CN114885085B - Zero-finding accurate positioning method based on magnetic grating ruler - Google Patents
Zero-finding accurate positioning method based on magnetic grating ruler Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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Abstract
The invention belongs to the technical field of control, and particularly relates to a zero-finding accurate positioning method based on a magnetic grating ruler, wherein the positioning method is implemented based on a focusing device, and the focusing device comprises the following components: the device comprises a focusing control unit, a focusing executing mechanism, a focusing position feedback unit and a limiting feedback unit; compared with the prior art, the invention has the following beneficial effects: (1) Compared with the traditional cam focusing system, the linear movement focusing mechanism based on the method adopts the voice coil motor, and has the advantages of simple structure and high response speed. Zero-seeking speed can be effectively guaranteed. (2) Compared with the traditional cam focusing system, the linear movement focusing mechanism based on the method adopts the magnetic grating ruler and the incremental encoder as a position feedback device to replace the traditional position potentiometer and the analog-to-digital conversion measuring system, and has high measuring precision.
Description
Technical Field
The invention belongs to the technical field of control, and particularly relates to a zero-finding accurate positioning method based on a magnetic grating ruler, in particular to a zero-finding accurate positioning method based on the magnetic grating ruler after starting up in a high-speed shooting focusing system.
Background
An onboard optoelectronic system pod is an optoelectronic device mounted on a moving carrier with a stable platform and capable of providing a stable image output for the carrier. It generally comprises a plurality of sensors such as a television camera, a thermal infrared imager, a laser range finder and a plurality of control units such as a control computer and a servo system. The television camera is used for acquiring and observing the external image. The system is provided with clear television images for observing, detecting and identifying targets in the daytime. However, for a high-speed moving object, a high-speed photographing system is required to acquire an image and clearly image, and a focusing mechanism in the high-speed photographing system has the characteristics of quick response, simple structure and no backlash. And in the whole course of the movement of the target, the focusing system continuously focuses according to the change of the distance information, so that the image is in a clear state. The focusing mechanism corresponds the distance value and the focusing position of the target according to a pre-calibrated curve, however, the position is precisely calibrated, and the stable and clear imaging of the image is kept in the process of moving the target. Accurate zero position determination is critical.
The existing focusing mechanism of the television camera generally adopts a cam structure, consists of three basic components of a cam, a driven piece and a frame, uses a position potentiometer as a feedback system, and controls a direct current driving motor to execute focusing function and determine focusing zero position through a control board, so that the following problems exist:
(1) The problem of large and uncertain backlash is that the cam is a component with a curve profile or a groove, and the backlash caused by the pin in the groove movement process is different in size due to the machining precision. The gear transmission mechanism has more components, is used as a direct current driving motor of the whole focusing system, and is provided with a reduction gearbox with a certain gear ratio at the rear end of the motor for increasing moment, and backlash engagement still has backlash. It is difficult to eliminate the effect of nulling on the zero-finding accuracy.
(2) The precision is low, and the precision of the potentiometer serving as position feedback is low, so that the requirement of high zero searching precision in a high-speed camera system cannot be met.
(3) The repeatability is poor, and the limit switch or a mechanical limit is adopted in the existing design scheme to realize the reference points, so that the problem of poor repeatability of the zero-finding position can be caused due to the fact that the travel and the control speed of the reference switch are inconsistent.
(4) The response speed is low, the gear transmission in the whole system is more, the structure is complex, and the zero-seeking response speed is low in the motion process.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to solve the technical problems that: how to provide a zero-finding accurate positioning method, the method is required to have the advantages of high response speed, high precision, simple structure and the like in a high-speed shooting focusing system.
(II) technical scheme
In order to solve the technical problems, the invention provides a zero-finding accurate positioning method based on a magnetic grating ruler, wherein the positioning method is implemented based on a focusing device, and the focusing device comprises: the device comprises a focusing control unit, a focusing executing mechanism, a focusing position feedback unit and a limiting feedback unit;
the focusing actuating mechanism includes: a focusing slide block provided with a focusing compensation lens, a polish rod, a voice coil motor and a main lens cone;
the focus position feedback unit includes: the magnetic grating ruler is arranged on the focusing sliding block, and the reading head is fixed on the main lens cone;
the limit feedback unit comprises two Hall switches and a magnet;
the focusing control unit is respectively connected with the Hall switch, the voice coil motor and the reading head;
the voice coil motor consists of a magnet part and a middle coil part, wherein the magnet part is fixedly connected with the main lens barrel, and the coil part is fixedly connected with the focusing slide block;
the two Hall switches are used as limit switches and provide reference positions for zero searching control; defining a positive switch, namely a zero reference switch, as well as a negative switch as a Hall switch at one end, wherein the two Hall switches are arranged at a certain distance to be used as the limiting position of the movement of the focusing compensation lens and are connected through a horizontally arranged polish rod; the polished rod is provided with the focusing sliding block provided with the focusing compensation lens; the magnet and the magnetic grating ruler are both arranged on the focusing slide block; the focusing slide block is connected with a coil part which can move in the middle of the voice coil motor, is driven by the voice coil motor and can slide between the two Hall switches along the polish rod;
in the setting process, the induction surface of the reading head is parallel to the length direction of the magnetic grid ruler; the distance between adjacent magnetic waves on the magnetic grating ruler is fixed, zero-position magnetic wave information is arranged at a fixed position, and when the magnetic grating ruler moves along with the focusing sliding block, the reading head outputs a Z index pulse signal after reading the zero-position magnetic wave information on the magnetic grating ruler;
meanwhile, the reading head reads equidistant magnetic waves on the magnetic grating ruler in the moving process, outputs two paths of pulse signals of A phase and B phase, the phase A pulse signals, the phase B pulse signals and the Z index pulse signals are input into the focusing control unit, and the focusing control unit converts the phase A pulse signals and the phase B pulse signals into digital quantities by a counting method to serve as position feedback quantities of focusing control;
based on the focusing device, the zero-finding accurate positioning method comprises the following steps of:
step 1: the focusing control unit generates a first driving signal in the form of a pulse width modulation signal and controls the voice coil motor to drive the focusing slider provided with the focusing lens to linearly move along the polished rod towards a forward switch at one end; in the process, the focusing lens performs focusing operation;
step 2: when the distance between the magnet and the forward switch on the focusing slide block approaches to a certain degree in the process that the focusing slide block approaches to the forward switch, a magnetic field effect is generated between the magnet on the focusing slide block and the forward switch, namely, when the forward switch senses the magnet, the state of an output signal changes, and the output signal after the change is sent to a focusing control unit through an I/O port;
step 3: when the I/O port reads the changed output signal output by the positive switch, the focusing control unit generates a second driving signal in the form of a pulse width modulation signal, and controls the voice coil motor to drive the focusing slider provided with the focusing lens to do linear motion along the polished rod and reversely to the negative switch at the other end;
step 4: the magnetic grating ruler is arranged on the focusing sliding block, and in the process that the focusing sliding block provided with the focusing lens moves linearly along the polished rod, the reading head at the parallel position reads magnetic wave information on the magnetic grating ruler in real time, the reading head outputs a Z index pulse signal, and when the focusing control unit collects the Z index pulse signal, the focusing sliding block provided with the focusing lens is controlled to stop moving;
step 5: when the focusing control unit detects the rising edge of the Z index pulse signal output by the reading head, the focusing control unit clears the position feedback quantity after counting the acquired A phase pulse signal and B phase pulse signal by 0, and the position where the focusing lens is located at the moment is used as the starting position, namely the zero position, of the high-speed shooting focusing system.
The distance between the sensing surface of the reading head and the magnetic grid ruler is not more than 0.5mm.
Wherein, the interval distance of adjacent magnetic waves on the magnetic grid ruler is 0.001mm.
Wherein the magnetic grid ruler is a reference element of a magnetic grid digital display system; the wavelength is the length measurement unit of the magnetic grating ruler.
The reading head is of a relative position type, reads equidistant magnetic waves recorded on the magnetic grating ruler, and outputs an A-phase pulse signal, a B-phase pulse signal and a Z-index pulse signal to the focusing control unit corresponding to the corresponding lengths and positions.
The phase A pulse signal and the phase B pulse signal are square wave signals, and are different from each other by one quarter of the period length of the signals.
Wherein the Z index pulse signal is an index pulse, and one Z index pulse signal can be detected every 2mm apart.
The voice coil motor is a linear driving motor, has the characteristics of simple structure, small volume, high speed, high acceleration and high response speed, and provides power for zero-finding control.
The method is suitable for a high-speed shooting focusing system.
The method can effectively ensure zero searching precision, ensures stable and clear imaging in a focusing system of a high-speed moving target, has good repeatability, ensures the focusing precision to be 0.02mm and ensures the moving precision to be 0.005mm.
(III) beneficial effects
The invention provides a zero-finding accurate positioning method based on a magnetic grating ruler, which has the advantages of high response speed, high precision, simple structure and the like in a high-speed shooting focusing system.
Compared with the prior art, the invention has the following beneficial effects:
(1) Compared with the traditional cam focusing system, the linear movement focusing mechanism based on the method adopts the voice coil motor, and has the advantages of simple structure and high response speed. Zero-seeking speed can be effectively guaranteed.
(2) Compared with the traditional cam focusing system, the linear movement focusing mechanism based on the method adopts the magnetic grating ruler and the incremental encoder as a position feedback device to replace the traditional position potentiometer and the analog-to-digital conversion measuring system, and has high measuring precision.
(3) Compared with the traditional cam focusing system, the linear movement focusing mechanism based on the method adopts the detection limit reference switch and the Z signal edge output by the incremental encoder to determine the zero position, and has good repeatability.
(4) Compared with the traditional cam focusing system, the linear movement focusing mechanism based on the method has the advantages that due to the fact that the structure is simple, gear transmission does not exist, null return cannot be introduced, and zero finding rapidity can be guaranteed.
The invention can effectively ensure zero searching precision, ensures stable and clear imaging in a focusing system of a high-speed moving target, has good repeatability, can reach 0.02mm in focusing precision and can reach 0.005mm in moving precision. And the control program logic is simple, and the control circuit is small in size.
Drawings
FIG. 1 is a control composition diagram of a focusing system;
fig. 2 is a flowchart of the focus control system zero-finding control.
Detailed Description
For the purposes of clarity, content, and advantages of the present invention, a detailed description of the embodiments of the present invention will be described in detail below with reference to the drawings and examples.
In order to solve the above technical problems, the present invention provides a zero-finding accurate positioning method based on a magnetic grating ruler, wherein the positioning method is implemented based on a focusing device, as shown in fig. 1, the focusing device comprises: the device comprises a focusing control unit, a focusing executing mechanism, a focusing position feedback unit and a limiting feedback unit;
the focusing actuating mechanism includes: a focusing slide block provided with a focusing compensation lens, a polish rod, a voice coil motor and a main lens cone;
the focus position feedback unit includes: the magnetic grating ruler is arranged on the focusing sliding block, and the reading head is fixed on the main lens cone;
the limit feedback unit comprises two Hall switches and a magnet;
the focusing control unit is respectively connected with the Hall switch, the voice coil motor and the reading head;
the voice coil motor consists of a magnet part and a middle coil part, wherein the magnet part is fixedly connected with the main lens barrel, and the coil part is fixedly connected with the focusing slide block;
the two Hall switches are used as limit switches and provide reference positions for zero searching control; defining a positive switch, namely a zero reference switch, as well as a negative switch as a Hall switch at one end, wherein the two Hall switches are arranged at a certain distance to be used as the limiting position of the movement of the focusing compensation lens and are connected through a horizontally arranged polish rod; the polished rod is provided with the focusing sliding block provided with the focusing compensation lens; the magnet and the magnetic grating ruler are both arranged on the focusing slide block; the focusing slide block is connected with a coil part which can move in the middle of the voice coil motor, is driven by the voice coil motor and can slide between the two Hall switches along the polish rod;
in the setting process, the induction surface of the reading head is parallel to the length direction of the magnetic grid ruler; the distance between adjacent magnetic waves on the magnetic grating ruler is fixed, zero-position magnetic wave information is arranged at a fixed position, and when the magnetic grating ruler moves along with the focusing sliding block, the reading head outputs a Z index pulse signal after reading the zero-position magnetic wave information on the magnetic grating ruler;
meanwhile, the reading head reads equidistant magnetic waves on the magnetic grating ruler in the moving process, outputs two paths of pulse signals of A phase and B phase, the phase A pulse signals, the phase B pulse signals and the Z index pulse signals are input into the focusing control unit, and the focusing control unit converts the phase A pulse signals and the phase B pulse signals into digital quantities by a counting method to serve as position feedback quantities of focusing control;
as shown in fig. 2, based on the above focusing device, the zero-finding accurate positioning method includes the following steps:
step 1: the focusing control unit generates a first driving signal in the form of a pulse width modulation signal and controls the voice coil motor to drive the focusing slider provided with the focusing lens to linearly move along the polished rod towards a forward switch at one end; in the process, the focusing lens performs focusing operation;
step 2: when the distance between the magnet and the forward switch on the focusing slide block approaches to a certain degree in the process that the focusing slide block approaches to the forward switch, a magnetic field effect is generated between the magnet on the focusing slide block and the forward switch, namely, when the forward switch senses the magnet, the state of an output signal changes, and the output signal after the change is sent to a focusing control unit through an I/O port;
step 3: when the I/O port reads the changed output signal output by the positive switch, the focusing control unit generates a second driving signal in the form of a pulse width modulation signal, and controls the voice coil motor to drive the focusing slider provided with the focusing lens to do linear motion along the polished rod and reversely to the negative switch at the other end;
step 4: the magnetic grating ruler is arranged on the focusing sliding block, and in the process that the focusing sliding block provided with the focusing lens moves linearly along the polished rod, the reading head at the parallel position reads magnetic wave information on the magnetic grating ruler in real time, the reading head outputs a Z index pulse signal, and when the focusing control unit collects the Z index pulse signal, the focusing sliding block provided with the focusing lens is controlled to stop moving;
step 5: when the focusing control unit detects the rising edge of the Z index pulse signal output by the reading head, the focusing control unit clears the position feedback quantity after counting the acquired A phase pulse signal and B phase pulse signal by 0, and the position where the focusing lens is located at the moment is used as the starting position, namely the zero position, of the high-speed shooting focusing system.
The distance between the sensing surface of the reading head and the magnetic grid ruler is not more than 0.5mm.
Wherein, the interval distance of adjacent magnetic waves on the magnetic grid ruler is 0.001mm.
Wherein the magnetic grid ruler is a reference element of a magnetic grid digital display system; the wavelength is the length measurement unit of the magnetic grating ruler.
The reading head is of a relative position type, reads equidistant magnetic waves recorded on the magnetic grating ruler, and outputs an A-phase pulse signal, a B-phase pulse signal and a Z-index pulse signal to the focusing control unit corresponding to the corresponding lengths and positions.
The phase A pulse signal and the phase B pulse signal are square wave signals, and are different from each other by one quarter of the period length of the signals.
Wherein the Z index pulse signal is an index pulse, and one Z index pulse signal can be detected every 2mm apart.
The voice coil motor is a linear driving motor, has the characteristics of simple structure, small volume, high speed, high acceleration and high response speed, and provides power for zero-finding control.
The method is suitable for a high-speed shooting focusing system.
The method can effectively ensure zero searching precision, ensures stable and clear imaging in a focusing system of a high-speed moving target, has good repeatability, ensures the focusing precision to be 0.02mm and ensures the moving precision to be 0.005mm.
Example 1
As shown in fig. 1, the zero-seeking accurate control device based on the magnetic grating ruler in the embodiment comprises a high-frame-rate camera, a voice coil motor, a magnetic grating ruler, a reading head, a hall switch, a focusing control board and a focusing lens.
Step 1: the control processing unit based on the singlechip controls the voice coil motor to drive the sliding block provided with the focusing lens to do linear motion towards the direction of the A1 Hall switch;
step 2: when the control board detects that the signal output by the Hall switch is changed from high to low through the I/O port, the focusing mechanism is controlled to move towards the other direction;
step 3: the reading head continuously reads the equidistant magnetic waves recorded on the magnetic grating ruler at the same time, and when the control board detects the first Z signal pulse output by the reading head, the focusing mechanism is controlled to stop moving;
step 4: at this time, the position corresponding to the rising edge of the Z signal pulse is used as the initial position of the focusing system, namely the zero position, and the calibration curve of the system takes the position as the reference point.
By using the zero position positioning method, zero position finding precision is not affected by errors caused by uncertain travel or control speed of a reference switch, the zero position defined by the Z signal edge output by a reading head is very accurate, and the invention is a high-precision linear measurement system formed by the magnetic grating ruler and the reading head based on position feedback of the magnetic grating ruler, and the television system is provided with a high-precision and high-reliability zero finding system, so that focusing accuracy and repeatability of a focusing system in an automatic focusing process can be effectively ensured.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (8)
1. The zero-finding accurate positioning method based on the magnetic grating ruler is characterized in that the positioning method is implemented based on a focusing device, and the focusing device comprises: the device comprises a focusing control unit, a focusing executing mechanism, a focusing position feedback unit and a limiting feedback unit;
the focusing actuating mechanism includes: a focusing slide block provided with a focusing compensation lens, a polish rod, a voice coil motor and a main lens cone;
the focus position feedback unit includes: the magnetic grating ruler is arranged on the focusing sliding block, and the reading head is fixed on the main lens cone;
the limit feedback unit comprises two Hall switches and a magnet;
the focusing control unit is respectively connected with the Hall switch, the voice coil motor and the reading head;
the voice coil motor consists of a magnet part and a middle coil part, wherein the magnet part is fixedly connected with the main lens barrel, and the coil part is fixedly connected with the focusing slide block;
the two Hall switches are used as limit switches and provide reference positions for zero searching control; defining a positive switch, namely a zero reference switch, as well as a negative switch as a Hall switch at one end, wherein the two Hall switches are arranged at a certain distance to be used as the limiting position of the movement of the focusing compensation lens and are connected through a horizontally arranged polish rod; the polished rod is provided with the focusing sliding block provided with the focusing compensation lens; the magnet and the magnetic grating ruler are both arranged on the focusing slide block; the focusing slide block is connected with a coil part which can move in the middle of the voice coil motor, is driven by the voice coil motor and can slide between the two Hall switches along the polish rod;
in the setting process, the induction surface of the reading head is parallel to the length direction of the magnetic grid ruler; the distance between adjacent magnetic waves on the magnetic grating ruler is fixed, zero-position magnetic wave information is arranged at a fixed position, and when the magnetic grating ruler moves along with the focusing sliding block, the reading head outputs a Z index pulse signal after reading the zero-position magnetic wave information on the magnetic grating ruler;
meanwhile, the reading head reads equidistant magnetic waves on the magnetic grating ruler in the moving process, outputs two paths of pulse signals of A phase and B phase, the phase A pulse signals, the phase B pulse signals and the Z index pulse signals are input into the focusing control unit, and the focusing control unit converts the phase A pulse signals and the phase B pulse signals into digital quantities by a counting method to serve as position feedback quantities of focusing control;
based on the focusing device, the zero-finding accurate positioning method comprises the following steps of:
step 1: the focusing control unit generates a first driving signal in the form of a pulse width modulation signal and controls the voice coil motor to drive the focusing slider provided with the focusing lens to linearly move along the polished rod towards a forward switch at one end; in the process, the focusing lens performs focusing operation;
step 2: when the distance between the magnet and the forward switch on the focusing slide block approaches to a certain degree in the process that the focusing slide block approaches to the forward switch, a magnetic field effect is generated between the magnet on the focusing slide block and the forward switch, namely, when the forward switch senses the magnet, the state of an output signal changes, and the output signal after the change is sent to a focusing control unit through an I/O port;
step 3: when the I/O port reads the changed output signal output by the positive switch, the focusing control unit generates a second driving signal in the form of a pulse width modulation signal, and controls the voice coil motor to drive the focusing slider provided with the focusing lens to do linear motion along the polished rod and reversely to the negative switch at the other end;
step 4: the magnetic grating ruler is arranged on the focusing sliding block, and in the process that the focusing sliding block provided with the focusing lens moves linearly along the polished rod, the reading head at the parallel position reads magnetic wave information on the magnetic grating ruler in real time, the reading head outputs a Z index pulse signal, and when the focusing control unit collects the Z index pulse signal, the focusing sliding block provided with the focusing lens is controlled to stop moving;
step 5: when the focusing control unit detects the rising edge of the Z index pulse signal output by the reading head, the focusing control unit clears the position feedback quantity after counting the acquired A phase pulse signal and B phase pulse signal by 0, and the position where the focusing lens is located at the moment is used as the starting position, namely the zero position, of the high-speed shooting focusing system.
2. The method for precisely locating zero based on a magnetic grating ruler according to claim 1, wherein the distance between the sensing surface of the reading head and the magnetic grating ruler is not more than 0.5mm.
3. The method for precisely locating zero based on a magnetic grating ruler according to claim 1, wherein the distance between adjacent magnetic waves on the magnetic grating ruler is 0.001mm.
4. The zero-finding accurate positioning method based on the magnetic grating ruler, as claimed in claim 1, is characterized in that the magnetic grating ruler is a reference element of a magnetic grating digital display system; the wavelength is the length measurement unit of the magnetic grating ruler.
5. The method for precisely positioning zero-seeking based on a magnetic grating ruler according to claim 1, wherein the reading head is a reading head of a relative position type, reads equidistant magnetic waves recorded on the magnetic grating ruler, and outputs an A-phase pulse signal, a B-phase pulse signal and a Z-index pulse signal to the focusing control unit corresponding to the corresponding lengths and positions.
6. The method for precisely locating zero based on a magnetic grating ruler according to claim 5, wherein the A phase pulse signal and the B phase pulse signal are square wave signals, which are different from each other by a quarter of the signal period length.
7. The method for precisely locating zero based on a magnetic grating ruler according to claim 5, wherein the Z index pulse signal is an index pulse, and each 2mm interval can detect one Z index pulse signal.
8. The method for precisely positioning zero based on a magnetic grating ruler according to claim 1, wherein the method is suitable for a high-speed shooting focusing system.
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