CN116699839B - Two-dimensional large-angle reflector calibration method and system - Google Patents
Two-dimensional large-angle reflector calibration method and system Download PDFInfo
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- CN116699839B CN116699839B CN202310981167.XA CN202310981167A CN116699839B CN 116699839 B CN116699839 B CN 116699839B CN 202310981167 A CN202310981167 A CN 202310981167A CN 116699839 B CN116699839 B CN 116699839B
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- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
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- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/62—Optical apparatus specially adapted for adjusting optical elements during the assembly of optical systems
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- G—PHYSICS
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- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
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- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
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- G—PHYSICS
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- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
- G02B7/1821—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors for rotating or oscillating mirrors
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Abstract
The application relates to the technical field of photoelectric scanning and tracking, and discloses a two-dimensional large-angle reflecting mirror calibration method and a system, wherein the rotation range of a two-dimensional large-angle reflecting mirror is partitioned according to the maximum value of the field of view of an auto-collimator, and the method comprises the following steps: controlling the two-dimensional large-angle reflecting mirror to rotate a first preset angle along the horizontal direction or the vertical direction; if the first preset angle value is larger than the maximum angle value of the view field of the autocollimator, controlling the turntable assembly to rotate a second preset angle in the opposite direction of the rotation of the two-dimensional large-angle reflecting mirror, and obtaining an angle deflection calibration signal, a second preset angle and a corresponding angle deflection detection signal; and calibrating the two-dimensional large-angle reflecting mirror according to the plurality of groups of angle deflection calibration signals, the angle deflection detection signals and/or the second preset angle. Through the subarea of the rotation range of the reflecting mirror, each area is adapted to the view field of the auto-collimator, and the deflection angle of the reflecting mirror is compensated by using the turntable, so that the calibration requirement of the two-dimensional large-angle reflecting mirror is met.
Description
Technical Field
The application relates to the technical field of photoelectric scanning and tracking, in particular to a two-dimensional large-angle reflector calibration method and system.
Background
The quick reflector is a component which works between a light source or a receiver and a target and is used for adjusting and stabilizing the visual axis or the light beam direction of an optical system, and the deflection direction of the reflector is precisely controlled by adopting a voice coil motor so as to precisely control the deflection angle of the light beam. The optical system has the advantages of compact structure, high response speed, high working bandwidth, high pointing precision and the like, and is widely applied to the fields of astronomical telescope, adaptive optics, image shift compensation, free space optical communication, precise tracking and the like, thereby being a key device for stabilizing light beams and correcting the propagation directions of the light beams in an optical system.
The working performance of the quick reflector needs to be measured by various indexes, and the premise of the measured indexes is that the reflector is calibrated, the application performance of the quick reflector is also influenced by the calibration precision, and the whole process needs longer time and is mechanized. Meanwhile, the larger the rotation range is, the more complicated the reflector calibration process is, and the requirements of a large angle rotation range cannot be met by a general autocollimator field of view.
The existing calibration device and method can calibrate after setting up the environment by fixing the reflecting mirror and the auto-collimator. Generally, a slightly large-range reflecting mirror can also be used for moving the autocollimator at the same time by using a partition calibration method, but under the condition that the angle range of the reflecting mirror is large, even if partition calibration is carried out, the accumulated error is large, the consumed time is extremely large, if other fault influences occur in the process, the process needs to be restarted, and the calibration precision cannot be guaranteed. The application of the two-dimensional large-angle reflecting mirror is increased, and the conventional calibration method cannot meet the requirements.
Disclosure of Invention
The embodiment of the application aims to provide a two-dimensional large-angle reflecting mirror calibration method and a two-dimensional large-angle reflecting mirror calibration system, wherein the rotation range of a reflecting mirror is partitioned, each area can meet the view field of an autocollimator, and then a turntable is used for controlling to compensate the deflection angle of the reflecting mirror, so that the calibration requirement of the two-dimensional large-angle reflecting mirror is met.
In order to solve the above technical problems, a first aspect of the embodiments of the present application provides a method for calibrating a two-dimensional wide-angle mirror, where the two-dimensional wide-angle mirror is fixedly connected to a turntable assembly, an auto-collimator is disposed at a corresponding position of the two-dimensional wide-angle mirror, and a rotation range of the two-dimensional wide-angle mirror is partitioned according to a field of view maximum value of the auto-collimator, including the following steps:
and controlling the two-dimensional large-angle reflecting mirror to rotate a first preset angle along the horizontal direction or the vertical direction;
if the first preset angle value is smaller than or equal to the maximum angle value of the view field of the auto-collimator, acquiring an angle deflection calibration signal of the auto-collimator and an angle deflection detection signal acquired by an eddy current sensor in the corresponding two-dimensional large-angle reflecting mirror;
if the first preset angle value is larger than the maximum angle value of the view field of the auto-collimator, controlling the turntable assembly to rotate a second preset angle in the opposite direction of the rotation of the two-dimensional large-angle reflecting mirror, and obtaining the angle deflection calibration signal, the second preset angle and the corresponding angle deflection detection signal;
and calibrating the two-dimensional large-angle reflecting mirror according to a plurality of groups of the angle deflection calibration signals, the angle deflection detection signals and/or the second preset angles.
Further, after the rotation range of the two-dimensional large-angle reflecting mirror is partitioned, the corresponding angle value of each area is smaller than or equal to the maximum angle value of the duration of the auto-collimator.
Further, the controlling the turntable assembly to rotate a second predetermined angle in a direction opposite to the rotation of the two-dimensional wide-angle mirror includes:
obtaining an integer value of a multiple of the first preset angle and a maximum angle value of the autocollimator visual field;
and controlling the turntable assembly to drive the two-dimensional large-angle reflecting mirror to rotate in the opposite direction according to the angle values of the integral number of partitions.
Further, the first-order calibration formula of the two-dimensional large-angle reflecting mirror is as follows:
angelXY.x=px01 * ad.x + px10 * ad.y + px00；
angelXY.y=py01 * ad.x + py10 * ad.y + py00；
wherein angelxy.x and angelxy.y are respectively deflection angles of the two-dimensional wide-angle reflecting mirror in an x-axis and a y-axis, which are acquired by the auto-collimator, and ad.x and ad.y are respectively detection signal AD values of the eddy current sensor in the two-dimensional wide-angle reflecting mirror in the x-axis direction and the y-axis direction, and px01, px10 and px00 are coefficients after first-order fitting of the x-axis; py01, py10 and py00 are coefficients after a first order fit on the y-axis.
Further, the three-order calibration formula of the two-dimensional large-angle reflecting mirror is as follows:
angelXY.x= (x_para[0] + ad.x * (ad.x * (x_para[6]* ad.x + x_para[3] + x_para[7]* ad.y) + x_para[1] + x_para[4]* ad.y) + ad.y * (x_para[2] + ad.y * (x_para[5]+ x_para[8] * ad.x + x_para[9]* ad.y)));
angelXY.y= (y_para[0] + ad.x * (ad.x * (y_para[6]* ad.x + y_para[3] + y_para[7]* ad.y) + y_para[1] + y_para[4]* ad.y) + ad.y * (y_para[2] + ad.y * (y_para[5]+ y_para[8] * ad.x + y_para[9]* ad.y)));
wherein angelxy.x and angelxy.y are deflection angles of the two-dimensional wide-angle reflecting mirror in the x-axis direction and the y-axis direction, respectively, acquired by the auto-collimator, ad.x and ad.y are detection signal AD values of the eddy current sensor in the two-dimensional wide-angle reflecting mirror in the x-axis direction and the y-axis direction, and the arrays x_para [ ] and y_para [ ] are an x-axis third-order fitting parameter array and a y-axis third-order fitting parameter array, respectively.
Accordingly, a second aspect of the embodiments of the present application provides a two-dimensional wide-angle mirror calibration system, where a two-dimensional wide-angle mirror is fixedly connected to a turntable assembly, an auto-collimator is disposed at a corresponding position of the two-dimensional wide-angle mirror, and a rotation range of the two-dimensional wide-angle mirror is partitioned according to a field of view maximum value of the auto-collimator, including:
the reflecting mirror control module is used for controlling the two-dimensional large-angle reflecting mirror to rotate a first preset angle along the horizontal direction or the vertical direction;
the calibration control module is used for acquiring an angle deflection calibration signal of the auto-collimator and an angle deflection detection signal acquired by a corresponding eddy current sensor in the two-dimensional large-angle reflecting mirror when the first preset angle value is smaller than or equal to the maximum angle value of the view field of the auto-collimator;
the calibration control module is further configured to control the turntable assembly to rotate a second preset angle in a direction opposite to the rotation direction of the two-dimensional large-angle reflecting mirror when the first preset angle value is greater than a maximum angle value of the view field of the auto-collimator, and obtain the angle deflection calibration signal, the second preset angle and the corresponding angle deflection detection signal;
and the calibration calculation module is used for calibrating the two-dimensional large-angle reflecting mirror according to a plurality of groups of the angle deflection calibration signals, the angle deflection detection signals and/or the second preset angles.
Further, after the rotation range of the two-dimensional large-angle reflecting mirror is partitioned, the corresponding angle value of each area is smaller than or equal to the maximum angle value of the duration of the auto-collimator.
Further, the calibration control module includes:
an angle calculation unit for obtaining an integer value of a multiple of the first preset angle and a maximum angle value of the autocollimator field of view;
the turntable control unit is used for controlling the turntable assembly to drive the two-dimensional large-angle reflecting mirror to rotate in the opposite direction according to the angle values of the integral number of partitions.
Further, the first-order calibration formula of the two-dimensional large-angle reflecting mirror is as follows:
angelXY.x=px01 * ad.x + px10 * ad.y + px00；
angelXY.y=py01 * ad.x + py10 * ad.y + py00；
wherein angelxy.x and angelxy.y are respectively deflection angles of the two-dimensional wide-angle reflecting mirror in an x-axis and a y-axis, which are acquired by the auto-collimator, and ad.x and ad.y are respectively detection signal AD values of the eddy current sensor in the two-dimensional wide-angle reflecting mirror in the x-axis direction and the y-axis direction, and px01, px10 and px00 are coefficients after first-order fitting of the x-axis; py01, py10 and py00 are coefficients after a first order fit on the y-axis.
Further, the three-order calibration formula of the two-dimensional large-angle reflecting mirror is as follows:
angelXY.x= (x_para[0] + ad.x * (ad.x * (x_para[6]* ad.x + x_para[3] + x_para[7]* ad.y) + x_para[1] + x_para[4]* ad.y) + ad.y * (x_para[2] + ad.y * (x_para[5]+ x_para[8] * ad.x + x_para[9]* ad.y)));
angelXY.y= (y_para[0] + ad.x *(ad.x * (y_para[6]* ad.x + y_para[3] + y_para[7]* ad.y) + y_para[1] + y_para[4]* ad.y) + ad.y * (y_para[2] + ad.y * (y_para[5]+ y_para[8] * ad.x + y_para[9]* ad.y)));
wherein angelxy.x and angelxy.y are deflection angles of the two-dimensional wide-angle reflecting mirror in the x-axis direction and the y-axis direction, respectively, acquired by the auto-collimator, ad.x and ad.y are detection signal AD values of the eddy current sensor in the two-dimensional wide-angle reflecting mirror in the x-axis direction and the y-axis direction, and the arrays x_para [ ] and y_para [ ] are an x-axis third-order fitting parameter array and a y-axis third-order fitting parameter array, respectively.
Accordingly, a third aspect of the embodiment of the present application provides an electronic device, including: at least one processor; and a memory coupled to the at least one processor; the memory stores instructions executable by the one processor, and the instructions are executed by the one processor, so that the at least one processor executes the two-dimensional large-angle reflector calibration method.
Accordingly, a fourth aspect of embodiments of the present application provides a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the two-dimensional wide angle mirror calibration method described above.
The technical scheme provided by the embodiment of the application has the following beneficial technical effects:
through partitioning the rotation range of the reflector, each area can meet the view field of the autocollimator, and then the turntable is used for controlling to compensate the deflection angle of the reflector, so that the calibration requirement of the two-dimensional large-angle reflector is met.
Drawings
FIG. 1 is a flow chart of a method for calibrating a two-dimensional large-angle reflector provided by an embodiment of the application;
FIG. 2 is a schematic diagram of a calibration principle of a two-dimensional wide-angle reflector according to an embodiment of the present application;
FIG. 3 is a schematic diagram of partition calibration provided by an embodiment of the present application;
FIG. 4 is a schematic view of the rotation of the turret assembly and the angular change of the mirror provided by an embodiment of the application;
FIG. 5 is a schematic diagram of a calibration sequence according to an embodiment of the present application
FIG. 6 is a block diagram of a two-dimensional wide-angle mirror calibration system provided by an embodiment of the present application;
FIG. 7 is a block diagram of a calibration control module provided by an embodiment of the present application.
Reference numerals:
1. the device comprises a reflector control module, 2, a calibration control module, 21, an angle calculation unit, 22, a turntable control unit, 3, a calibration calculation module, 100, a two-dimensional large-angle reflector, 101, a pitching rotating block, 102, a vertical supporting shaft, 103, a driving motor, 104, a horizontal supporting shaft, 105, a driving motor, 106, a horizontal rotating block, 107, a tool, 108, an autocollimator, 109, a tool, 110, a two-dimensional large-angle quick reflector deflection angle range, 111 and an autocollimator view field range.
Detailed Description
The objects, technical solutions and advantages of the present application will become more apparent by the following detailed description of the present application with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the application. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present application.
Referring to fig. 1 and 2, a first aspect of the embodiment of the present application provides a method for calibrating a two-dimensional wide-angle mirror 100, wherein the two-dimensional wide-angle mirror 100 is fixedly connected with a turntable assembly, an auto-collimator 108 is disposed at a corresponding position of the two-dimensional wide-angle mirror 100, and a rotation range of the two-dimensional wide-angle mirror 100 is partitioned according to a maximum value of a field of view of the auto-collimator 108, including the following steps:
in step S100, the two-dimensional wide-angle mirror 100 is controlled to rotate by a first preset angle along the horizontal direction or the vertical direction.
In step S200, if the first preset angle value is smaller than or equal to the maximum angle value of the field of view of the auto-collimator 108, an angle deflection calibration signal of the auto-collimator 108 and an angle deflection detection signal obtained by the corresponding eddy current sensor in the two-dimensional large-angle mirror 100 are obtained.
In step S300, if the first preset angle value is greater than the maximum angle value of the field of view of the auto-collimator 108, the turntable assembly is controlled to rotate by a second preset angle in the opposite direction to the rotation of the two-dimensional wide-angle mirror 100, so as to obtain an angle deflection calibration signal, a second preset angle and a corresponding angle deflection detection signal.
In step S400, the two-dimensional wide-angle mirror 100 is calibrated according to the plurality of sets of angle deflection calibration signals and the angle deflection detection signals and/or the second preset angle.
Specifically, the two-dimensional large-angle fast reflecting mirror is fixed on the turntable assembly, the deflection angle of the fast reflecting mirror is obtained through the auto-collimator 108, the eddy current sensor of the fast reflecting mirror obtains a detection signal, the corresponding relation between the angle of the reflecting mirror and the signal value is recorded, and then the turntable assembly is controlled by the calibration control module of the calibration system to drive the fast reflecting mirror to rotate in the horizontal and pitching directions, so that rotation compensation is completed, and the fast reflecting mirror returns to the field of view after the field of view of the auto-collimator 108 is offset. Based on the above process, the relation between the whole rotation angle and the signal value on the two dimensions of the reflecting mirror is fitted, and the calibration is completed.
The two-dimensional wide angle mirror 100 rotates far beyond the field of view of the autocollimator 108 and cannot be calibrated using conventional calibration methods. In the conventional calibration method, the rotation range of the reflecting mirror is within the view field range of the auto-collimator 108, and the reflecting mirror and the auto-collimator are only required to be fixed on the optical platform at the same level for calibration. The eddy current sensor receives the signal of the reflector position and feeds the signal back to the control system, and the control system sends out a signal to the voice coil motor to control the two-dimensional large-angle reflector 100 to perform two-dimensional movement, so that the fine adjustment of the reflector position is realized. The autocollimator 108 is used for measuring deflection angle of the reflecting mirror, has limited field of view, and is fixed by a tool 109 to keep level with the reflecting mirror.
Specifically, the turntable assembly comprises a horizontal rotating block 106, a pitching rotating block 101, two driving motors 103/105 and a base, wherein the horizontal rotating block 106 and the pitching rotating block 101 are fixed together through a horizontal supporting shaft 104 and a vertical supporting shaft 102 to form a whole turntable structure, the turntable is fixed on a tool 107, the two-dimensional large-angle quick-reflecting mirror is fixed on a device table, whether the two-dimensional large-angle quick-reflecting mirror deviates from a view field or not is judged through an autocollimator 108, a controller carries out control input, the turntable is controlled to drive a transmitting mirror fixed by the turntable to carry out horizontal and pitching rotation, the rotation range is large, and the rotation compensation requirement of the two-dimensional large-angle quick-reflecting mirror can be met.
The field of view of the autocollimator 108 cannot cover the range of the whole large-angle reflecting mirror, the range of rotation of the reflecting mirror needs to be partitioned according to the maximum field of view of the autocollimator 108, and each area needs to be smaller than the field of view of the autocollimator 108, so that the rotation compensation angle of each time of the turntable assembly can be a fixed angle value, each time of rotation can enable the reflecting mirror to return to the field of view, namely partitioning calibration is ensured, calibration of the whole two-dimensional large-angle reflecting mirror 100 is completed after each area calibration is completed, horizontal rotation compensation and pitching rotation compensation are separately carried out, and errors are avoided. Dividing the deflection angle of the reflecting mirror according to the field of view of the auto-collimator 108, dividing the deflection angle of the reflecting mirror into sections, when the reflecting mirror deflects the field of view of the auto-collimator 108, rotating a certain angle by controlling the horizontal or pitching reverse motion of the turntable, enabling the reflecting mirror to return to the field of view again, calibrating each section, recording all preset deflection angles and detection signals of the eddy current sensor, enabling the preset deflection angles to correspond to the detection signals one by one, and obtaining a calibration formula through polynomial fitting.
Specifically, after the rotation range of the two-dimensional wide-angle mirror 100 is partitioned, the corresponding angle value of each region is less than or equal to the maximum angle value of the duration of the autocollimator 108.
Further, the controlling the turntable assembly to rotate a second preset angle in a direction opposite to the rotation direction of the two-dimensional wide-angle mirror 100 in step S300 includes:
in step S310, an integer value of a multiple of the first preset angle and the maximum angle value of the field of view of the autocollimator 108 is obtained.
In step S320, the turntable assembly is controlled to drive the two-dimensional wide-angle mirror 100 to rotate in opposite directions according to the angle values of the integral number of partitions.
As shown in fig. 2, the whole system is fixed on an optical platform, a two-dimensional large-angle quick reflection mirror 100 is fixed on a turntable, the deflection angle of the quick reflection mirror is obtained through an auto-collimator 108, detection signals are obtained through an eddy current sensor, and the detection signals are in one-to-one correspondence with each other to form a plurality of groups of calibration data.
The field of view of the autocollimator 108 is partitioned according to the rotation range of the two-dimensional wide-angle quick reflector and the field of view of the autocollimator 108 (hereinafter, only the calibration method is exemplified, and the modification is needed according to the actual situation), for example, the field of view of the autocollimator 108 is within + -2.5 DEG, and the two-dimensional wide-angle rotation range is within + -25 deg. The partitioning is performed according to a partitioning scheme as shown in fig. 3, each region size being required to be equal to or smaller than the field size of the autocollimator 108. In fig. 3, 110 is a two-dimensional wide-angle fsm deflection angle range, and 111 is an autocollimator field range.
Thus, the turntable can be rotated reversely by the same angle each time to return the reflecting mirror to the field of view of the auto-collimator 108, namely, four points are selected for calibration in each area as shown in fig. 4, and when the deflection angle of the reflecting mirror reaches the next area, the reflecting mirror can be returned to the field of view of the auto-collimator 108 by rotating the turntable reversely horizontally or in a pitching manner 9000″. And calibrating the field of view, wherein the angle value at the moment can obtain the actual angle value of the current region to be calibrated by only adding or subtracting the angle value of the previous calibrated region and the rotating angle of the turntable, and recording the AD value of the current vortex sensor at the moment to form a one-to-one correspondence. As shown in fig. 4 (only four points are taken for illustration, more points can be selected according to the calibration requirement in practice, the accuracy is higher), the 1 point and the 2 points are located in two adjacent areas, the 1 point angle value is (2000 "), when the reflector deflects to the right side area, only the turntable is required to horizontally reversely deflect 9000", namely to reach the right side area, namely the actual angle value of 2 points is (11000 ", 2000"), and the actual angle value is not (2000 ") displayed by the auto-collimator 108.
The calibration can be performed according to the calibration sequence shown in fig. 5, so that the error calibration caused by missing the calibration is avoided, the data recording is convenient, and the calibration complexity is reduced.
Further, the first-order calibration formula of the two-dimensional wide-angle mirror (100) is as follows:
angelXY.x=px01 * ad.x + px10 * ad.y + px00；
angelXY.y=py01 * ad.x + py10 * ad.y + py00；
wherein angelxy.x and angelxy.y are deflection angles of the two-dimensional wide-angle mirror 100 in the x-axis and the y-axis, respectively, acquired by the autocollimator 108, and ad.x and ad.y are detection signal AD values of the eddy current sensor in the two-dimensional wide-angle mirror 100 in the x-axis direction and the y-axis direction, respectively, and px01, px10 and px00 are coefficients after first-order fitting of the x-axis; py01, py10 and py00 are coefficients after a first order fit on the y-axis.
Further, the three-order calibration formula of the two-dimensional wide-angle mirror 100 is:
angelXY.x= (x_para[0] + ad.x * (ad.x * (x_para[6]* ad.x + x_para[3] + x_para[7]* ad.y) + x_para[1] + x_para[4]* ad.y) + ad.y * (x_para[2] + ad.y * (x_para[5]+ x_para[8] * ad.x + x_para[9]* ad.y)));
angelXY.y= (y_para[0] + ad.x * (ad.x * (y_para[6]* ad.x + y_para[3] + y_para[7]* ad.y) + y_para[1] + y_para[4]* ad.y) + ad.y * (y_para[2] + ad.y * (y_para[5]+ y_para[8] * ad.x + y_para[9]* ad.y)));
wherein angelxy.x and angelxy.y are deflection angles of the two-dimensional wide-angle mirror 100 in the x-axis direction and the y-axis direction, respectively, acquired by the autocollimator 108, ad.x and ad.y are detection signal AD values of the eddy current sensor in the two-dimensional wide-angle mirror 100 in the x-axis direction and the y-axis direction, and the arrays x_para [ ] and y_para [ ] are an x-axis third-order fitting parameter array and a y-axis third-order fitting parameter array, respectively.
The calibration formula of the two-dimensional large-angle reflecting mirror 100 generally selects a first-order calibration formula, and if the accuracy of the angle deflection after the first-order calibration is not satisfied, the calibration can be considered to be performed by adopting a third-order formula.
And (3) calibrating the two-dimensional large-angle quick reflection mirror through data of one-to-one correspondence between all preset deflection angles and detection signals of the eddy current sensor. After all the areas are calibrated, fitting is carried out on the x axis and the y axis respectively to obtain fitting parameters of corresponding orders, and the fitting parameters are written into corresponding calibration formulas to obtain a final calibration formula, so that the calibration of the two-dimensional large-angle reflecting mirror 100 is completed.
Accordingly, referring to fig. 6, a second aspect of the embodiment of the present application provides a calibration system for a two-dimensional wide-angle mirror 100, wherein the two-dimensional wide-angle mirror 100 is fixedly connected with a turntable assembly, an auto-collimator 108 is disposed at a corresponding position of the two-dimensional wide-angle mirror 100, and the rotation range of the two-dimensional wide-angle mirror 100 is partitioned according to a maximum value of a field of view of the auto-collimator 108, which includes:
a mirror control module 1 for controlling the two-dimensional wide-angle mirror 100 to rotate a first preset angle in a horizontal direction or a vertical direction;
the calibration control module 2 is configured to obtain an angle deflection calibration signal of the auto-collimator 108 and a corresponding angle deflection detection signal obtained by an eddy current sensor in the two-dimensional wide-angle mirror 100 when the first preset angle value is less than or equal to the maximum angle value of the field of view of the auto-collimator 108;
the calibration control module 2 is further configured to control the turntable assembly to rotate a second preset angle in a direction opposite to the rotation direction of the two-dimensional large-angle mirror 100 when the first preset angle value is greater than the maximum angle value of the field of view of the auto-collimator 108, so as to obtain an angle deflection calibration signal, the second preset angle and a corresponding angle deflection detection signal;
the calibration calculation module 3 is configured to calibrate the two-dimensional wide-angle mirror 100 according to the plurality of sets of angle deflection calibration signals and the angle deflection detection signals and/or the second preset angle.
Further, after the rotation range of the two-dimensional wide-angle mirror 100 is partitioned, the corresponding angle value of each region is less than or equal to the maximum angle value of the duration of the autocollimator 108.
Further, referring to fig. 7, the calibration control module 2 includes:
an angle calculation unit 21 for obtaining an integer value of a multiple of a first preset angle and a maximum angle value of the field of view of the autocollimator 108;
the turntable control unit 22 is used for controlling the turntable assembly to drive the two-dimensional large-angle reflecting mirror 100 to rotate correspondingly and reversely according to the angle values of the integral number of the subareas.
Further, the first-order calibration formula of the two-dimensional wide-angle mirror 100 is:
angelXY.x=px01 * ad.x + px10 * ad.y + px00；
angelXY.y=py01 * ad.x + py10 * ad.y + py00；
wherein angelxy.x and angelxy.y are deflection angles of the two-dimensional wide-angle mirror 100 in the x-axis and the y-axis, respectively, acquired by the autocollimator 108, and ad.x and ad.y are detection signal AD values of the eddy current sensor in the two-dimensional wide-angle mirror 100 in the x-axis direction and the y-axis direction, respectively, and px01, px10 and px00 are coefficients after first-order fitting of the x-axis; py01, py10 and py00 are coefficients after a first order fit on the y-axis.
Further, the three-order calibration formula of the two-dimensional wide-angle mirror 100 is:
angelXY.x= (x_para[0] + ad.x * (ad.x *(x_para[6]* ad.x + x_para[3]+ x_para[7]* ad.y) + x_para[1]+ x_para[4]* ad.y) + ad.y * (x_para[2]+ ad.y * (x_para[5]+ x_para[8]* ad.x + x_para[9]* ad.y)));
angelXY.y= (y_para[0] + ad.x * (ad.x * (y_para[6]* ad.x + y_para[3] + y_para[7]* ad.y) + y_para[1] + y_para[4]* ad.y) + ad.y * (y_para[2] + ad.y * (y_para[5]+ y_para[8] * ad.x + y_para[9]* ad.y)));
wherein angelxy.x and angelxy.y are deflection angles of the two-dimensional wide-angle mirror 100 in the x-axis direction and the y-axis direction, respectively, acquired by the autocollimator 108, ad.x and ad.y are detection signal AD values of the eddy current sensor in the two-dimensional wide-angle mirror 100 in the x-axis direction and the y-axis direction, and the arrays x_para [ ] and y_para [ ] are an x-axis third-order fitting parameter array and a y-axis third-order fitting parameter array, respectively.
Accordingly, a third aspect of the embodiment of the present application provides an electronic device, including: at least one processor; and a memory coupled to the at least one processor; the memory stores instructions executable by a processor, the instructions being executable by the processor to cause the at least one processor to perform the two-dimensional wide-angle mirror calibration method.
Accordingly, a fourth aspect of embodiments of the present application provides a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the two-dimensional wide angle mirror calibration method described above.
The embodiment of the application aims to protect a two-dimensional large-angle reflecting mirror calibration method and a system, wherein a two-dimensional large-angle reflecting mirror is fixedly connected with a turntable assembly, an auto-collimator is arranged at a corresponding position of the two-dimensional large-angle reflecting mirror, and the rotation range of the two-dimensional large-angle reflecting mirror is partitioned according to the maximum value of a field of view of the auto-collimator, and the method comprises the following steps: controlling the two-dimensional large-angle reflecting mirror to rotate a first preset angle along the horizontal direction or the vertical direction; if the first preset angle value is smaller than or equal to the maximum angle value of the field of view of the autocollimator, acquiring an angle deflection calibration signal of the autocollimator and an angle deflection detection signal acquired by an eddy current sensor in a corresponding two-dimensional large-angle reflecting mirror; if the first preset angle value is larger than the maximum angle value of the view field of the autocollimator, controlling the turntable assembly to rotate a second preset angle in the opposite direction of the rotation of the two-dimensional large-angle reflecting mirror, and obtaining an angle deflection calibration signal, a second preset angle and a corresponding angle deflection detection signal; and calibrating the two-dimensional large-angle reflecting mirror according to the plurality of groups of angle deflection calibration signals, the angle deflection detection signals and/or the second preset angle. The technical scheme has the following effects:
1. partitioning the rotation range of the reflecting mirror, wherein each region can meet the view field of the auto-collimator, and then controlling the deflection angle of the reflecting mirror by using the turntable to compensate the deflection angle of the reflecting mirror so as to meet the calibration requirement of the two-dimensional large-angle reflecting mirror;
2. the two-dimensional large-angle quick-reverse deflection is reversely compensated through the rotary table, so that the two-dimensional large-angle quick-reverse deflection is returned to the view field of the auto-collimator for calibration, the rotary table can be used for adjusting the horizontal and pitching, the rotary table is adopted for reverse compensation, the rotary table is rotated to a designated angle, and the two-dimensional large-angle reflecting mirror can be driven to rotate simultaneously with a device fixed by the rotary table.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present application and not for limiting the same, and although the present application has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the application without departing from the spirit and scope of the application, which is intended to be covered by the claims.
Claims (6)
1. The method for calibrating the two-dimensional large-angle reflecting mirror is characterized in that the two-dimensional large-angle reflecting mirror is fixedly connected with a turntable assembly, an auto-collimator is arranged at the corresponding position of the two-dimensional large-angle reflecting mirror, and the rotation range of the two-dimensional large-angle reflecting mirror is partitioned according to the maximum value of the field of view of the auto-collimator, and the method comprises the following steps:
controlling the two-dimensional large-angle reflecting mirror to rotate a first preset angle along the horizontal direction or the vertical direction;
if the first preset angle value is smaller than or equal to the maximum angle value of the view field of the auto-collimator, acquiring an angle deflection calibration signal of the auto-collimator and a first angle deflection detection signal acquired by an eddy current sensor in the corresponding two-dimensional large-angle reflecting mirror;
if the first preset angle value is larger than the maximum angle value of the view field of the auto-collimator, controlling the turntable assembly to rotate a second preset angle in the opposite direction of the rotation of the two-dimensional large-angle reflecting mirror, and obtaining the angle deflection calibration signal, the second preset angle and a corresponding second angle deflection detection signal;
calibrating the two-dimensional large-angle reflecting mirror according to a plurality of groups of the angle deflection calibration signals, the second angle deflection detection signals and/or the second preset angles;
the calibration formula adopts a first-order calibration formula to calibrate, and adopts a third-order calibration formula to calibrate when the accuracy of angle deflection after the first-order calibration does not meet the requirement;
the first-order calibration formula of the two-dimensional large-angle reflecting mirror is as follows:
angelXY.x=px01 * ad.x + px10 * ad.y + px00；
angelXY.y=py01 * ad.x + py10 * ad.y + py00；
wherein angelxy.x and angelxy.y are respectively deflection angles of the two-dimensional wide-angle reflecting mirror in an x-axis and a y-axis, which are acquired by the auto-collimator, and ad.x and ad.y are respectively detection signal AD values of the eddy current sensor in the two-dimensional wide-angle reflecting mirror in the x-axis direction and the y-axis direction, and px01, px10 and px00 are coefficients after first-order fitting of the x-axis; py01, py10 and py00 are coefficients after a first order fit on the y-axis;
the three-order calibration formula of the two-dimensional large-angle reflecting mirror is as follows:
angelXY.x= (x_para[0] + ad.x * (ad.x * (x_para[6] * ad.x + x_para[3] + x_para[7] * ad.y) + x_para[1] + x_para[4] * ad.y) + ad.y * (x_para[2] + ad.y * (x_para[5] + x_para[8] * ad.x + x_para[9] * ad.y)));
angelXY.y= (y_para[0] + ad.x * (ad.x * (y_para[6] * ad.x + y_para[3] + y_para[7] * ad.y) + y_para[1] + y_para[4] * ad.y) + ad.y * (y_para[2] + ad.y * (y_para[5] + y_para[8] * ad.x + y_para[9] * ad.y)));
wherein angelxy.x and angelxy.y are deflection angles of the two-dimensional wide-angle reflecting mirror in the x-axis direction and the y-axis direction, respectively, acquired by the auto-collimator, ad.x and ad.y are detection signal AD values of the eddy current sensor in the two-dimensional wide-angle reflecting mirror in the x-axis direction and the y-axis direction, and the arrays x_para [ ] and y_para [ ] are an x-axis third-order fitting parameter array and a y-axis third-order fitting parameter array, respectively.
2. The method for calibrating a two-dimensional wide-angle mirror according to claim 1, wherein,
after the rotation range of the two-dimensional large-angle reflecting mirror is partitioned, the corresponding angle value of each area is smaller than or equal to the maximum angle value of the view field of the auto-collimator.
3. The method of calibrating a two-dimensional high angle mirror according to claim 1, wherein said controlling the turntable assembly to rotate a second predetermined angle in a direction opposite to the rotation of the two-dimensional high angle mirror comprises:
obtaining an integer value of a multiple of the first preset angle and a maximum angle value of the autocollimator visual field;
and controlling the turntable assembly to drive the two-dimensional large-angle reflecting mirror to rotate in the opposite direction according to the angle values of the integral number of partitions.
4. The utility model provides a two-dimensional wide-angle mirror calibration system which characterized in that, two-dimensional wide-angle mirror and revolving stage subassembly fixed connection, auto-collimator set up in the relevant position of two-dimensional wide-angle mirror, according to the visual field maximum value of auto-collimator is to the rotation scope of two-dimensional wide-angle mirror carries out the subregion, includes:
the reflecting mirror control module is used for controlling the two-dimensional large-angle reflecting mirror to rotate a first preset angle along the horizontal direction or the vertical direction;
the calibration control module is used for acquiring an angle deflection calibration signal of the auto-collimator and a first angle deflection detection signal acquired by a corresponding eddy current sensor in the two-dimensional large-angle reflecting mirror when the first preset angle value is smaller than or equal to the maximum angle value of the view field of the auto-collimator;
the calibration control module is further configured to control the turntable assembly to rotate a second preset angle in a direction opposite to the rotation direction of the two-dimensional large-angle reflecting mirror when the first preset angle value is greater than a maximum angle value of the view field of the auto-collimator, and obtain the angle deflection calibration signal, the second preset angle and a corresponding second angle deflection detection signal;
the calibration calculation module is used for calibrating the two-dimensional large-angle reflecting mirror according to a plurality of groups of the angle deflection calibration signals, the second angle deflection detection signals and/or the second preset angles;
the calibration formula adopts a first-order calibration formula to calibrate, and adopts a third-order calibration formula to calibrate when the accuracy of angle deflection after the first-order calibration does not meet the requirement;
the first-order calibration formula of the two-dimensional large-angle reflecting mirror is as follows:
angelXY.x=px01 * ad.x + px10 * ad.y + px00；
angelXY.y=py01 * ad.x + py10 * ad.y + py00；
wherein angelxy.x and angelxy.y are respectively deflection angles of the two-dimensional wide-angle reflecting mirror in an x-axis and a y-axis, which are acquired by the auto-collimator, and ad.x and ad.y are respectively detection signal AD values of the eddy current sensor in the two-dimensional wide-angle reflecting mirror in the x-axis direction and the y-axis direction, and px01, px10 and px00 are coefficients after first-order fitting of the x-axis; py01, py10 and py00 are coefficients after a first order fit on the y-axis;
the three-order calibration formula of the two-dimensional large-angle reflecting mirror is as follows:
angelXY.x= (x_para[0] + ad.x * (ad.x * (x_para[6] * ad.x + x_para[3] + x_para[7] * ad.y) + x_para[1] + x_para[4] * ad.y) + ad.y * (x_para[2] + ad.y * (x_para[5] + x_para[8] * ad.x + x_para[9] * ad.y)));
angelXY.y= (y_para[0] + ad.x * (ad.x * (y_para[6] * ad.x + y_para[3] + y_para[7] * ad.y) + y_para[1] + y_para[4] * ad.y) + ad.y * (y_para[2] + ad.y * (y_para[5] + y_para[8] * ad.x + y_para[9] * ad.y)));
wherein angelxy.x and angelxy.y are deflection angles of the two-dimensional wide-angle reflecting mirror in the x-axis direction and the y-axis direction, respectively, acquired by the auto-collimator, ad.x and ad.y are detection signal AD values of the eddy current sensor in the two-dimensional wide-angle reflecting mirror in the x-axis direction and the y-axis direction, and the arrays x_para [ ] and y_para [ ] are an x-axis third-order fitting parameter array and a y-axis third-order fitting parameter array, respectively.
5. The two-dimensional high angle mirror calibration system of claim 4, wherein,
after the rotation range of the two-dimensional large-angle reflecting mirror is partitioned, the corresponding angle value of each area is smaller than or equal to the maximum angle value of the view field of the auto-collimator.
6. The two-dimensional high angle mirror calibration system of claim 4, wherein the calibration control module comprises:
an angle calculation unit for obtaining an integer value of a multiple of the first preset angle and a maximum angle value of the autocollimator field of view;
the turntable control unit is used for controlling the turntable assembly to drive the two-dimensional large-angle reflecting mirror to rotate in the opposite direction according to the angle values of the integral number of partitions.
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