CN111722526A - Multi-view switching calibration control method based on temperature compensation and computer program product - Google Patents
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Abstract
The invention relates to a multi-view switching calibration control method based on temperature compensation and a computer program product, and belongs to the technical field of multi-view switching. The method mainly comprises the following steps: acquiring lens positions of the multi-view-field optical system when different view fields are clear under a plurality of discrete temperature points; performing mixed curve fitting based on the lens positions of the plurality of local temperature sections under the condition that different visual fields are clear at a plurality of discrete temperature points; calculating the lens positions of different clear view fields at any temperature point of a local temperature section by a linear interpolation technology among curves; the lens position of each clear view field is called based on the actual temperature, and the multi-view field is rapidly and accurately switched by a segmented PID algorithm; the calibration time of temperature compensation curves of batch products is greatly reduced by adding an offset adjustment algorithm to a common curve; for products which are easy to shake, the threshold algorithm is added to start or close the control module so as to reduce power consumption and keep the visual field clear and stable all the time.
Description
Technical Field
The invention belongs to the technical field of multi-view switching, and particularly relates to a multi-view switching calibration control method based on temperature compensation and a computer program product.
Background
The multi-view switching refers to a technology for achieving clear imaging under different views by adjusting the positions of the middle part optical lenses of the optical system. In infrared photoelectric imaging systems of hand-held, vehicle-mounted, ship-based and the like, switching of large and small view fields or switching of multiple view fields is required to meet different working requirements. In the process of focusing, the shapes of the optical lens, the mechanical structure and the like can be changed along with the change of temperature, the focal position is different under different temperature conditions, and meanwhile, the relationship between the focal position and the temperature shows different curve characteristics in different temperature sections. Thus, at different temperatures, the lens position also differs in the same field of view.
With the rapid development of panoramic imaging and infrared detection technologies, a multiband double-view-field high-resolution imaging optical system gradually replaces a single-band single-view-field low-resolution optical system, and becomes a hot spot of current military scientific and technical research.
The development of optical systems for rapidly detecting targets in real time and accurately tracking and measuring the targets is the current main trend.
Currently, the research in the field of multi-view switching from the application point of view is mainly: PID control double-view field switching; a double-view-field zooming optical system with a temperature compensation function; thirdly, an infrared three-field optical system; and a visual field switching means for switching between a plurality of visual fields quickly and accurately.
However, the focus of these studies is often focused on two types of technologies: the first is optical system design, including optical parameters, materials, number of lenses, structures and even optical designs with temperature compensation, etc. to achieve optimal imaging; the second is on a pure PID control algorithm to achieve fast field switching.
However, few researchers have studied the compensation for lens position in multiple fields of view; even if a small number of researchers adopt the measures of sectional temperature compensation, due to the limited temperature points capable of being collected, virtual focus is easy to occur in the temperature interval which is not collected, and meanwhile, the research on how to optimize the sectional compensation to improve the calibration efficiency is less.
Disclosure of Invention
The invention aims to provide a multi-view switching control method with temperature compensation.
The technical scheme adopted by the invention is as follows:
a multi-view switching method based on temperature compensation comprises the following steps:
the method comprises the following steps: according to the number of lenses and the number of fields of view of the optical system, respectively collecting the position value of each lens when each field of view is clear under a plurality of discrete temperature points:
assuming that the optical system has M adjustable lenses, N fields of view that need to be switched, and P discrete temperature data are collected, the lens position at which different fields of view are clear at a plurality of discrete temperature points is denoted as PP, which is represented by the following formula:
PP＝[L1，L2，...LM]
wherein L isiRepresenting the position parameter of the ith lens, fi(j, k) represents the position value of the kth field of view at the jth temperature point of the ith lens.
Step two: and (3) carrying out segmented (each segment is not less than two temperature points) curve fitting based on the positions of the lens when different fields of view are clear under a plurality of discrete temperature points:
if linear fitting is taken as an example, for a certain lens i and field of view k, Tj、Tj+1Two adjacent temperature points are reference points, and a position curve in the temperature section is fitted as follows:
therefore, one lens needs to fit a P-1 curve in a determined view field, and for an optical system with M adjustable lenses and N view fields, M.N- (P-1) curves need to be fitted;
if fitting as a quadratic function is taken as an example, for a certain lens i and field of view k, Tj、Tj+1、Tj+2Three adjacent temperature points are taken as reference points, and a position curve in the temperature section is fit as follows:
therefore, one lens needs to fit a P-2 curve in a determined view field, and for an optical system with M adjustable lenses and N view fields, M.N- (P-2) curves need to be fitted;
further, a linear fitting and polynomial fitting mixed use method is provided based on the piecewise mixed curve fitting of the position sampling. The polynomial fitting is adopted for the temperature section with more sensitive temperature, and the linear fitting is adopted for the temperature section with less sensitive temperature, specifically:
in a certain view field k and a certain lens i, the whole temperature interval (P-1 temperature sections) needing calibration is averaged, and each temperature section corresponds to the lensThe slice clear position offset is:
for a particular temperature interval j, if
A polynomial fit (preferably a linear fit) is used between the segments, if any
A linear fit is used.
Further, the system temperature is acquired in real time, the real-time temperature is respectively substituted into the fitting curves of the two adjacent temperature sections to obtain two groups of target position values, the distance value from the acquired temperature value to the two adjacent temperature sections is used as a specific gravity, and the linear interpolation of the two curves at the acquired temperature value is calculated to be used as a final lens target position value:
taking linear interpolation as an example, at T, for a given lens i and field of view kj、Tj+1The resulting fitted dotted line between two adjacent temperature points is PC (T, i, j, k) at Tj、Tj+1The fitted dotted line obtained between two adjacent temperature points is PC (T, i, j +1, k), and the real-time temperature value T satisfies (T)j+1+Tj)/2≤t≤(Tj+2+Tj+1) And/2, the clear position value of the k field of view of the lens i at the temperature t is as follows:
step three: and taking the calculated position value as a lens position target, and realizing multi-view-field fast and stable switching at any temperature based on a segmented PID algorithm:
calculating a target position Pg (t, i, j, k) of the lens i based on the real-time temperature t and the view field k to be switched;
based on the lens target position Pg (t, i, j, k) and the current position Pc(t, i, j, k) performing segment PID control to realize fast and stable switching, wherein the segments are as followsThe following:
wherein, TH1 is the lens position allowable error range zone limit value, TH2 is the PID algorithm control zone limit value, TH3 is the P algorithm control limit value. The segmentation control algorithm is different from the traditional PID control algorithm in that corresponding segmentation basis and control parameters are both directed at the control algorithm which needs fast switching, has no oscillation in the switching process and accurately stops at a target position, fast and accurate are pursued, and steady state balance control after the target is reached is not required.
For products which are easy to shake, the control module can be started or closed by increasing the threshold TH1 to reduce power consumption and keep the visual field clear and stable all the time; determining a PID control region by increasing the threshold TH2 to provide a PID control convergence speed; the determination of the pcontrol region by increasing the threshold TH3 allows for a smooth transition between full speed operation of the motor and the PID control interval.
Step four: the common curve is obtained by analyzing the principal components of the curves of a plurality of products which are calibrated point by point:
PCpca(t,i,j,k)＝PCA(PC1(t,i,j,k)，PC2(t,i,j,k)，……)；
for a new product, the compensation curve only needs to be added with an offset on the common curve:
PC(t,i,j,k)＝PCpca(t,i,j,k)+Bias；
wherein the Bias is obtained by calibrating a temperature point, if the clear position at the temperature T is: PC (T, i, j, k), then the product's bias is:
Bias＝PC(T,i,j,k)-PCPCA(T,i,j,k)。
a temperature compensation based multi-view switching computer program product, said computer program product comprising a non-transitory readable storage medium and a computer program tangibly stored on said non-transitory readable storage medium, the computer program being executable by a processor in a computer to perform steps implementing the temperature compensation based multi-view switching calibration control method of the present invention.
The invention has the beneficial effects that:
1) the temperature compensation coefficient is obtained by a mixed fitting mode of linear fitting and polynomial fitting, so that the parfocalization of the full temperature (generally-40-70 ℃) is ensured, and the temperature points needing to be calibrated can be reduced as much as possible.
2) In the batch production process, the compensation curve in the full-temperature range can be obtained by calibrating only one temperature point by using the calibrated compensation curve of the product as a main component analysis and adding adjustment offset, so that the production time is greatly reduced, and the production efficiency is greatly improved.
3) The sectional basis and the control parameters of the motor control algorithm aim at the control algorithm which needs to be switched quickly, has no oscillation and is stopped accurately at a target position, and the aim is to realize quick and accurate control without requiring steady-state balance control after the target is reached. The algorithm can complete the field switching in the fastest time.
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Fig. 1 is a flowchart of a multi-view switching calibration control method based on temperature compensation according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples.
It will be appreciated by those skilled in the art that the following examples are illustrative of the invention only and should not be taken as limiting the scope of the invention. The examples do not specify particular techniques or conditions, and are performed according to the techniques or conditions described in the literature in the art or according to the product specifications. The materials or equipment used are not indicated by manufacturers, and all are conventional products available by purchase.
For the purpose of illustration, assume that the optical system has M-2 adjustable lenses, which can satisfy most of the multiple fields of view; n is 3 fields needing to be switched; the data of 11 discrete temperatures, specifically-40 ℃, 30 ℃ and … 60 ℃, are collected, and the working temperature range of most products can be covered.
The method comprises the following steps: according to the number of lenses and the number of fields of view of the optical system, respectively collecting the position value of each lens when each field of view is clear under a plurality of discrete temperature points:
the position of the lens at 11 discrete temperature points at which the different fields of view are clear is then denoted as PP, which is expressed by the following equation:
PP＝[L1，L1]
wherein L isiRepresenting the position parameter of the ith lens, fi(j, k) represents the position value of the kth field of view at the jth temperature point of the ith lens, T1、T2、…、T11Respectively, it means that-40 deg.C, -30 deg.C, … 60 deg.C are a temperature point.
Step two: and (3) carrying out segmented (each segment is not less than two temperature points) curve fitting based on the positions of the lens when different fields of view are clear under a plurality of discrete temperature points:
if fitting as a quadratic function is taken as an example, for a certain lens i and field of view k, Tj、Tj+1、Tj+2Three adjacent temperature points are taken as reference points, and a position curve in the temperature section is fit as follows:
therefore, a lens needs to fit P-2 curves in a determined view field, and for an optical system with M2 adjustable lenses and N3 view fields, M.N. (P-2) · (54 curves) need to be fitted;
further, the piecewise mixed curve fitting based on the position sampling adopts polynomial fitting according to the temperature section which is more sensitive to the temperature and adopts linear fitting to the temperature section which is less sensitive to the temperature, specifically:
in a certain view field k and a certain lens i, the temperature interval (P-1 temperature sections) needing calibration is defined, and the clear position offset of the lens corresponding to each temperature section is as follows:
for a particular temperature interval j, if
A polynomial fit (preferably a linear fit) is used between the segments, if any
A linear fit is used.
The results of various embodiments show that most infrared optical systems are sensitive to low temperature and less sensitive to high temperature. Therefore, polynomial fitting (preferably quadratic polynomial) is adopted in the low-temperature section, and linear fitting is adopted in the high-temperature section.
Step three: the method comprises the following steps of collecting system temperature in real time, substituting the real-time temperature into two adjacent temperature section fitting curves respectively to obtain two groups of target position values, calculating linear interpolation of the two curves at the collected temperature values as a final lens target position value by taking the distance value from the collected temperature value to the two adjacent temperature sections as specific gravity:
taking linear interpolation as an example, at T, for a given lens i and field of view kj、Tj+1、Tj+2The resulting fitted dotted line between three adjacent temperature points is PC (T, i, j, k) at Tj+1、Tj+2、Tj+3The fitted dotted line obtained between the three adjacent temperature points is PC (T, i, j, +1, k), and the real-time temperature value T satisfies Tj+1≤t≤Tj+2Then the clear position value of the k field at the temperature t for the lens i is:
step four: and taking the position value calculated in the third step as a lens position target, and realizing multi-view-field fast and stable switching at any temperature based on a segmented PID algorithm:
calculating a target position Pg (t, i, j, k) of the lens i based on the real-time temperature t and the view field k to be switched;
and carrying out segmented PID control based on the target position Pg (t, i, j, k) and the current position Pc (t, i, j, k) of the lens to realize fast and stable switching, wherein the segmentation is as follows:
wherein TH1 is a limit value of an allowable error range area of the lens position, which can be determined according to the depth of field of the optical system; TH2 is 15-30 times of the PID algorithm control region limit value preferably in terms of position sampling maximum error; TH3 is preferably 30-50 times the maximum error of the P-algorithm control limit value in position samples. The segmentation control algorithm is different from the traditional PID control algorithm in that corresponding segmentation basis and control parameters are both directed at the control algorithm which needs to be switched quickly and stopped accurately at a target position, the pursuit is fast and accurate, and steady-state balance control after the target is reached is not required.
Step five: the common curve is obtained by analyzing the principal components of the curves of a plurality of products which are calibrated point by point:
PCpca(t,i,j,k)＝PCA(PC1(t,i,j,k)，PC2(t,i,j,k)，……)；
for a new product, the compensation curve only needs to be added with an offset on the common curve:
PC(t,i,j,k)＝PCpca(t,i,j,k)+Bias
wherein Bias is obtained by calibrating a temperature point, if the clear position at temperature T is: PC (T, i, j, k), then the product's bias is:
Bias＝PC(T,i,j,k)-PCPCA(T,i,j,k)。
in the embodiment, calibration of 11 temperature points is adopted, and the calibration time of each temperature point needs 2-3 hours, so that all calibration needs 22-33 hours. The calibration time is reduced to 2-3 hours by a method of adding bias to a common curve.
A computer program product for a temperature compensation based multi-view switching calibration control method, said computer program product comprising a non-transitory readable storage medium and a computer program, said computer program being tangibly stored on said non-transitory readable storage medium, the computer program being executed by a processor in a computer to perform the steps of the temperature compensation based multi-view switching calibration control method of an embodiment.
The technical effects of the embodiment are as follows:
1) the temperature compensation coefficient is obtained by a mixed fitting mode of linear fitting and polynomial fitting, thereby not only ensuring the non-defocusing of the full temperature (generally-40-70 ℃) but also reducing the temperature points needing to be calibrated as much as possible.
2) In the batch production process, the compensation curve in the full-temperature range can be obtained by calibrating only one temperature point by using the calibrated compensation curve of the product as a main component analysis and adding adjustment offset, so that the production time is greatly reduced, and the production efficiency is greatly improved. In the embodiment, calibration of 11 temperature points is adopted, and the calibration time of each temperature point needs 2-3 hours, so that all calibration needs 22-33 hours. The calibration time is reduced to 2-3 hours by a method of adding bias to a common curve, and the time is reduced to 9% of the original time.
3) The sectional basis and the control parameters of the motor control algorithm are both directed at the control algorithm which needs to be switched quickly and stopped accurately at a target position, and the pursuit is quick and accurate, but steady-state balance control after the target is reached is not required. The algorithm can complete the field switching in the fastest time. In the embodiment, the maximum stroke of the visual field switching is 150mm, the visual field switching time is controlled within 1s by the control algorithm of the invention, and no oscillation occurs in the switching process.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (13)
1. A multi-view field switching calibration control method based on temperature compensation is characterized by comprising the following steps:
the method comprises the following steps: respectively collecting the position value of each lens when each visual field is clear under a plurality of discrete temperature points according to the number of the lenses and the number of the visual fields of the optical system;
step two: performing piecewise curve fitting according to at least two temperature points in each segment based on the positions of the lens when different fields of view under a plurality of discrete temperature points are clear;
step three: acquiring system temperature in real time, respectively substituting the system temperature acquired in real time into fitting curves of two adjacent temperature sections to obtain two groups of target position values, fitting curves by adopting a method of mixing linear fitting and polynomial fitting, taking a distance value between an acquired temperature value and two adjacent temperature sections as a specific gravity, and calculating curve interpolation of the two curves at the acquired temperature value as a final lens target position value;
step four: and the calculated position value is taken as a lens position target, and multi-view-field rapid and stable switching at any temperature is realized based on a segmented PID algorithm.
2. The temperature compensation based multi-view switching calibration control method according to claim 1, characterized in that:
the position value of each lens at which each field of view is clear at the plurality of discrete temperature points in the first step is denoted as pp, which is expressed by the following formula:
PP＝[L1，L2，...LM]
wherein it is assumed that the optical system hasAcquiring P data of discrete temperature by M adjustable lenses and N fields needing to be switched; l isiRepresenting the position parameter of the ith lens, fi(j, k) represents the position value of the kth field of view at the jth temperature point of the ith lens.
3. The temperature compensation based multi-view switching calibration control method according to claim 1, characterized in that:
the position value in the first step is acquired by adopting a locator/sliding rheostat/digital encoder mode, or position information is directly provided by other equipment.
4. The temperature compensation based multi-view switching calibration control method according to claim 1, characterized in that:
the piecewise curve fitting in the second step comprises linear fitting/quadratic function curve/multiple curve fitting/exponential curve fitting.
5. The temperature compensation based multi-view switching calibration control method according to claim 4, wherein the linear fit is:
for a given lens i and field of view k, at Tj、Tj+1Two adjacent temperature points are reference points, and a position curve in the temperature section is fitted to be:
a lens needs to fit P-1 curves in a determined field of view, and for an optical system with M adjustable lenses and N fields of view, M.N. (P-1) curves need to be fitted.
6. The method of claim 4, wherein the quadratic function is fit to:
for a given lens i and field of view k, at Tj、Tj+1、Tj+2Three phasesThe adjacent temperature points are reference points, and a position curve in the temperature section is fitted to be:
a lens needs to fit P-2 curves in a determined field of view, and for an optical system with M adjustable lenses and N fields of view, M.N. (P-2) curves need to be fitted.
7. The temperature compensation-based multi-view switching calibration control method according to claim 1, wherein the third step employs linear fitting as follows:
for a given lens i and field of view k, at Tj、Tj+1The resulting fitted dotted line between two adjacent temperature points is PC (T, i, j, k) at Tj、Tj+1The fitted dotted line obtained between two adjacent temperature points is PC (T, i, j +1, k), and the real-time temperature value T satisfies (T)j+1+Tj)/2≤t≤(Tj+2+Tj+1) And/2, the clear position value of the k field of view of the lens i at the temperature t is as follows:
8. the method for multi-field switching calibration control based on temperature compensation of claim 4, wherein the piecewise curve fitting may also perform a hybrid curve fitting:
in a certain view field k and a certain lens i, the temperature interval (P-1 temperature sections) needing calibration is defined, and the clear position offset of the lens corresponding to each temperature section is as follows:
for a particular temperature interval j, if
A polynomial linear fit is applied between the segments if
A linear fit is used.
9. The method for controlling calibration based on temperature compensation and switching of multiple fields of view according to claim 8, wherein the fourth step further comprises:
calculating a target position Pg (t, i, j, k) of the lens i based on the real-time temperature t and the view field k to be switched;
based on the lens target position Pg (t, i, j, k) and the current position PcAnd (t, i, j, k) performing segmented PID control to realize fast and stable switching.
10. The temperature compensation based multi-view switching calibration control method according to claim 9, wherein: the lens-based target position Pg(t, i, j, k) and the current position Pc(t, i, j, k) the segment PID control is carried out to realize the fast and stable switching segments as follows:
wherein, TH1 is the lens position allowable error range zone limit value, TH2 is the PID algorithm control zone limit value, TH3 is the P algorithm control limit value.
11. The temperature compensation based multi-view switching calibration control method according to claim 10, wherein:
the control module is started or closed by increasing the threshold TH1 to reduce power consumption and keep the visual field clear and stable all the time; determining a PID control region by increasing the threshold TH2 to provide a PID control convergence speed; the determination of the pcontrol region by increasing the threshold TH3 allows for a smooth transition between full speed operation of the motor and the PID control interval.
12. The temperature compensation based multi-view switching calibration control method according to any one of claims 1 to 11, further comprising the steps of:
the common curve is obtained by analyzing the principal components of the curves of a plurality of products which are calibrated point by point:
PCpca(t,i,j,k)＝PCA(PC1(t,i,j,k)，PC2(t,i,j,k)，……)
for a new product, the compensation curve only needs to be added with an offset on the common curve:
PC(t,i,j,k)＝PCpca(t,i,j,k)+Bias
wherein Bias is obtained by calibrating a temperature point, if the clear position at temperature T is:
PC (T, i, j, k), then the product's bias is:
Bias＝PC(T,i,j,k)-PCPCA(T,i,j,k)。
13. a temperature compensation based multi-field switching calibration control computer program product, characterized in that:
the computer program product comprises a non-transitory readable storage medium and a computer program, the computer program being tangibly stored on the non-transitory readable storage medium, the computer program being executed by a processor in a computer to perform the steps of implementing the temperature compensation based multi-field-of-view switching calibration control method according to any one of claims 1 to 12.
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