WO2022056716A1

WO2022056716A1 - Reflective high-speed automatic followspot apparatus

Info

Publication number: WO2022056716A1
Application number: PCT/CN2020/115555
Authority: WO
Inventors: 王立辉; 曹瑞珉; 付健; 许毅钦; 陈志涛
Original assignee: 广东省科学院半导体研究所
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2022-03-24

Abstract

A reflective high-speed automatic followspot apparatus, for use in carrying out followspot operations in respect of a quickly moving performer on a stage, and correcting roundness distortion of the light spot caused by the included angle between inclined angle light and the projection plane being not perpendicular. The apparatus comprises a followspot (1), a roundness correction device (2), an optical path adjustment device (3), and a moving target locator (30). The followspot (1) outputs a light beam having uniform brightness to illuminate an area around a moving target. The moving target locator (30) sends position information of the moving target to an automatic followspot servo controller, and the position deviation between a light spot and the moving target is calculated to quickly adjust angles of reflector surfaces, so as to adjust the light path, and finally make the center position of the light spot coincide with the moving target. Compared with directly rotating the heavy followspot (1), fixing the followspot (1) and adjusting the rotation angles of first and second reflector surfaces (6, 12) can achieve high-speed target following by the light beam in a two-dimensional space. By establishing a mathematical model of the rotation angle of a motor and the inclination angle of the light beam, during target following by the light beam, information of the rotation angles of the reflector surfaces is obtained in real time, the roundness deviation of projection by the followspot (1) is calculated, and then the amount of angle increase of a roundness correction diaphragm is adjusted, thereby achieving roundness correction of the followspot at any position on the stage.

Description

A reflective high-speed automatic light tracking device

technical field

The present disclosure relates to the technical field of automatic light tracking equipment, in particular to a reflective high-speed automatic light tracking equipment.

Background technique

The use of stage lighting is an indispensable and important means in stage art, to achieve the purpose of highlighting the key points of the stage, shaping the image of characters and setting off the atmosphere of the environment. The follow spot light can highlight the actors or other special effects with a beam of light when the stage is dark, and show various stage arts and experiences according to the needs of the program.

In order to solve the problem of automatic light tracking and improve the automatic control of stage lighting, domestic and foreign experts have proposed many solutions, including ultrasonic technology, laser ranging and 3D cameras. However, most of its control bodies are concentrated in the follow-spot light. With the improvement of the follow-spot lighting system, cooling system, automatic control system and the improvement of the safety of each subsystem, the follow-spot light system is becoming more and more large and complex, and the system follows Real-time is limited. In order to improve the effect of the scene, actors usually make some highly maneuverable actions, which poses a great challenge to the followability of the light tracking system. In addition, in order to improve the viewing experience of the audience, the performance effect of the performers, and save space, the tracking system is usually placed in the corner or ceiling, and its installation space and activity space are limited. Therefore, it is necessary to propose a chasing scheme with high followability and low activity space.

In addition, due to the non-parallel between the focal plane of the tracking spot and the projection surface, the circular spot projected on the ground or the screen is distorted, usually an elliptical spot. Usually in the direction perpendicular to the projection plane, the spot distortion is not a problem, and as the projection angle decreases, the circular spot becomes an elliptical spot, and the ratio of the long axis along the projection direction to the short axis perpendicular to the projection direction gradually increases. The problem of light spot distortion becomes more and more obvious, which reduces the aesthetics of the chasing light and the viewing effect of the audience.

In terms of tracking body and information acquisition, invention patent CN 109068057 A, patent CN 109448052 A, patent CN 109976388 A, patent CN 110908408 A directly drive the tracking light body with a rotating pan/tilt through motors in two directions, CMOS and Sensors such as cameras obtain image information of moving targets to achieve automatic light tracking of moving targets on the stage. There is no related invention patent that realizes the adjustment of the spot position of the spotlight based on the fixed spotlight and the rotating mirror.

In terms of the tracking light control algorithm, the invention patent CN 108513414 A obtains the position deviation information of the actor's centroid through image recognition, and adjusts the corner of the tracking light through PID to realize the spot position control. The follow-spot light control system involved in the invention patent CN 110582146 A is the coordinated control of multiple follow-spot lights, not the position control of a single follow-spot light involved in the present disclosure.

In terms of improving the real-time performance of light tracking, the invention patent CN 110427055 A adopts the method of multi-sensor fusion, sets eight UWB anchor points, has higher positioning accuracy, and can ensure the real-time performance of positioning through a small amount of calculation. However, the chasing light actuator scheme based on the body of the chasing light has an inherent high delay problem due to its large moment of inertia, which is not covered in this patent.

In terms of roundness correction, there is no relevant patent for correcting the projection roundness of the follow spot light.

SUMMARY OF THE INVENTION

The embodiment of the present disclosure proposes a high-speed automatic light-following device based on double mirror reflection, which is used to perform a light-following operation for a fast-moving performer on the stage, and to solve the problem caused by the non-perpendicular angle between the light and the projection plane. The roundness distortion of the light spot is corrected, and it has high tracking real-time performance. It can realize the roundness correction function of the light spot at any position of the stage while the light spot follows the moving target of the stage.

Equipment composition:

The double-mirror-reflection-based high-speed automatic tracking device provided by the embodiment of the present disclosure optionally includes a tracking light, a roundness correction device, an optical path adjustment device, and a moving target locator.

Optionally, the optical path adjustment device is composed of a first optical path adjustment module and a second optical path adjustment module, and the first optical path adjustment module and the second optical path adjustment module are optically coupled to each other. By adjusting the angles of the two optical path adjustment modules, the tracking light path adjustment in a two-dimensional space can be realized, so that the tracking light spot can quickly reach any position on the stage.

Optionally, the first optical path adjustment module includes: a first reflecting mirror, a first driving motor, a first mirror fixing holder, a second mirror fixing holder and a first support bearing.

Optionally, the first mirror surface in the first optical path adjustment module is driven by the first drive motor and supported by the first support bearing, and the first mirror surface fixing holder can reflect the first mirror surface. The mirror surface is connected to the first drive motor, the second mirror surface fixing clamp connects the first reflecting mirror surface and the first support bearing, and the first mirror surface fixing clamp and the second mirror surface fixing clamp are respectively clamped the left and right sides of the first reflecting mirror surface.

Optionally, the second optical path adjustment module includes: a second reflecting mirror surface, a second driving motor, a third mirror surface fixing holder, a fourth mirror fixing holder and a second supporting bearing.

Optionally, the second mirror surface in the second optical path adjustment module is driven by the second drive motor and supported by the second support bearing, the output shaft of the second drive motor and the first The three mirror surface fixing holders are fixedly connected, the second support bearing is fixedly connected with the fourth mirror surface fixing holder, and the third mirror fixing holder and the fourth mirror fixing holder are the left and right sides of the second reflecting mirror surface.

The roundness correction device 2 can optionally have two solutions, wherein optionally, the first roundness correction implementation method includes the roundness correction diaphragm 16 , the first steering gear 17 , the second steering gear 18 , and the first connecting piece 19 . and the second connecting piece 20 ; the implementation of the second roundness correction includes a first roundness correction aperture 21 , a second roundness correction aperture 22 , a first steering gear 17 and a second steering gear 18 .

Optionally, the follow spot light is fixed.

Optionally, the roundness correction device includes a roundness correction diaphragm, a first steering gear, a second steering gear, a first connecting piece and a second connecting piece.

Drive mode:

In the first roundness correction implementation manner of the roundness correction device provided by the embodiment of the present disclosure, optionally, the roundness correction diaphragm is driven by the first steering gear, so that the roundness correction diaphragm rotates around the z-axis; The whole formed by the shutter and the first connecting piece is driven by the second steering gear to rotate around the y-axis, and the second connecting piece is fixed and connected with the ground.

Optionally, the first steering gear is configured to adjust the angle of the roundness correction diaphragm, which can realize the roundness adjustment in the y-direction; the overall angle formed by the roundness correction diaphragm and the first connector can be adjusted by the second steering gear. Realize roundness adjustment in z direction.

Optionally, in the second roundness correction implementation manner of the roundness correction device provided by the embodiment of the present disclosure, the first roundness correction diaphragm is driven by the first steering gear, so that the first roundness correction diaphragm rotates around the z-axis; The second roundness correction diaphragm is driven by the second steering gear, so that the second roundness correction diaphragm rotates around the y-axis.

Optionally, the first steering gear is configured to adjust the angle of the first roundness correction diaphragm, which can realize the roundness adjustment in the y-direction; and the second steering gear is configured to adjust the angle of the second roundness correction diaphragm, which can be adjusted. Realize roundness adjustment in z direction.

Compared with directly rotating a high-quality chasing light, the chasing device provided by the embodiment of the present disclosure enables the light beam to move faster with the performer and reduces the chasing delay phenomenon.

Control plan:

Optionally, the optical path adjustment device provided by the embodiment of the present disclosure further includes an automatic light tracking servo controller, and the automatic light tracking servo controller is configured to: obtain the position coordinates of the moving target on the stage, and calculate the position of the current light spot. Deviation, giving the angle increment information of the first reflecting mirror surface and the second reflecting mirror surface, so that the center position of the light spot coincides with the moving target by adjusting the angles of the first reflecting mirror surface and the second reflecting mirror surface according to the angle increment information.

Optionally, the position coordinates of the moving object are received from the moving object locator.

Optionally, the roundness correction device provided by the embodiment of the present disclosure further includes a roundness correction servo controller, and the roundness correction servo controller is configured to: obtain the angle information of the first reflecting mirror surface and the second reflecting mirror surface, according to The pre-established mapping relationship between the angle of the mirror surface and the ratio of the long axis and the short axis of the projection spot, obtain the ratio of the long axis and the short axis of the projection spot corresponding to the current angle information, so as to adjust the angle increment information of the circularity correction diaphragm, In order to realize the roundness correction of the chasing light at any position of the stage.

Optionally, the roundness correction device provided in the embodiment of the present disclosure further includes a roundness correction servo controller, and the roundness correction servo controller is configured to: acquire the angle information of the first reflecting mirror surface and the second reflecting mirror surface in real time, According to the pre-established mapping relationship between the angle of the mirror surface and the ratio of the long axis and the short axis of the projection spot, the ratio of the long axis and the short axis of the projection spot corresponding to the current angle information is obtained, so as to adjust the first roundness correction diaphragm and the second Angular increment information for the roundness correction diaphragm.

In the disclosed embodiment, the follow spot light outputs a beam of uniform brightness to illuminate the moving target and its surrounding area. The positioner sends the position information of the moving target to the optical path adjustment controller, and adjusts the angle of the mirror surface quickly by calculating the position deviation between the light spot and the moving target, so as to realize the adjustment of the light path, and finally make the center position of the light spot coincide with the moving target. By fixing the chasing light and adjusting the rotation angles of the two reflecting mirror surfaces, the chasing device provided by the embodiment of the present disclosure can realize the high-speed target following of the light beam in the two-dimensional space, compared with directly rotating the large-mass chasing light. By establishing a mathematical model of the motor rotation angle and the inclination angle of the light column, in the process of chasing light, the information of the rotation angle of the mirror surface is obtained in real time, and the roundness deviation of the tracking light is calculated, and then the angle increment of the roundness correction diaphragm is adjusted to realize any stage. Circularity correction for position chasing light.

Description of drawings

Fig. 1 is the structure diagram of a kind of reflective high-speed automatic chasing light equipment of the present disclosure;

Fig. 2 is the optical path adjustment device that the reflection type high-speed automatic light tracing equipment in Fig. 1 comprises;

3 is a structural diagram of a first optical path adjustment module of the optical path adjustment device in FIG. 2;

4 is a structural diagram of a second optical path adjustment module of the optical path adjustment device in FIG. 2;

Fig. 5 is the first realization form of the roundness correction device that the reflection type high-speed automatic light tracing equipment in Fig. 1 comprises;

Fig. 6 is the second realization mode of the roundness correction device included in the reflective high-speed automatic light tracking device in Fig. 1;

Fig. 7 shows the effect diagram that the roundness correcting device included in the reflective high-speed automatic light chasing device in Fig. 1 realizes roundness correction;

8 is a schematic diagram of a control scheme of the optical path adjustment device; and

FIG. 9 is a schematic diagram of a control scheme of the roundness correction device.

detailed description

The implementation of the present disclosure is described in detail below. The present embodiment is implemented on the premise of the technical solution of the present disclosure, and provides detailed implementation modes and specific operation processes, but the protection scope of the present disclosure is not limited to the following embodiments.

As shown in FIG. 1 , the present disclosure provides a reflective high-speed automatic tracking device, which may include a tracking light 1 , a roundness correction device 2 , an optical path adjustment device 3 and a moving target locator 30 .

As shown in FIG. 2 , the optical path adjustment device 3 may include a first optical path adjustment module 4 and a second optical path adjustment module 5 that are optically coupled to each other.

As shown in FIG. 3 , the first optical path adjustment module 4 may include a first reflecting mirror 6 , a first driving motor 7 , a first mirror fixing holder 8 , a second mirror fixing holder 9 and a first supporting bearing 10 . Specifically, the first mirror surface 6 can be driven by the first drive motor 7 and can be supported by the first support bearing 10, the output shaft of the first drive motor 7 can be fixedly connected with the first mirror surface fixing holder 8, and the first support The bearing 10 and the second mirror surface fixing holder 9 can be fixedly connected, and the first mirror surface fixing holder 8 and the second mirror surface fixing holder 9 can respectively clamp the left and right sides of the first reflecting mirror surface 6 .

As shown in FIG. 4 , the second optical path adjustment module 5 may include a second reflecting mirror 12 , a second driving motor 11 , a third mirror fixing holder 13 , a fourth mirror fixing holder 14 and a second supporting bearing 15 . Specifically, the second mirror surface 12 can be driven by the second drive motor 11 and can be supported by the second support bearing 15, the output shaft of the second drive motor 11 can be fixedly connected with the third mirror surface fixing holder 13, and the second support The bearing 15 and the fourth mirror surface fixing holder 14 can be fixedly connected, and the third mirror surface fixing holder 13 and the fourth mirror surface fixing holder 14 can clamp the left and right sides of the second mirror surface 12 .

In the embodiment of the present disclosure, the roundness correction device 2 may include two implementation manners, as shown in FIG. 5 and FIG. 6 respectively. As shown in FIG. 5 , in the first roundness correction implementation of the roundness correction device, the roundness correction device 2 may include a roundness correction diaphragm 16 , a first steering gear 17 , a second steering gear 18 , a first connection piece 19 and second connecting piece 20. Specifically, the roundness correction diaphragm 16 can be driven by the first steering gear 17 to rotate the roundness correction diaphragm 16 around the z-axis to realize roundness adjustment in the y-axis direction; the roundness correction diaphragm 16 and the first connector The whole formed by 19 can be driven by the second steering gear 18 and rotate around the y-axis to realize roundness adjustment in the z-axis direction; the second connecting piece 20 is fixed and connected to the ground.

As shown in FIG. 6 , in the second roundness correction implementation manner of the roundness correction device, the roundness correction device 2 may include a first roundness correction aperture 21 , a second roundness correction aperture 22 , and a first steering gear 17 and the second steering gear 18. Specifically, the first roundness correction diaphragm 21 can be driven by the first steering gear 17 to rotate the first roundness correction diaphragm 21 around the z-axis to realize roundness adjustment in the y-axis direction; the second roundness correction diaphragm 22 can be driven by the second steering gear 18, so that the second roundness correction diaphragm 22 is rotated around the y-axis to realize the roundness adjustment in the z-axis direction.

As shown in FIG. 1 , using the high-speed automatic tracking device based on double mirror reflection provided by the embodiment of the present disclosure, the tracking light 1 outputs a circular light beam with uniform brightness. The circularity of the light cylinder is adjusted by the circularity correction device 2 . The circularity-adjusted light beam passes through the second mirror surface 12 of the second optical path adjustment module 5 and the first reflection mirror surface 6 of the first optical path adjustment module 4 respectively to achieve optical path adjustment, and finally project a perfect circular light spot on the projection surface.

As shown in FIG. 2 , FIG. 3 and FIG. 4 , the first reflecting mirror surface 6 in the first optical path adjustment module 4 can be rotated around the x-axis, thereby realizing optical path adjustment along the y-axis direction; The two reflecting mirror surfaces 12 can rotate around the y-axis, thereby realizing the optical path adjustment along the x-axis direction; the first optical path adjustment module 4 and the second optical path adjustment module 5 cooperate with each other by adjusting the angles of the two optical path adjustment modules, so that a two-dimensional space can be realized. The chasing light path adjustment within the system can realize spot projection at any position in the projection plane.

As shown in FIG. 7 , a schematic diagram of the effect of adjusting the light spot after adding the diaphragm module is shown. Figure 7(a) shows the spot projection effect of the follow spot light when there is no diaphragm and no roundness adjustment. As the angle between the beam and the projection plane decreases, the long axis of the spot along the projection direction and the short axis perpendicular to the projection direction The ratio of the axes is getting larger and larger; Figure 7(b) shows the spot projection effect after adding a diaphragm between the follow spot light and the projection plane. At this time, the diaphragm is perpendicular to the projection direction, and the long axis of the elliptical spot is limited to a certain extent. The ratio of the long axis and the short axis has decreased; Figure 7(c) shows the spot projection effect after adjusting the angle between the diaphragm and the projection direction. Further restrictions, and finally reach a state where the long axis is consistent with the short axis.

Figure 8 shows the control scheme of the optical path adjustment device. In the present application, the optical path adjustment device 3 may also include an automatic light tracking servo controller, and the automatic light tracking servo controller is configured to: obtain the position of the moving target on the stage in real time, and calculate the position of the moving target on the stage and the current light spot. For the deviations Δx and Δy of the center position, the angle increment information of the first reflecting mirror surface and the second reflecting mirror surface is determined by the mathematical model between the pre-established position deviation and the first reflecting mirror surface and the second reflecting mirror surface. The automatic light tracking servo controller is further configured to: send the angle increment information to the motor driver, so that the motor drives the first reflecting mirror surface and the second reflecting mirror surface to rotate, and finally makes the center of the light spot coincide with the moving target. Among them, the position of the moving object in the stage is received from the moving object locator.

As shown in FIG. 9 , the control scheme of the roundness correction device 2 is shown. In the present application, the roundness correction device 2 may further include a roundness correction servo controller, and the roundness correction servo controller is configured to: acquire the angle information of the first reflecting mirror surface 6 and the second reflecting mirror surface 12 in real time, according to the pre-established angle information The mapping relationship between the angle of the mirror surface and the ratio of the long axis and the short axis of the projection spot, and the ratio of the long axis and the short axis of the projection spot corresponding to the current angle information is obtained, so as to adjust the roundness correction diaphragm 16 of the first roundness correction implementation Or the angle increment information of the first circularity correction diaphragm 21 and the second circularity correction diaphragm 22 in the second circularity correction implementation manner, and finally realize circularity adjustment.

Industrial Applicability:

The embodiment of the present disclosure proposes a high-speed automatic light-following device based on double-mirror reflection, which is used to perform a light-following operation for a fast-moving performer on the stage, and to prevent the light caused by the angle between the oblique angle light and the projection plane being not vertical. The roundness distortion of the light spot can be corrected, and it has high tracking real-time performance, which can realize the roundness correction of the light spot at any position of the stage while the light spot follows the moving target of the stage.

Wherein, by fixing the chasing light and adjusting the rotation angles of the two reflecting mirror surfaces, compared to directly rotating the large-mass chasing light, the chasing device provided by the embodiment of the present disclosure can realize the high-speed target following of the light beam in the two-dimensional space. Compared with directly rotating a high-quality chasing light, the chasing device provided by the embodiment of the present disclosure enables the light beam to move faster with the performer and reduces the chasing delay phenomenon. Among them, by establishing a mathematical model of the motor rotation angle and the inclination angle of the beam, in the process of chasing the mirror, the information of the rotation angle of the mirror surface is obtained in real time, and the roundness deviation of the projection of the chasing light is calculated, and then the angle increment of the roundness correction diaphragm is adjusted to realize Roundness correction for chasing light at any position on the stage.

Claims

A reflection-type high-speed automatic light-following device, which is used to perform a light-following operation on a fast-moving performer on a stage, characterized in that the reflection-type high-speed automatic light-following device comprises: a light-following light (1), a roundness correction A device (2), an optical path adjustment device (3) and a moving target locator (30).
The reflective high-speed automatic light tracking device according to claim 1, characterized in that, the optical path adjustment device (3) is composed of a first optical path adjustment module (4) and a second optical path adjustment module (5), the first optical path adjustment module (5). The adjustment module (4) and the second optical path adjustment module (5) are optically coupled to each other.
The reflective high-speed automatic light tracking device according to claim 2, wherein the first optical path adjustment module (4) comprises: a first reflecting mirror surface (6), a first driving motor (7), a first mirror surface A fixed holder (8), a second mirror fixed holder (9) and a first support bearing (10).
The reflective high-speed automatic light tracking device according to claim 3, characterized in that, the first reflection mirror surface (6) in the first optical path adjustment module (4) is driven by the first drive motor (7) Driven and supported by the first support bearing (10), the first mirror surface fixing clamp (8) connects the first reflecting mirror surface (6) and the first drive motor (7), the second mirror surface is fixed A holder (9) connects the first mirror surface (6) and the first support bearing (10), the first mirror surface fixing holder (8) and the second mirror fixing holder (9) are respectively clamped Hold the left and right sides of the first reflecting mirror surface (6).
The reflective high-speed automatic light tracking device according to any one of the preceding claims, wherein the second optical path adjustment module (5) comprises: a second reflecting mirror surface (12), a second driving motor (11) , a third mirror fixing holder (13), a fourth mirror fixing holder (14) and a second supporting bearing (15).
The reflective high-speed automatic light tracking device according to claim 5, characterized in that, the second reflection mirror surface (12) in the second optical path adjustment module (5) is driven by the second drive motor (11) Driven and supported by the second support bearing (15), the output shaft of the second drive motor (11) is fixedly connected with the third mirror surface fixing clamp (13), the second support bearing (15) ) is fixedly connected to the fourth mirror surface fixing holder (14), and the third mirror surface fixing holder (13) and the fourth mirror surface fixing holder (14) clamp the second reflecting mirror surface (12) on the left and right sides.
The reflective high-speed automatic tracking light device according to any one of the preceding claims, characterized in that the tracking light (1) is fixed.
The reflective high-speed automatic light tracking device according to any one of the preceding claims, characterized in that the roundness correction device (2) comprises a roundness correction diaphragm (16), a first steering gear (17), A second steering gear (18), a first connecting piece (19) and a second connecting piece (20).
The reflective high-speed automatic light tracking device according to claim 8, wherein the circularity correction diaphragm (16) is driven by the first steering gear (17) to rotate around the z-axis; The whole formed by the degree correction diaphragm (16) and the first connecting piece (19) is driven by the second steering gear (18) to rotate around the y-axis, and the second connecting piece (20) is fixed. , and connect to ground.
The reflective high-speed automatic light tracking device according to claim 9, wherein the first steering gear (17) is configured to adjust the angle of the roundness correction diaphragm (16) to achieve roundness in the y-direction and the second steering gear (18) is configured to adjust the angle of the whole formed by the roundness correction diaphragm (16) and the first connecting piece (19), so as to realize the roundness adjustment in the z direction.
The reflective high-speed automatic light tracking device according to any one of the preceding claims, characterized in that the roundness correction device (2) comprises a first roundness correction diaphragm (21), a second roundness correction light A shutter (22), a first steering gear (17) and a second steering gear (18).
The reflective high-speed automatic light tracking device according to claim 11, wherein the first roundness correction diaphragm (21) is driven by the first steering gear (17) to rotate around the z-axis; The second roundness correction diaphragm (22) is driven by the second steering gear (18) to rotate around the y-axis.
The reflective high-speed automatic light tracking device according to claim 12, wherein the first steering gear (17) is configured to adjust the angle of the first roundness correction diaphragm (21) to achieve y The direction roundness is adjusted, and the second steering gear (18) is configured to adjust the angle of the second roundness correction diaphragm (22) to realize the roundness adjustment in the z direction.
The reflective high-speed automatic light tracking device according to any one of claims 4 to 13, wherein the optical path adjustment device (3) comprises an automatic light tracking servo controller, and the automatic light tracking servo controller is Configured to: obtain the position coordinates of the moving target on the stage, and calculate the position deviation from the current spot, and give the angle increment information of the first reflecting mirror surface (6) and the second reflecting mirror surface (12), The angle increment information adjusts the angles of the first reflecting mirror surface (6) and the second reflecting mirror surface (12) so that the center position of the light spot coincides with the moving target.
The reflective high-speed automatic light tracking device according to claim 14, wherein the position coordinates of the moving object are received from the moving object locator.
The reflective high-speed automatic light tracking device according to any one of the preceding claims 4 to 15, characterized in that the roundness correction device (2) comprises a roundness correction servo controller, and the roundness correction servo control The device is configured to: obtain the angle information of the first reflecting mirror surface (6) and the second reflecting mirror surface (12) in real time, and obtain the current angle according to the mapping relationship between the angle of the reflecting mirror surface and the ratio of the long axis and the short axis of the projection spot. The ratio of the long axis to the short axis of the projected light spot corresponding to the information is used to adjust the angle increment information of the circularity correction diaphragm (16).
The reflective high-speed automatic light tracking device according to any one of the preceding claims 4 to 15, characterized in that the roundness correction device (2) comprises a roundness correction servo controller, and the roundness correction servo control The device is configured to: obtain the angle information of the first reflecting mirror surface (6) and the second reflecting mirror surface (12) in real time, and obtain the current angle according to the mapping relationship between the angle of the reflecting mirror surface and the ratio of the long axis and the short axis of the projection spot. The ratio of the long axis to the short axis of the projection light spot corresponding to the information is used to adjust the angle increment information of the first circularity correction diaphragm (21) and the second circularity correction diaphragm (22).