotation to obtain a calibration value of the distance between the light spot center and the central position of the sensor module and the deflection angle of the quick reflection mirror.
9. A fast reflector system comprising at least an external closed loop beam pointing calibration apparatus as claimed in any one of claims 1 to 4 for calibrating the angle of deflection of the fast reflector.
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| US6706999B1 (en) * | 2003-02-24 | 2004-03-16 | Electro Scientific Industries, Inc. | Laser beam tertiary positioner apparatus and method |
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| CN114739428A (en) * | 2022-05-05 | 2022-07-12 | 西安应用光学研究所 | Tracking precision measuring device based on two-dimensional rapid control reflector |
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| US7041953B2 (en) * | 2004-07-29 | 2006-05-09 | Raytheon Company | Beam control system with extended beacon and method |
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| US6706999B1 (en) * | 2003-02-24 | 2004-03-16 | Electro Scientific Industries, Inc. | Laser beam tertiary positioner apparatus and method |
| CN102368162A (en) * | 2011-10-26 | 2012-03-07 | 中国科学院光电技术研究所 | Tracking system of large-angle fast steering mirror |
| CN103792952A (en) * | 2014-01-23 | 2014-05-14 | 中国科学院长春光学精密机械与物理研究所 | Fast reflector electric control system for improving pointing accuracy of laser emission system |
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Address after: Building 1, 3rd Floor, Hefei Luyang Big Data Industrial Park, No. 868 Qinghe Road, Luyang District, Hefei City, Anhui Province, 230041 Patentee after: Anhui Ruikongxin Optoelectronic Technology Co.,Ltd. Country or region after: China Address before: 100085 1006, 1st floor, lin831-nei1, Changping Road, Anning North Road, Haidian District, Beijing Patentee before: Beijing ruikongxin Technology Co.,Ltd. Country or region before: China |