CN108507672B - Far-field laser energy detection method capable of automatically correcting visual axis error - Google Patents
Far-field laser energy detection method capable of automatically correcting visual axis error Download PDFInfo
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- CN108507672B CN108507672B CN201810289036.4A CN201810289036A CN108507672B CN 108507672 B CN108507672 B CN 108507672B CN 201810289036 A CN201810289036 A CN 201810289036A CN 108507672 B CN108507672 B CN 108507672B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
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- G01J1/0295—Constructional arrangements for removing other types of optical noise or for performing calibration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/02—Details
- G01J1/0242—Control or determination of height or angle information of sensors or receivers; Goniophotometry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/02—Details
- G01J1/0266—Field-of-view determination; Aiming or pointing of a photometer; Adjusting alignment; Encoding angular position; Size of the measurement area; Position tracking; Photodetection involving different fields of view for a single detector
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Abstract
A far-field laser energy detection method for automatically correcting visual axis errors belongs to the technical field of laser energy testing, and aims to solve the problems in the prior art, and comprises the following steps: determining that the target plate is positioned in the center of the view field of the tracking camera; starting a laser emitter to irradiate a cross target center of the target plate; starting the laser energy probe, and outputting a laser energy measured value at the moment; scanning the target plate in a spiral scanning mode, and recording angle information output by a rotary table azimuth angle encoder and a pitching angle encoder at each moment and laser spot energy measurement information output by a laser energy probe; after the scanning is finished, determining the maximum value of the laser spot energy output by the laser energy probe, and recording the angle values output by the azimuth angle encoder and the pitch angle encoder corresponding to the maximum value as the deviation amount of the visual axis of the tracking camera and the visual axis of the laser energy probe; and then adjusting the center of the field of view of the tracking camera according to the deviation amount for tracking.
Description
Technical Field
The invention relates to a far-field laser energy detection method for automatically correcting a visual axis error, and belongs to the technical field of laser energy testing.
Background
The method for carrying out field measurement on laser parameters by adopting a tracking rotary table to carry imaging or laser energy test systems of various spectral bands is a common laser external field parameter test method. The method comprises the steps of searching a distant target and a laser spot to be detected on the target by using a tracking camera on a tracking rotary table, locking and tracking, and then testing laser spot energy parameters by using a laser energy probe and a tracking camera loaded on the tracking rotary table. In order to ensure the reliable operation and accurate result of the system, the convergence of the visual axis of the tracking camera and the visual axis of the laser energy probe on the target to be detected or the deviation is less than the specified range is required.
However, the laser wavelength to be measured is invisible to human eyes, and the position of the optical axis of the laser energy probe in the energy test system and the output result cannot be visualized, so that the system is difficult to adjust, and an error exists in the adjusting process; in addition, after the laser energy probe is used for a period of time, the displacement of mechanical parts can cause the visual axis to drift, so that the error of the misalignment between the visual axis of the turntable tracking camera and the visual axis of the laser energy probe can be changed in an uncertain way. The above-mentioned problems can cause the visual axis center of the laser energy probe to deviate from the target of the laser spot to be measured, thereby making the measurement result inaccurate or even lost. The traditional scheme for solving the problems is that the intersection point of two visual axes is calibrated in an optical installation and adjustment stage by adopting a manual installation and adjustment mode before the equipment leaves a factory, but the installation and adjustment error of the visual axes cannot be controlled in a smaller range due to invisible light spots; in addition, after the energy testing system is used for a period of time, the energy testing system needs to return to a manufacturer to re-calibrate the changed position of the visual axis so as to eliminate errors caused by visual axis drift.
Disclosure of Invention
The invention provides a far-field laser energy detection method capable of automatically correcting a visual axis error, which aims to solve the problems that manual adjustment errors of a tracking camera visual axis and a laser energy probe visual axis in the existing far-field laser energy test system cannot be controlled and the error drifts in the use process. The method utilizes the target angle position information output by the tracking system and the energy detection result output by the laser energy probe, processes the target angle position information and the energy detection result to obtain the visual axis deviation between the tracking system and the laser energy probe, and corrects the actual position of the tracked target according to the deviation, thereby realizing the automatic elimination of the visual axis error and ensuring the accuracy of the measurement result of the energy test system.
The technical scheme for solving the technical problem of the invention is as follows:
a far-field laser energy detection method for automatically correcting visual axis errors is characterized by comprising the following steps:
firstly, searching, capturing, locking and tracking a target plate by using a tracking camera, and determining that the target plate is positioned in the center of a view field of the tracking camera;
starting a laser emitter to irradiate the target plate, so that laser spots emitted by the laser emitter irradiate a cross target center of the target plate;
step three, starting the laser energy probe, wherein the laser energy probe outputs a laser energy measured value;
driving a tracking turntable in a spiral scanning mode according to the position of the center of the visual axis of the tracking camera and the range of the size of the visual field 1/2 or 2/3 of the tracking camera, driving the tracking camera and the laser energy probe to rotate, and scanning the target plate; under the spiral scanning mode, the center of the view field of the tracking camera is positioned at the center of the target plate at the initial moment; recording angle information output by the rotary table azimuth angle encoder and the pitching angle encoder at each moment and laser spot energy measurement information output by the laser energy probe in the scanning process;
and step five, after the spiral scanning is finished, determining the maximum value of the laser spot energy output by the laser energy probe, recording the angle values output by the azimuth angle encoder and the pitch angle encoder corresponding to the maximum value as the deviation amounts △ X and △ Y of the visual axis of the tracking camera and the visual axis of the laser energy probe at the moment, adjusting the position of the visual axis center of the tracking camera to the position corresponding to the azimuth angle value and the pitch angle value according to the deviation amount, and adjusting the position to the visual field center of the tracking camera by taking the point as the actual tracked target for tracking.
In the fourth step, a driving mode of replacing spiral scanning with raster scanning is adopted to track the rotary table, a tracking camera and a laser energy probe are driven to rotate, and the target plate is scanned; under a raster scanning mode, the center of a view field of a tracking camera is positioned at the upper left corner of a target plate at an initial moment; and in the scanning process, angle information output by the rotary table azimuth angle encoder and the pitching angle encoder at each moment and laser spot energy measurement information output by the laser energy probe are recorded.
The invention has the beneficial effects that:
the parallelism error and the actual intersection point position of the visual axis of the tracking camera and the visual axis of the energy testing system do not need to be accurately known when error correction is carried out; no extra equipment or device is needed when error correction is carried out; the method can be automatically completed on site at any time before the field dynamic measurement is started, and professional optical-mechanical installation and adjustment personnel are not needed.
The invention improves the precision of the outfield laser energy test; the problem of field automatic correction of the visual axis error of a non-coaxial non-imaging irradiation laser energy dynamic test system is solved.
Drawings
FIG. 1 is a schematic diagram of the adjustment deviation of the visual axis of the tracking camera and the visual axis of the laser energy probe according to the present invention.
Fig. 2 is a schematic diagram of determining deviation amount of a tracking camera visual axis and a laser energy probe visual axis by adopting a spiral scanning mode.
Fig. 3 is a schematic diagram of determining deviation amount of a tracking camera visual axis and a laser energy probe visual axis by adopting a raster scanning mode.
FIG. 4 is a schematic diagram showing the relationship between the visual axis center of the laser energy probe and the visual axis center of the tracking camera on the target after adjustment.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
A far-field laser energy detection method for automatically correcting visual axis errors comprises the following steps:
step one, as shown in fig. 1, a tracking camera 1 is used to search, capture, lock and track a target board 2, and it is determined that the target board 2 is located at the center of the field of view of the tracking camera 1.
And step two, starting the laser emitter 4 to irradiate the target plate 2, so that laser spots emitted by the laser emitter irradiate the cross target center of the target plate 2.
The short-wave infrared laser emitted by the laser transmitter 4 is shot at the center of the target plate 2 which is at a certain distance (such as 5Km) away from the laser energy probe 3, and a laser spreading spot can be presented on the target plate 2. In an ideal situation, the visual axis of the tracking camera 1 and the visual axis of the laser energy probe 3 should coincide at the center of the target plate 2.
And step three, starting the laser energy probe 3, and outputting a laser energy measured value at the moment.
And fourthly, driving a tracking rotary table in a spiral scanning or raster scanning mode according to the position of the center of the visual axis of the tracking camera 1 and the range of the size of the visual field 1/2 or 2/3 of the tracking camera 1 as shown in fig. 2 and 3, driving the tracking camera 1 and the laser energy probe 3 to rotate, and scanning the target plate 2. Under the spiral scanning mode, the center of the view field of the tracking camera 1 is positioned at the center of the target plate 2 at the initial moment; under a raster scanning mode, the center of a view field of a tracking camera 1 is positioned at the upper left corner of a target plate 2 at an initial moment; and in the scanning process, angle information output by the rotary table azimuth angle encoder and the pitching angle encoder at each moment and laser spot energy measurement information output by the laser energy probe 3 are recorded.
Step five, after the spiral scanning or the raster scanning is finished, determining that the laser spot energy maximum value is output by the laser energy probe 3, recording angle values output by an azimuth angle encoder and a pitch angle encoder corresponding to the maximum value as deviation amounts △ X and △ Y of a visual axis of the tracking camera 1 and a visual axis of the laser energy probe 3 at the moment, as shown in fig. 4, then adjusting the position corresponding to the azimuth angle value and the pitch angle value from the visual axis center of the tracking camera 1 according to the deviation amounts, and adjusting the position to the visual field center of the tracking camera 1 by taking the point as an actual tracked target for tracking.
Claims (2)
1. A far-field laser energy detection method for automatically correcting visual axis errors is characterized by comprising the following steps:
firstly, searching, capturing, locking and tracking a target plate (2) by using a tracking camera (1), and determining that the target plate (2) is positioned at the center of a view field of the tracking camera (1);
step two, starting a laser emitter (4) to irradiate the target plate (2) so that laser spots emitted by the laser emitter irradiate the cross target center of the target plate (2);
step three, starting the laser energy probe (3), and outputting a laser energy measured value at the moment;
driving a tracking turntable in a spiral scanning mode according to the position of the center of the visual axis of the tracking camera (1) and the range of the size of the visual field 1/2 or 2/3 of the tracking camera (1), driving the tracking camera (1) and the laser energy probe (3) to rotate, and scanning the target plate (2); under a spiral scanning mode, the center of a view field of a tracking camera (1) is positioned at the center of a target plate (2) at an initial moment; in the scanning process, angle information output by the rotary table azimuth angle encoder and the pitching angle encoder at each moment and laser spot energy measurement information output by the laser energy probe (3) are recorded;
and step five, after the spiral scanning is finished, determining the maximum value of the laser spot energy output by the laser energy probe (3), recording the angle values output by the azimuth angle encoder and the pitch angle encoder corresponding to the maximum value as the deviation amounts △ X and △ Y of the visual axis of the tracking camera (1) and the visual axis of the laser energy probe (3), adjusting the position corresponding to the azimuth angle value and the pitch angle value from the visual axis center of the tracking camera (1) according to the deviation amount, and adjusting the position as the actual tracked target to the visual field center of the tracking camera (1) for tracking.
2. The far-field laser energy detection method for automatically correcting the visual axis error is characterized in that a driving mode of replacing spiral scanning with raster scanning is adopted in the fourth step, a tracking rotary table is adopted, a tracking camera (1) and a laser energy probe (3) are driven to rotate, and a target plate (2) is scanned; under a raster scanning mode, the center of a view field of a tracking camera (1) is positioned at the upper left corner of a target plate (2) at an initial moment; and in the scanning process, angle information output by the rotary table azimuth angle encoder and the pitch angle encoder at each moment and laser spot energy measurement information output by the laser energy probe (3) are recorded.
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| CN111458046A (en) * | 2020-01-14 | 2020-07-28 | 长春理工大学 | Single-camera-based dynamic monitoring method for laser spatial distribution characteristics |
| CN113237439B (en) * | 2021-04-30 | 2022-07-15 | 长春理工大学 | Decoupling tracking method of periscopic laser communication terminal |
| CN113884074B (en) * | 2021-09-08 | 2024-05-03 | 四川交奥智控防护科技有限公司 | Automatic target alignment method based on photoelectric sensing matrix active target |
| CN114967117B (en) * | 2022-04-14 | 2023-10-27 | 中国电子科技集团公司第十一研究所 | Optical axis alignment method and system for active and passive double-light composite system |
| CN114858422B (en) * | 2022-07-11 | 2022-09-13 | 中国科学院长春光学精密机械与物理研究所 | Method for dynamically calibrating consistency of laser optical axis and visual axis based on Gaussian distribution |
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| US4063819A (en) * | 1976-08-27 | 1977-12-20 | The United States Of America As Represented By The Secretary Of The Air Force | High energy laser pointing and tracking system utilizing beam angle/focus dither method of operation |
| CN101252394A (en) * | 2008-01-22 | 2008-08-27 | 长春理工大学 | Sight axis self-correcting method of atmosphere laser communication system |
| CN104296655B (en) * | 2014-09-26 | 2017-03-29 | 中国科学院光电研究院 | A kind of laser tracker picture revolves the scaling method of formula initial angle |
| CN105892041B (en) * | 2015-11-19 | 2018-05-01 | 中国工程物理研究院应用电子学研究所 | Multi-path laser transmitting optical axis adjustment means and method based on tracking detector |
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