CN113253265B - Tomographic imaging method based on TIR prism steering common aperture emission - Google Patents
Tomographic imaging method based on TIR prism steering common aperture emission Download PDFInfo
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- 238000003384 imaging method Methods 0.000 title claims abstract description 81
- 238000005286 illumination Methods 0.000 claims abstract description 70
- 230000001678 irradiating effect Effects 0.000 claims abstract description 4
- 230000003287 optical effect Effects 0.000 claims description 63
- 238000000034 method Methods 0.000 claims description 12
- 238000012634 optical imaging Methods 0.000 claims description 11
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000004907 flux Effects 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000005855 radiation Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 7
- 230000003071 parasitic effect Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 7
- 238000003325 tomography Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000015572 biosynthetic process Effects 0.000 description 3
- 239000003292 glue Substances 0.000 description 3
- 238000003786 synthesis reaction Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
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- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
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Abstract
The invention discloses a tomographic imaging method based on TIR prism steering common aperture emission, which comprises the following steps: s1, emitting illumination laser, irradiating the illumination laser onto a target through a TIR prism, and returning to obtain target imaging information; s2, emitting illumination laser again, obtaining target imaging off-target quantity after returning target information, and adjusting off-target quantity by adjusting a quick mirror to realize tracking control adjustment imaging of the target; the invention can detect and image the target at the ultra-long distance in all weather, reduces the parasitic light interference, and can realize the detection and imaging of the target in the complex environment.
Description
Technical Field
The invention relates to the field of laser active illumination tomography, in particular to a tomography method based on TIR prism steering common-aperture emission.
Background
The beam control and tracking aiming equipment (ATP for short) is an important component of laser weapons and multifunctional laser warfare vehicles, and aims to transmit high-energy laser to a transmitting telescope through a relay transmission light path, focus the high-energy laser on a far-field target and strike and destroy the target. The main function is to complete the functional links of high power laser transmission, pointing control, target identification and tracking, active illumination, aiming, striking and the like.
Based on various combat application environments, in order to realize all-weather detection, identification and tracking of a target, especially for tracking the target at night, the frame frequency of the existing infrared detector cannot meet the tracking precision of photoelectric tracking equipment, and a camera with visible light cannot see at night. Through laser initiative illumination, because continuous laser irradiates on long-distance target, can produce very strong back-term scattering, prior art exists and requires higher to operational environment, is difficult to adapt to complicated environmental condition, imaging distance is short, the parasitic light interference is serious, the device is bulky scheduling shortcoming.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a tomography method based on TIR prism steering common aperture emission, can detect and image an ultra-long-distance target in all weather, reduces parasitic light interference, and can realize the detection and imaging of the target in a complex environment.
The invention aims at realizing the following scheme:
the tomographic imaging method based on the TIR prism steering common aperture emission comprises the following steps:
s1, emitting illumination laser, irradiating the illumination laser onto a target through a TIR prism, and returning to obtain target imaging information;
s2, the illumination laser is emitted again, the off-target quantity of target imaging is obtained after the return target information is obtained, and the off-target quantity is regulated by regulating the fast mirror, so that tracking control regulation imaging of the target is realized.
Further, in step S1, after passing through the TIR prism, the laser emitted by the illumination pulse laser enters a DLP chip unit of the DLP chip imaging optical system, and in the state that the DLP chip unit is turned off, the DLP chip unit irradiates the target through the transmitting telescope via the kude optical path, and an image returned by the single pulse laser through the target is imaged on the shortwave optical imaging system after passing through the inverted transmitting telescope, the fast reflection mirror, the kude optical path, the TIR prism and the DLP chip unit after being electrified, so as to obtain imaging information of the target.
Further, in step S2, when the illumination pulse laser emits the next pulse again, and at this time, the DLP chip unit is in the off state, and then the next pulse is emitted to the target through the emission telescope, and when the target information is obtained, the off-target amount of the target imaging is obtained, and the tracking control adjustment of the target is realized by adjusting the off-target amount by adjusting the fast reflection mirror.
Further, the illumination laser light is reflected at the surface of the DLP chip unit, and whether the DLP chip unit is deflected can be controlled by controlling the switching of the DLP chip unit.
Further, after the DLP chip unit is electrified, the DLP chip unit can generate 16-degree deflection, and in the gating time, the light returned by the target is imaged on a short-wave optical imaging system through an inverted transmitting telescope, a quick reflection mirror, a Coulomb light guide light path, a TIR prism and the electrified DLP chip unit in the gating distance, so that imaging information of the target is obtained.
Further, when the distance of the target is changed, focusing is carried out on the emission angles of the pulse lasers with different distances through the illumination laser beam shrinking system, so that the radiation flux of the target at different distances is realized.
Further, the TIR prism includes a TIR prism upper half and a TIR prism lower half, the TIR prism upper half being connected with the TIR prism lower half.
The method further comprises an illumination laser optical axis calibration step, wherein laser emitted by an illumination pulse laser is collimated by an illumination laser collimating lens, deflected by an illumination laser moving mirror, reflected by an illumination laser reflecting mirror after passing through an illumination laser beam shrinking system, transmitted to a relay DLP chip imaging optical system, and light transmitted through the illumination laser reflecting mirror is directed to an imaging micro lens through an optical axis and imaged on an optical axis directed detector.
The beneficial effects of the invention are as follows:
(1) The invention realizes tomography by using pulse laser, can detect and image the target at the ultra-long distance in all weather, reduces the stray light interference, and can realize detection and imaging of the target in complex environment, etc.; specifically, the TIR prism and the DLP chip are utilized to inhibit the stray light interference of a precise tracking short wave imaging optical system, the advantage of high transmittance of a short wave camera is utilized to realize detection imaging of a target in a complex environment, incoherent synthesis of a multi-light path pulse laser can be realized, the detection distance of the target is increased, ultra-long distance detection imaging is realized, directional pointing control of the multi-light path pulse laser can be realized, optical axis change caused by vibration and temperature change is eliminated, common aperture emission of main laser emission and illumination laser emission can be realized, and the embodiment of the method can reduce the volume of a traditional photoelectric tracking device, has a simple structure and is easy to realize.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a diagram of the overall optical system of the present invention;
FIG. 2 is a block diagram of a TIR prism of an embodiment of the present invention;
FIG. 3 is a TIR prism dispensing diagram of an embodiment of the present invention;
FIG. 4 is a diagram of a fine tracking short wave optical system in accordance with an embodiment of the present invention;
FIG. 5 is a point diagram of a fine tracking short wave optical system according to an embodiment of the present invention;
FIG. 6 is a graph of MTF of a fine tracking short wave optical system in accordance with an embodiment of the present invention;
FIG. 7 is a relay TIR prism imaging optics of an embodiment of the present invention;
FIG. 8 is a flow chart of method steps of an embodiment of the present invention;
in the figure, a primary mirror of a 1-transmitting telescope, a secondary mirror of the 2-transmitting telescope, a 3-quick reflection mirror, a 4-turning mirror, a 5-Coude mirror, a 6-De mirror, a 7-Coude mirror, an 8-Coude mirror, a 9-Coude mirror, a 10-spectroscope, an 11-transmitting laser, an upper half part of a 12-TIR prism, a lower half part of the 13-TIR prism, a 14-short wave imaging mirror, a 15-short wave imaging mirror, a 16-short wave optical imaging system, an imaging lens of a 17-TIR relay imaging optical system, an imaging lens of an 18-TIR relay imaging optical system, a 19-illumination laser mirror, a 20-optical axis pointing imaging microlens, a 21-optical axis pointing detector, a 22-illumination laser beam shrinking system, a 23-illumination laser moving mirror, a 24-illumination laser collimating lens and a 25-illumination pulse laser.
Detailed Description
All of the features disclosed in all of the embodiments of this specification, or all of the steps in any method or process disclosed implicitly, except for the mutually exclusive features and/or steps, may be combined and/or expanded and substituted in any way.
As shown in fig. 1 to 8, the tomography method based on the TIR prism steering common aperture emission comprises the steps of:
s1, emitting illumination laser, irradiating the illumination laser onto a target through a TIR prism, and returning to obtain target imaging information;
s2, the illumination laser is emitted again, the off-target quantity of target imaging is obtained after the return target information is obtained, and the off-target quantity is regulated by regulating the quick reflection mirror 3, so that tracking control regulation imaging of the target is realized.
Further, in step S1, the laser light emitted by the illumination pulse laser 25 enters the DLP chip unit of the DLP chip imaging optical system after passing through the TIR prism, and in the state that the DLP chip unit is turned off, the DLP chip unit irradiates the target after passing through the transmitting telescope through the kude optical path, and the image returned by the single pulse laser after passing through the target is imaged on the shortwave optical imaging system 16 after passing through the inverted transmitting telescope, the fast reflection mirror 3, the kude optical path, the TIR prism, and the DLP chip unit after being electrified, so as to obtain imaging information of the target.
Further, in step S2, when the illumination pulse laser 25 re-emits the next pulse, and at this time, the DLP chip unit is in the off state, and then the next pulse is emitted to the target through the emission telescope, and when the target information is obtained, the off-target amount of the target imaging is obtained, and the off-target amount is adjusted by adjusting the fast reflection mirror 3, so as to realize tracking control adjustment of the target.
Further, the illumination laser light is reflected at the surface of the DLP chip unit, and whether the DLP chip unit is deflected can be controlled by controlling the switching of the DLP chip unit.
Further, after the DLP chip unit is powered on, the DLP chip unit can generate 16-degree deflection, and in the gating time, the light returned by the target is imaged on the short-wave optical imaging system 16 through the inverted transmitting telescope, the quick reflection mirror 3, the kude light guide light path, the TIR prism and the powered-on DLP chip unit in the gating distance, so that imaging information of the target is obtained.
Further, focusing the emission angles of the pulsed lasers at different distances is achieved by the illumination laser beam shrinking system 22 when the distance of the target is changing, and the radiant flux of the target at different distances is achieved.
Further, the TIR prism comprises a TIR prism upper half 12 and a TIR prism lower half 13, the TIR prism upper half 12 being connected with the TIR prism lower half 13.
Further, the method comprises an illumination laser optical axis calibration step, wherein laser emitted by an illumination pulse laser 25 is collimated by an illumination laser collimating lens 24, is regulated by an illumination laser movable lens 23 to realize deflection, is reflected by an illumination laser reflecting mirror 19 after passing through an illumination laser beam shrinking system 22, is transmitted to a relay DLP chip imaging optical system, and light transmitted through the illumination laser reflecting mirror 19 is directed to an imaging micro lens 20 through an optical axis and imaged on an optical axis directed detector 21.
In the embodiment of the invention, an implementation system of the tomography method based on the TIR prism steering common aperture emission can be an optical path system based on the TIR prism steering common aperture emission tomography, which comprises an emission telescope (an emission telescope primary mirror 1 and an emission telescope secondary mirror 2), a fast reflection mirror 3, a plurality of kude mirrors forming a kude optical path, an emission laser 11, an illumination pulse laser 25, a TIR prism (comprising a TIR prism upper half 12 and a TIR prism lower half 13), a short-wave optical imaging system 16, a relay DLP chip imaging optical system (comprising a TIR relay imaging optical system imaging lens 17 and a TIR relay imaging optical system imaging lens 18), an illumination laser optical axis calibration optical system (comprising an optical axis pointing detector 21), an illumination laser beam shrinking system 22, an illumination laser collimating lens 24 and the like.
In other embodiments of the present invention, according to the optical path diagram in fig. 1, a telescope primary mirror 1, a telescope secondary mirror 2, a quick mirror 3, a turning mirror 4, a kude mirror 5, a kude mirror 6, a kude mirror 7, a kude mirror 8, a kude mirror 9, a spectroscope 10, a transmitting laser 11, a tir prism upper half 12, a tir prism lower half 13, a short wave imaging mirror 14, a short wave imaging mirror 15, a short wave optical imaging system 16, a tir relay imaging optical system imaging lens 17, a tir relay imaging optical system imaging lens 18, an illuminating laser mirror 19, an optical axis pointing imaging microlens 20, an optical axis pointing detector 21, an illuminating laser beam reduction system 22, an illuminating laser movable mirror 23, an illuminating laser collimator lens 24, and an illuminating pulse laser 25 are provided. The illumination pulse laser 25 of the illumination laser transmission part is provided with an optical fiber QBH laser head, laser light emitted from the optical fiber QBH laser head can be deflected through the illumination laser movable mirror 23 after being collimated by the illumination laser collimating lens 24, is transmitted to the relay imaging optical path system after being reflected by the illumination laser reflecting mirror 19 after being subjected to the illumination laser beam shrinking system 22, has a reflectivity of 99.5% when the illumination laser reflecting mirror 19 is coated, but has a part of light to transmit, the transmitted light is directed to the imaging micro lens 20 through the optical axis, and is imaged on the optical axis directed detector 21, wherein the imaging micro lens is similar to the hadamard imaging principle. The imaging microlens can perform incoherent synthesis on multiple paths of pulse lasers, only one pulse laser is shown in the embodiment, incoherent synthesis of any path number can be realized, and the number of synthesized lasers is the same as that of the microlens arrays. The more lasers combined, the farther apart they illuminate.
After the pulse laser is transmitted to the micro lens, the pulse laser is imaged on the detector, the light spot on the detector represents a far-field focusing light spot, the centroid of the light spot can be obtained through image processing, and the deviation of the centroid of the light spot from the standard quantity of the initial adjustment represents the deviation of the optical axis from the actual optical axis, so that the implementation calibration of the optical axis can be realized through the illumination laser movable mirror 23.
The working principle of the TIR prism and the DLP chip is that the TIR relay imaging optical system imaging lens 17, the TIR relay imaging optical system imaging lens 18 and the lower half part 13 of the TIR prism form a relay transmission optical system, and because the DLP chip has a specific size, the laser output from the pulse collimation laser is matched with the DLP chip, and the relay transmission optical imaging system is needed, and the optical system of the imaging system is shown in fig. 7.
The TIR prism is composed of two parts, namely an upper part 12 of the TIR prism and a lower part 13 of the TIR prism in fig. 1, the two parts of the triangular prism are combined together by means of four corner glue, the glue dispensing positions are shown in fig. 3, and the principle is that when light passes through the primary mirror 1 of the transmitting telescope in fig. 2, total reflection is generated after reaching a gluing surface, because the glue dispensing causes the two triangular prisms to generate a small air space, so that the light is transmitted from a dense medium to an optically sparse medium to generate total reflection.
The pulse laser transmitted by the relay generates reflection on the surface of the chip after passing through the DLP chip, controls the switch of the DLP chip, and can control whether the chip unit of the DLP generates deflection or not.
The main laser is coupled into the kude optical path through the beam splitter 10, and the pulse laser is reflected into the coupling optical path through the beam splitter 10, and the dashed line in fig. 1 represents the transmission path of the main laser, and the solid line in fig. 1 represents the transmission path of the pulse laser.
Both the emitted laser light and the illumination laser light are emitted onto the target through the common aperture of the off-axis emission telescope.
The imaging principle of the optical system of the fine tracking is that the reverse arrow direction in fig. 1 is an imaging path of the optical system, and the imaging path is formed by an inverted transmitting telescope (a transmitting telescope primary mirror 1 and a transmitting telescope secondary mirror 2), a quick reflecting mirror 3, a kude light guide optical path (comprising a kude mirror 5, a kude mirror 6, a kude mirror 7, a kude mirror 8 and a kude mirror 9), a TIR prism and a DLP chip in sequence, and the imaging is performed in a short-wave optical imaging system 16 after the imaging is performed by a short-wave imaging reflecting mirror 14 and a short-wave imaging reflecting mirror 15.
In operation, after the illumination pulse laser 25 emits a pulse, the pulse laser is in an off state after passing through the TIR prism and the DLP chip, the pulse laser irradiates the target through the kude optical path after passing through the off-axis emission telescope, the single pulse laser is electrified after passing through the image returned by the target, the DLP chip generates 16-degree deflection, and in the gating time, the light returned by the target is imaged on the infrared optical system through the inverted emission telescope, the fast reflection mirror 3, the kude light guide optical path, the TIR prism and the electrified DLP, so that imaging information of the target is obtained. When the illumination laser emits the next pulse, the DLP chip is turned off, and the next pulse passes through the emission telescope to be emitted to the target.
After the target information is obtained, the off-target amount of target imaging is obtained, and the off-target amount is reduced to the minimum through the quick reflection mirror 3, so that the fine tracking control of the target is realized (the initial tracking of the target is required to be realized through a photoelectric tracking control turntable before the fine tracking).
Focusing the emission angles of pulse lasers with different distances is realized through 22 in fig. 1 when the distance of the target is changed, and the radiation flux of the target at different distances is realized.
Table 1 optical parameters of optical system
In other embodiments of the present invention, when the target approaches at night, the initial tracking of the target is realized through the photoelectric tracking turntable, the camera for precisely tracking the visible light cannot detect any image, the embodiment of the present invention utilizes the active illumination mode of the laser to realize the positioning and tracking of the target through the kude light path, and utilizes the short wave camera to realize the precise tracking of the target through the light guide mode, and the output off-target information is fed back to the fast feedback mirror, so as to realize the high precision tracking of the target.
In addition to the foregoing examples, those skilled in the art will recognize from the foregoing disclosure that other embodiments can be made and in which various features of the embodiments can be interchanged or substituted, and that such modifications and changes can be made without departing from the spirit and scope of the invention as defined in the appended claims.
The inventive functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in the form of a software product stored in a storage medium and executing all or part of the steps of the method according to the embodiments of the present invention in a computer device (which may be a personal computer, a server, or a network device, etc.) and corresponding software. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, and an optical disk, and test or actual data exist in a read-only memory (Random Access Memory, RAM), a random access memory (Random Access Memory, RAM), and the like in program implementation.
Claims (1)
1. The tomographic imaging method based on the TIR prism steering common aperture emission is characterized by comprising the following steps:
s1, emitting illumination laser, irradiating the illumination laser onto a target through a TIR prism, and returning to obtain target imaging information;
s2, emitting illumination laser again, obtaining target imaging off-target quantity after returning target information, and adjusting off-target quantity through adjusting a quick reflection mirror (3) to realize tracking control adjustment imaging of the target;
in step S1, after passing through the TIR prism, laser emitted by the illumination pulse laser (25) enters a DLP chip unit of a DLP chip imaging optical system, and in the state that the DLP chip unit is turned off, the DLP chip unit irradiates a target through a transmitting telescope by a kude optical path, and an image returned by a single pulse laser through the target is imaged on a shortwave optical imaging system (16) after passing through the inverted transmitting telescope, a quick reflection mirror (3), the kude optical path, the TIR prism and the DLP chip unit after being electrified, so as to obtain imaging information of the target;
in step S2, when the illumination pulse laser (25) transmits the next pulse again, and at the moment, the DLP chip unit is in an off state, the next pulse is transmitted to the target through the transmitting telescope, and when target information is obtained, the off-target quantity of target imaging can be obtained, and tracking control adjustment of the target is realized by adjusting the off-target quantity through adjusting the quick reflection mirror (3);
the illumination laser generates reflection on the surface of the DLP chip unit, and whether the DLP chip unit deflects or not can be controlled by controlling the switch of the DLP chip unit;
after the DLP chip unit is electrified, the DLP chip unit can generate 16-degree deflection, and in the gating time, the light returned by the target is imaged on a short-wave optical imaging system (16) through an inverted transmitting telescope, a quick reflection mirror (3), a Coude light guide light path, a TIR prism and the electrified DLP chip unit on the gating distance, so that imaging information of the target is obtained;
when the distance of the target is changed, focusing is carried out on the emission angles of the pulse lasers with different distances through an illumination laser beam shrinking system (22), so that the radiation flux of the target at different distances is realized;
the TIR prism comprises a TIR prism upper half part (12) and a TIR prism lower half part (13), wherein the TIR prism upper half part (12) is connected with the TIR prism lower half part (13);
the method comprises an illumination laser optical axis calibration step, wherein laser emitted by an illumination pulse laser (25) is collimated by an illumination laser collimating lens (24) and then is regulated by an illumination laser movable lens (23) to realize deflection, the laser is reflected by an illumination laser reflecting mirror (19) after passing through an illumination laser beam shrinking system (22) and then is transmitted to a relay DLP chip imaging optical system, and light transmitted through the illumination laser reflecting mirror (19) is directed to an imaging micro lens (20) through an optical axis and imaged on an optical axis directed detector (21).
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