EP0419320B1 - Dispositif d'harmonisation automatique pour un système optronique - Google Patents

Dispositif d'harmonisation automatique pour un système optronique Download PDF

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Publication number
EP0419320B1
EP0419320B1 EP90402493A EP90402493A EP0419320B1 EP 0419320 B1 EP0419320 B1 EP 0419320B1 EP 90402493 A EP90402493 A EP 90402493A EP 90402493 A EP90402493 A EP 90402493A EP 0419320 B1 EP0419320 B1 EP 0419320B1
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EP
European Patent Office
Prior art keywords
laser
sensor
wavelength
source
collimator
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Expired - Lifetime
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EP90402493A
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German (de)
English (en)
French (fr)
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EP0419320A1 (fr
Inventor
Christian Pepin
Vincent Vilbois
Marc Audion
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Thales SA
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Thomson CSF SA
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/32—Devices for testing or checking
    • F41G3/326—Devices for testing or checking for checking the angle between the axis of the gun sighting device and an auxiliary measuring device

Definitions

  • the invention relates to an automatic harmonization device for an optronic system comprising a laser and two image sensors operating respectively in two different domains of spectral sensitivity.
  • the system includes: a laser rangefinder; a distance meter; and a tracking and identification device.
  • These devices comprise a common optical channel constituted in particular by means for orienting a common line of sight.
  • Harmonization consists of superimposing the optical axes of these three devices so that they have a common line of sight.
  • a harmonization carried out on a test bench, in the factory is not preserved after a certain time of operational use of the system. Harmonization must be able to be redone during operational use, as a particular phase of operation, and must be automatic.
  • the invention relates more particularly to optronic systems in which the distance meter and the tracking and identification device respectively comprise two image sensors, operating respectively in two different spectral sensitivity domains, having no common wavelength .
  • the distance meter comprises an image sensor operating in the band of three to five microns, or in the band of eight to twelve microns, to locate a target in elevation and in bearing
  • the identification device and tracking includes an image sensor operating in the 0.7 to 0.9 micron band, that is to say the band of visible and near IR radiation.
  • the laser rangefinder transmits at a wavelength not belonging to none of these spectral sensitivity ranges, for example 1.54 microns.
  • US Patent 4,155,096 describes an automatic harmonization device for an optronic target designation system, comprising an image sensor and a laser.
  • the laser has a wavelength of 1.06 micron, which belongs to the spectral sensitivity range of the image sensor, the latter ranging from 0.4 to 1.1 micron.
  • This harmonization device includes a cube corner towards which the line of sight is oriented, during harmonization. This also consists of switching on the laser.
  • the cube corner reflects, towards the image sensor, a fraction of the laser beam.
  • the laser beam therefore forms a light spot on the image sensor.
  • Image processing makes it possible to determine the difference between this task and the center of the image sensor, and to deduce therefrom a harmonization correction.
  • This known device cannot be used when the laser does not have a wavelength within the spectral sensitivity range of the image sensor.
  • US Patent 4,422,758 describes a harmonization device for an optronic target designation system, this system comprising: a laser operating at 1.06 micron, an image sensor in the visible radiation domain, and a sensor for images in the field of infrared radiation.
  • the harmonization device includes a collimator to which the line of sight is directed, during harmonization.
  • a refractory target is placed in the focal plane of the collimator.
  • the laser is on and its radiation is focused on the target to create a hot spot emitting visible and infrared radiation.
  • the image of this hot spot is detectable simultaneously by the two image sensors and makes it possible to measure the harmonization errors of the axis of the laser with respect to the axes of the two image sensors.
  • the drawback of this device is that it requires focusing a large amount of energy on the refractory target. Obtaining a very hot point is not easy to achieve when the laser has only one medium or low power. On the other hand, the use of the laser leads to a certain energy consumption and a certain reduction in the lifetime of the laser.
  • the object of the invention is to propose a harmonization device independent of the power and the wavelength of the laser.
  • the object of the invention is a device making it possible to achieve harmonization in two stages.
  • a first step is carried out using a source associated with the laser, so as to have the same optical axis, and emitting in the spectral sensitivity range of a first sensor.
  • a second step is carried out by means of a broadband collimator comprising, in its focal plane, a reticle emitting radiation in the ranges of sensitivity of the two sensors, and which is visible simultaneously by these two sensors.
  • the rangefinder 2, the distance meter 3, and the device 4 have a common line of sight LV which is orientable by means of a common pointing head, 1, comprising movable mirrors, 10 and 11, driven by servo-mechanisms not shown which are controlled by signals supplied by the image processing processor 14 in order to track a target.
  • the rays received by the system are separated by a dichroic blade 8 which lets the infrared radiation intended for the distance meter 3 pass and which reflects the visible radiation intended for the device 4.
  • the infrared radiation is then deflected by a mirror 9, then is focused by a converging lens 15 on the sensor of the deviation meter 3.
  • the visible radiation is then focused by a converging lens 7 on the image sensor 13.
  • a dichroic cube 5 is interposed between the lens 7 and the image sensor 13, to allow the optical axis of the laser beam of the rangefinder 2 to be superimposed on the optical axis of the visible radiation beam focused by the lens 7.
  • the rangefinder beam 2 is supplied by a laser 12. It passes through a divergent lens 6, then is reflected by the dichroic surface of the dichroic cube 5, then it passes through the convergent lens 7, then is reflected by the dichroic blade 8, and finally it crosses the pointing head 1.
  • the diverging lens 6 and the converging lens 7 constitute an afocal system which enlarges the laser beam by reducing its divergence.
  • FIG. 2 schematically represents part of a first embodiment of the harmonization device according to the invention.
  • This part is a broadband collimator 20 which comprises: a catassegric system of the Cassegrain type consisting of two spherical mirrors 24 and 25; a screen 22 cut out of holes 23 constituting a reticle which is lit by a lamp 21 placed behind the screen 22. The center of the reticle is aligned with the optical axis of the mirrors 24 and 25.
  • the holes 23 are 4 in number and each have an elongated shape. They form a cross but have no point of intersection.
  • the surface 26 of the screen 22, on the side of the catoptric system, is covered with a retroreflective material, such as the paint sold under the brand SCOTCHLITE by the company 3M.
  • This paint consists of micro glass beads fixed in a transparent binder. Each micro-ball behaves like a cube corner, returning each light ray in the direction from which it comes.
  • the lamp 21 is an incandescent lamp of the quartz-iodine type, for example, fitted with a filter. This lamp emits both in the field of visible radiation and in the field of infrared radiation.
  • the filter makes it possible to balance the light intensity emitted in the visible range and the light intensity emitted in the spectral sensitivity range of the sensor of the deviation meter 3.
  • This collimator 20 is integral with the optronic system. It is located outside the useful angular range of the system, but it is located in the range accessible by the LV line of sight.
  • Figure 3 shows the same system as Figure 1 and a first embodiment of the device according to the invention.
  • This figure illustrates a first stage of harmonization consisting in harmonizing the optical axis of the laser 12 with the optical axis of the identification and tracking device 4.
  • This first embodiment of the device according to the invention comprises, in addition to the collimator 20: control means 30; and a source of collimated radiation which is associated with the laser 12 so as to have an optical axis coincident with that of the laser 12.
  • This source consists of a light-emitting diode 29, a converging lens 28, and a dichroic blade 27.
  • the light beam emitted by the diode 29 is made parallel by the lens 28 then is reflected by the dichroic blade 27 which is inclined at 45 ° relative to the optical axis of the laser 12.
  • the control means 30 have outputs connected respectively to inputs of the pointing head 1, the lamp 21, and the diode 29.
  • the control means 30 do not light the lamp 21 but light the diode 29 so that it emits radiation replacing the beam of the laser 12 by having a wavelength which belongs to the field of sensitivity of the image sensor 13.
  • the rays emitted by the diode 29 are reflected by the dichroic surface of the cube 5, then are transmitted by the lens 7, then are reflected by the dichroic surface 8, then are transmitted by the head 1 towards the collimator 20.
  • the control means 30 orient the line of sight LV of the head 1 in the direction of the collimator 20 throughout the duration of the harmonization.
  • the means 30 do not light the lamp 21, the reticle formed by the holes 23 therefore emits no ray.
  • the rays emitted by the diode 29 are focused by the retro-reflecting system 24, 25 and form a light spot on the surface 26 of the screen 22.
  • the paint covering the surface 26 reflects these rays in the direction from which they come. They follow the same path in opposite direction to the dichroic cube 5. About where 50% of the energy of these rays is reflected towards the rangefinder 2 and about 50% of the energy of these rays is transmitted towards the sensor 13.
  • the dichroic plate 8 fully reflects the rays emitted by the diode 29 and the rays returned by the collimator 20 because its transition wavelength is situated at wavelengths greater than that of the emission of diode 29.
  • the lens 7 forms on the image sensor 13 an image of the light spot formed on the screen 22.
  • the processor 14 determines and stores the position of this image. This position constitutes a reference for the second stage of harmonization.
  • FIG. 4 schematically represents the same optronic system and the same exemplary embodiment of the device according to the invention, illustrating the second stage of harmonization.
  • the control means 30 no longer light the light-emitting diode 29 but light the lamp 21 of the collimator 20.
  • the line of sight LV of the head 1 remains pointed towards the collimator 20.
  • the holes 23 cut out in the screen 22 constitute a luminous reticle, in the shape of a cross, which is visible simultaneously in the field of visible radiation and in the field of infrared radiation thanks to the broad emission spectrum of the incandescent lamp 21.
  • the rays emitted by the reticle are transmitted by the system catadioptric, 24, 25, then by the head 1, then are separated into two beams by the dichroic blade 8.
  • the blade 8 transmits the infrared rays in the direction of the deflection mirror 9, while it reflects the visible rays, in the direction of the lens 7.
  • the lens 15 therefore forms an image of the reticle on the sensor of the deviation meter 3 and the lens 7 forms an image of the reticle on the image sensor 13.
  • the dichroic blade of cube 5 lets the visible rays from lens 7 pass entirely.
  • the distance meter 3 determines the position of the image of the reticle on its sensor, relative to a reference point of this sensor.
  • the image processing processor 14 determines the position of the image of the reticle on the sensor 13, and stores it. It determines two coordinates translating the difference between the position of the image of the reticle and the position, determined previously, of the image of the light spot formed by the diode 29 on the screen 22. The differences thus determined by the variometer 3 and by processor 14 make it possible to deduce therefrom a first and a second corresponding harmonization correction respectively to the error of harmonization of the deviation meter with respect to the laser and to the error of harmonization of the device 4 with respect to the laser.
  • a first possibility of carrying out these corrections consists in storing the deviations and in subtracting them from the measurements carried out subsequently by the devometer, on the one hand, and by the processor 14, on the other hand.
  • a second possibility of correction consists in canceling the difference observed by the device 4, by modifying the orientation of the optical axis of the laser by means of a deflection mirror mounted on three piezoelectric wedges. The production of such a deflection mirror and of the circuits for controlling the piezoelectric shims is conventional. In this case, it remains to correct the difference observed by the difference meter 3, by subtracting this difference from the measurements made subsequently by the difference meter 3.
  • FIG. 5 represents the screen 22 seen from the front, when the light emitted by the light-emitting diode 29 forms a light spot 27 on this screen.
  • the light spot 27 has a circular shape, and a surface much greater than that of the holes 23 constituting the reticle.
  • FIG. 6 represents an alternative embodiment 22 ′ of the screen 22, comprising holes 23 ′ which constitute a reticle having the shape of a square whose sides are interrupted, to allow this reticle to be produced by photoengraving on a plate metallic, for example.
  • the rays emitted by the diode 29 form a light spot 27 ′.
  • the width of the holes 23 ′ of the reticle must be small compared to the diameter of the light spot 27 or 27 ′, so that the portion of non-reflecting surface, located inside the light spot, is small compared to the surface of this light spot.
  • the harmonization carried out by means of the device according to the invention can be done in two stages, as it was described above, but it can also be done by simultaneously lighting the diode 29 and the lamp 21 of the collimator 20. But then the image processing performed by the processor 14 is more complex since it must distinguish on the sensor 13 the image of the light spot 27 and the image of the reticle formed by the holes 23 which are illuminated by the lamp 21 However, this discrimination is achievable by a conventional method of pattern recognition by correlation, the shape of the task 27 and the shape of the holes 23 being known a priori.
  • the light intensity of the image of the task 27 and the light intensity of the image of the reticle, on the sensor 13, can be adjusted independently by acting on the intensity of the supply current of the lamp 21 and on the supply intensity of the diode 29.
  • Figures 7 and 8 show diagrams illustrating the operation of the dichroic cube 5 respectively in two variants of this first embodiment, where the light-emitting diode 29 emits at the wavelength of 0.65 micron or else emits at the length d wave of 0.9 micron. In both cases its emission wavelength is close to one of the ends of the spectral sensitivity range of the image sensor 13.
  • Such a dichroic cube can be produced by conventional methods consisting of deposits of multiple dichroic layers.
  • FIG. 7 represents the graph of the transmission coefficient and the graph of the reflection coefficient of the cube 5, as a function of the wavelength, for the variant embodiment comprising a diode 29 emitting at the wavelength of 0.65 micron.
  • the two graphs are complementary because practically all the energy which is not transmitted is reflected.
  • the transmission coefficient graph includes a plateau of value 1 between 0.7 and 1 micron, with a transition at 0.65 micron, passing to the value 0.5 for the wavelength of the diode, and a transition at above 1 micron which corresponds to the sensitivity limit of sensor 13, while being less than the wavelength of the laser: 1.54 micron.
  • FIG. 8 represents the graph of the transmission coefficient and the graph of the reflection coefficient of the cube 5 for the alternative embodiment comprising a diode 29 emitting at 0.9 micron, the laser still having the same wavelength: 1.54 micron.
  • the transmission coefficient graph includes a plateau of value 1 between 0.7 micron and 0.85 micron approximately, with a transition at a wavelength slightly less than 0.7 micron, which is the first border of the sensitivity domain of the sensor 13, and a transition passing through the value 0.5 for the wavelength 0.9 micron which is the emission wavelength of the diode, and which is very close to the second boundary of the domain sensor sensitivity 13, 1 micron; while being less than the laser wavelength: 1.54 micron.
  • the optical means reflecting the radiation from the source associated with the laser may be different from the microbeads covering the surface of the screen 22 of the collimator 20.
  • these means consist of a metallic coating constituting a plane mirror in the focal plane of the collimator. The collimator then behaves like a converging lens provided with a plane mirror in its focal plane, it returns a light ray parallel to itself.
  • these means consist of a cube corner placed next to the collimator 20, in the angular range accessible to the line of sight LV. It is then necessary for the control means 30 to move the line of sight successively in the direction of the cube corner and in the direction of the collimator 20 in order to carry out the first and second stages of harmonization respectively.
  • FIG. 9 represents a second embodiment of the device according to the invention, in which the retroreflective optical means consist of a cube corner 26 ⁇ placed in the extension of the collimated beam emitted by the diode 29, the lens 28, and the semi-transparent plate 27, beyond the dichroic cube 5.
  • the dichroic cube 5 is the same as in the first embodiment described above. It reflects 50% of the energy of the diode radiation towards the dichroic plate 8, without any use, and it transmits 50% towards the cube corner 26 ⁇ .
  • the rays reflected by the cube corner 26 ⁇ are parallel to the rays arriving on it and they therefore return to the dichroic surface of the cube 5.
  • the latter reflects 50% of their energy towards the image sensor 13 where they are focused by a converging lens 33, and it transmits 50% of the energy towards the diode 29, without any utility.
  • lenses 6 and 7, which formed an afocal system are eliminated.
  • an afocal system consisting of a diverging lens 31 and a converging lens 32, having the function of enlarging the laser beam by reducing its divergence.
  • the converging lens 33 is added between the cube 5 and the image sensor 13 in order to focus on the latter the parallel light rays coming either from the afocal system 31, 32, or coming from the diode 29 and collimated by the lens 28.
  • the rays coming from the reticle of the collimator 20 are represented at the same time as the rays coming from the diode 29, which corresponds to the case where the two stages of harmonization are carried out simultaneously.
  • the rays coming from the reticle are represented with a simple arrow.
  • the rays coming from the diode 29 are represented with a double arrow.
  • FIG. 10 schematically represents a third embodiment example adapted to an optronic system similar to those described above but in which the laser is a Raman laser.
  • This Raman effect laser comprises an excitation laser 40, of the YAG type, emitting at a wavelength of 1.06 micron, and a Raman effect cell 42 which converts the energy of the excitation laser into radiation. 1.54 micron wavelength laser.
  • a deflection mirror 41 is interposed between the laser 40 and the cell 42.
  • a filtering device is interposed between the cell 42 and the output of the range finder 2. This filtering device consists of an absorber 44 and a dichroic blade 43, inclined at 45 ° relative to the optical axis of the laser beam leaving the cell 42, to deflect radiation of wavelength 1.06 micron towards the absorber 44. In a conventional rangefinder, this filtering device completely eliminates 1.06 micron wavelength radiation.
  • the wavelength of 1.06 micron can be dangerous for the eyes, while the wavelength of 1.54 micron is not dangerous. In practice, the energy of the radiation required to achieve harmonization is much lower than the maximum admissible intensity that is safe for the eyes. In addition, it is always possible to provide a rejector filter for the wavelength of 1.06 micron, inserted between the dichroic cube 5 and the pointing head 1.
  • This third embodiment has the advantage of avoiding adding a light emitting diode 29, a converging lens 28 and a dichroic plate 27. It only requires modifying the output filter a little, so that it allows a fraction of the radiation to pass through. at the wavelength of 1.06 micron.
  • the dichroic cube 5 is replaced by a dichroic cube 5 ′ slightly different from the cube 5 described for the second and the third exemplary embodiment.
  • FIG. 11 represents the graph of the transmission coefficient and the graph of the reflection coefficient of the dichroic cube 5 ′, as a function of the wavelength, for this third exemplary embodiment.
  • the transmission coefficient graph includes a plateau, of value 1, between the wavelengths from 0.7 micron to 1 micron, the transition to 0.5 taking place at 1.06 micron, wavelength emitted by the excitation laser.
  • the wavelength of 1.54 micron, emitted by the Raman effect cell falls in a domain where the transmission coefficient is zero and where the reflection coefficient is equal to 1.
  • the production of such a dichroic cube tube is within the reach of ordinary skill in the art.
  • This embodiment of the collimated radiation source associated with the laser is entirely compatible with the various examples of embodiment of the retroreflective means, described above, and comprising glass microbeads on the screen 22, or comprising a cube corner placed near the collimator 20.
EP90402493A 1989-09-19 1990-09-11 Dispositif d'harmonisation automatique pour un système optronique Expired - Lifetime EP0419320B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8912257 1989-09-19
FR8912257A FR2652166B1 (fr) 1989-09-19 1989-09-19 Dispositif d'harmonisation automatique pour un systeme optronique.

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EP0419320A1 EP0419320A1 (fr) 1991-03-27
EP0419320B1 true EP0419320B1 (fr) 1994-06-15

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US (1) US5054917A (ja)
EP (1) EP0419320B1 (ja)
JP (1) JPH03122517A (ja)
DE (1) DE69009921T2 (ja)
FR (1) FR2652166B1 (ja)

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US5054917A (en) 1991-10-08
DE69009921D1 (de) 1994-07-21
EP0419320A1 (fr) 1991-03-27
JPH03122517A (ja) 1991-05-24
DE69009921T2 (de) 1994-10-06
FR2652166B1 (fr) 1991-10-31
FR2652166A1 (fr) 1991-03-22

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