CN103512728B - Total-range multi-optical-axis consistency calibration device and method - Google Patents
Total-range multi-optical-axis consistency calibration device and method Download PDFInfo
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Abstract
The invention relates to the technical field of photoelectricity and discloses a total-range multi-optical-axis consistency calibration device and method. The device comprises a data processing module, a rotating shaft system, a collimator component and an adjustable reflecting mirror. The collimator component and the adjustable reflecting mirror are arranged on a rotating arm of the rotating shaft system. The adjustable reflecting mirror and an optical window of the collimator component are correspondingly arranged. The device is simple in structure and easy to achieve, the calibration method is easy to operate, and static and dynamic multi-optical-axis consistency in most field ranges of an optoelectronic device can be calibrated quickly.
Description
Technical Field
The invention relates to the technical field of photoelectricity, in particular to a full-range multi-optical-axis consistency calibration device and method.
Background
With the development of optical sensing technology, the functions that sophisticated optoelectronic devices can accomplish are more and more abundant, and many large-scale optoelectronic devices can accomplish multiple tasks such as sensing, measuring, tracking and the like at the same time. These large-scale optoelectronic devices are generally composed of a plurality of optical subsystems, for example, a novel airborne optoelectronic device generally has a plurality of subsystems such as an infrared sensor, a visible sensor and a laser ranging at the same time, and a multi-photoelectric sensor system integrating laser ranging, laser guidance and irradiation, visible light imaging, thermal imaging and the like is also widely applied to various modern equipment platforms (such as a helicopter photoelectric pod, a submarine photoelectric mast, a vehicle-mounted photoelectric stabilized aiming device and the like).
Because a plurality of sensors of a plurality of optical subsystems detect the same target at the same time, the consistency of multiple optical axes is the basic guarantee for the normal operation of the multi-sensor photoelectric equipment in order to ensure the accurate detection result. Therefore, the optical axis consistency becomes an important parameter of the multi-optical-axis photoelectric equipment, and especially the dynamic consistency is a key influencing the tracking, aiming and distance measuring capabilities of the multi-optical-axis photoelectric equipment and must be calibrated.
At present, the multi-optical axis consistency calibration device and method known in the prior art are mainly used for static consistency calibration, are difficult to cover the full range of the visual field of the photoelectric equipment, and cannot meet the requirements of rapidly calibrating dynamic multi-optical axis consistency and full-range multi-optical axis consistency.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problem to be solved by the invention is how to simply and quickly calibrate the static and dynamic multi-optical-axis consistency in most of the field range of the photoelectric equipment.
In order to solve the above technical problem, in one aspect, the present invention provides a full-range multi-optical-axis consistency calibration apparatus, including: the device comprises a data processing component, a rotating shaft system, a parallel light pipe component and an adjustable reflector; wherein,
the collimator tube assembly and the adjustable reflector are arranged on a rotating arm of the rotating shaft system, and the adjustable reflector is arranged corresponding to an optical window of the collimator tube assembly.
Preferably, the collimator assembly comprises a multispectral light source, a star target plate, a dichroic mirror, a secondary mirror, a primary mirror, an attenuation sheet and a near-infrared CCD.
Preferably, the target center position of the star point target plate and the face center position of the near infrared CCD are mutually conjugated.
Preferably, in the collimator assembly: the central axes of the secondary reflector and the main reflector are superposed and pass through the center of the dichroic mirror, the secondary reflector and the dichroic mirror are respectively arranged at two sides of the main reflector, and the center of the main reflector is provided with a through hole.
Preferably, the primary reflector is a concave mirror, and the secondary reflector is a convex mirror.
Preferably, the multiple optical axes include: long wave infrared light, medium wave infrared light, near infrared light, and visible light.
In another aspect, the present invention also provides a method for calibrating multi-optical axis uniformity by using the apparatus as described above, the method comprising the steps of:
providing a point source target formed by collimated light, adjusting the angle of an adjustable reflector, placing the azimuth and the rotation center of the pitching two shafts of the tested photoelectric equipment at the vertex position of a collimated light cone, and operating the tested photoelectric equipment to detect the point source target;
controlling the rotation shaft system to rotate, so that the point source target makes circular motion relative to the top point of the collimated light cone, operating the tested photoelectric equipment to track the point source target, and radiating laser;
the near-infrared CCD of the collimator assembly is controlled to sense the laser radiated by the tested photoelectric equipment, the data processing assembly calculates the position of a laser spot deviating from the center of the near-infrared CCD, and the dynamic consistency of the aiming optical axis and the laser axis of the tested photoelectric equipment in a certain specific view field range is calculated by combining different positions of the rotation axis system for controlling the point source target to move.
Preferably, the method further comprises the step of:
and changing the angle of the adjustable reflector, repeating the steps, and calculating the dynamic consistency of the aiming optical axis and the laser axis of the tested photoelectric equipment in another specific field range.
Preferably, the method further comprises the step of:
repeating the steps for multiple times, and calculating the consistency of the aiming optical axis and the laser axis in most of the field range of the tested photoelectric equipment;
and establishing a consistency comparison table of aiming optical axes and laser axes corresponding to different positions in the field range of the measured photoelectric equipment.
Preferably, the sighting optical axis includes: long wave infrared light, medium wave infrared light, near infrared light, and visible light.
Compared with the prior art, the full-range multi-optical-axis consistency calibration device and method provided by the invention can be used for rapidly calibrating the photoelectric equipment in the full range of the field of view. The device provided by the invention is simple in structure and easy to realize, and the calibration method is simple to operate, and can be used for rapidly calibrating the static and dynamic multi-optical-axis consistency in most of the field range of the photoelectric equipment.
Drawings
FIG. 1 is a schematic diagram of a full-range multi-optical-axis uniformity calibration apparatus in accordance with an embodiment of the present invention;
FIG. 2 is a block diagram of the internal components of the collimator assembly of FIG. 1.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are presently preferred modes of carrying out the invention, and that the description is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The protection scope of the present invention shall be defined by the appended claims, and all other embodiments obtained by those skilled in the art without any inventive work shall fall within the protection scope of the present invention.
Referring to fig. 1, in one embodiment of the present invention, a full-range multi-optical-axis uniformity calibration apparatus comprises: a data processing assembly 100, a rotating shaft system 200, a collimator assembly 300 and an adjustable mirror 400; the collimator assembly 300 and the adjustable mirror 400 are mounted on the rotating arm of the rotating shaft system 200, the collimator assembly 300 provides a collimated light source and receives radiation rays, and the adjustable mirror 400 is arranged corresponding to the optical window of the collimator assembly 300 to adjust the reflection angle of the collimated light source and the reception angle of the radiation rays. Preferably, the collimator assembly 300 is disposed near the rotation axis of the rotary arm, the adjustable mirror 400 is disposed at the end of the rotary arm, and the rotation axis system 200 rotates the rotary arm to control the movement direction, speed and angular speed of the collimated light source.
In a preferred embodiment of the present invention, as shown in FIG. 2, the collimator assembly 300 comprises a multispectral light source 301, a star target plate 302, a dichroic mirror 303, a secondary mirror 304, a primary mirror 305, an attenuation plate 306, and a near-infrared CCD307, wherein the centroid position (i.e., the focal point position of the collimated light source) of the star target plate 302 and the centroid position (i.e., the focal point position) of the near-infrared CCD307 are conjugate to each other.
Wherein, the collimator assembly 300 multispectral light source 301 is used for providing a simulation point target; the multispectral light source 301 may be a halogen lamp; the multispectral light source 301 radiates light through the star point target plate 302, and the collimated light is radiated through the dichroic mirror 303, the secondary reflector 304 and the primary reflector 305 to provide a multispectral point target for a tested photoelectric device. Specifically, the central axes of the secondary mirror 304 and the primary mirror 305 coincide with each other and pass through the center of the dichroic mirror 303, the secondary mirror 304 and the dichroic mirror 303 are respectively disposed on both sides of the primary mirror 305, and the center of the primary mirror 305 is opened with a through hole for passing the laser light emitted from the light source. Preferably, the primary mirror 305 is a concave mirror and the secondary mirror 304 is a convex mirror.
The rotating shaft system 200 is used to carry the collimator assembly 300 and provide a point source target with controllable position and speed of motion. The motor of the rotating shaft system 200 drives the rotating arm to do circular motion with adjustable speed, the collimated light radiated by the collimator assembly 300 is emitted through the adjustable reflector 400 to form a point source target with controllable position and speed, and the angle of the collimated light cone is adjusted by adjusting the reflection angle of the adjustable reflector 400, so that the point source target covers most of the field range of the measured photoelectric equipment.
In addition, the near infrared CCD307 in the collimator assembly 300 is used to detect the relative position of the laser axis in different areas within the field of view of the measured opto-electronic device. Specifically, after the detected photoelectric device detects and tracks a point source target by using visible light or infrared light, laser is radiated, is subjected to primary reflection by a collimator tube main reflecting mirror 305, secondary reflection by a secondary reflecting mirror 304, tertiary reflection by a dichroic mirror 303, attenuation transmission by an attenuation sheet 306, and is imaged on a near-infrared CCD307 to output a laser spot image.
The data processing assembly 100 is used for rapidly calculating the optical axis consistency of the measured photoelectric system in the whole range of the view field. The data processing assembly 100 calculates the position of the laser spot deviating from the face center of the near-infrared CCD307, and combines with different positions of resolving a rotating shaft system to control the movement of a point source target, so as to quickly calculate the static/dynamic consistency of the aiming optical axis and the laser axis in most of the field range of the measured photoelectric equipment.
According to the technical scheme, the high-precision rotating shaft system is additionally arranged, the collimator assembly is arranged on the rotating arm of the rotating shaft system, and the rotating of the collimator assembly is controlled to provide a moving point target for the photoelectric equipment to be tested. The photoelectric equipment to be detected is operated to track the moving point target and radiate laser, the data processing component calculates the position of a laser spot on the near-infrared CCD of the collimator component, which deviates from the center of the plane, and the direction and the pitching angle of the moving point target relative to the photoelectric equipment to be detected during laser radiation in real time, so that the dynamic consistency of the aiming optical axis and the laser axis of the photoelectric equipment to be detected in a certain specific view field range is calibrated. In addition, the adjustable reflector is added in the invention; different collimated light cone angles are formed by adjusting the angle of the adjustable reflector, and moving point targets covering different view field ranges are provided for the photoelectric equipment to be tested. And the dynamic consistency of the aiming optical axis and the laser axis of the photoelectric equipment to be tested in the full field of view is calibrated by utilizing the adjustment of the adjustable reflector to carry out repeated testing.
The invention provides a moving point target with controllable azimuth, pitching angle and moving angular speed, and can calculate the deviation of the aiming optical axis and the laser axis in real time, thereby completing the dynamic calibration of the consistency of the optical axis. By providing the moving point target capable of covering different view field ranges of the photoelectric equipment to be detected, the full view field range dynamic calibration of the optical axis consistency is completed, and an accurate consistency comparison table of the aiming optical axis and the laser axis corresponding to different position points in the view field range of the photoelectric equipment to be detected is established. Furthermore, the comparison table can be used for optimizing a tracking and aiming algorithm of the photoelectric equipment to be detected, so that the laser ranging accurate measurement rate of the photoelectric equipment to be detected on the dynamic target in most of the field of view of the photoelectric equipment to be detected is improved.
Correspondingly, the dynamic consistency calibration is carried out by adopting the full-range multi-optical-axis consistency calibration device of the invention, taking the calibration of the deviation between a long-wave infrared axis (namely, a collimation optical axis provided by a collimation light source is a long-wave infrared band) and a laser axis as an example, the calibration method comprises the following steps:
1. turning on the multispectral light source 301, adjusting the angle 400 of the adjustable reflector, for example, determining the angle to be beta, placing the azimuth and pitch two-axis rotation centers of the measured photoelectric device at the vertex position of the collimated light cone, wherein the half cone angle is alpha, and operating the long-wavelength infrared detection point source target of the measured photoelectric device;
2. controlling the rotation shaft system 200 to rotate, so that a point source target makes circular motion relative to the top point of the collimated light cone, operating the long-wave infrared tracking point source target of the tested photoelectric equipment, and radiating laser;
3. the near-infrared CCD307 of the collimator assembly 300 is controlled to detect the laser radiated by the tested photoelectric equipment, the data processing assembly 100 calculates the position of a laser spot deviating from the face center of the near-infrared CCD307, and the resolving rotary shaft system 200 is combined to control different positions of the point source target to move, so that the consistency of a long-wave infrared shaft and a laser shaft of the tested photoelectric equipment in a certain specific view field range is quickly calculated;
4. changing the angle of the adjustable reflector, for example, determining the angle to be β ', then the half cone angle is α', repeating the previous 3 steps, and calculating the consistency of the long-wavelength infrared axis and the laser axis in another specific field range of the measured photoelectric device;
5. repeating the previous 4 steps for many times, the consistency of the long-wave infrared axis and the laser axis in most of the field range of the tested photoelectric equipment can be calculated, and a consistency comparison table of the long-wave infrared axis and the laser axis corresponding to different positions in the field range of the tested photoelectric equipment is established.
And detecting a tracking point source target by using sensors such as medium wave infrared or visible light and the like, and repeating the method to establish a consistency comparison table of the medium wave infrared axis or the visible light axis and the laser axis corresponding to different position points in the field range of the measured photoelectric equipment.
In addition, the calibration of the static consistency can be conveniently operated, which is clear to the relevant professional technicians and is not described herein.
The invention discloses a full-range multi-optical-axis consistency calibration device and method, which can be used for rapidly calibrating photoelectric equipment in a full-range field of view. Compared with the prior art, the invention solves the following technical problems:
1. completing multi-optical axis dynamic consistency calibration;
2. completing multi-optical axis consistency calibration of most of the field range of the photoelectric equipment;
3. and calculating the multi-optical-axis consistency calibration result in real time.
The device provided by the invention is simple in structure and easy to realize, and the calibration method is simple, quick and accurate to operate, and can be used for quickly calibrating the static and dynamic multi-optical-axis consistency in most of the field range of the photoelectric equipment.
While the foregoing description shows and describes the preferred embodiments of the present invention, it is to be understood, as noted above, that the invention is not limited to the forms disclosed herein, but is not intended to be exhaustive or to exclude other embodiments and may be used in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept described herein, as determined by the above teachings or as determined by the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A full-range multi-optical-axis uniformity calibration apparatus, said apparatus comprising: the device comprises a data processing component, a rotating shaft system, a parallel light pipe component and an adjustable reflector; wherein,
the collimator assembly and the adjustable reflector are arranged on a rotating arm of the rotating shaft system, the collimator assembly is arranged near the rotating shaft center of the rotating arm, the adjustable reflector is arranged at the tail end of the rotating arm, and the adjustable reflector is arranged corresponding to an optical window of the collimator assembly;
the collimator assembly comprises a multispectral light source, a star point target plate, a dichroic mirror, a secondary reflector, a main reflector, an attenuation sheet and a near-infrared CCD.
2. The apparatus of claim 1, wherein the target center position of the star target plate and the near infrared CCD face center position are conjugate to each other.
3. The apparatus of claim 2, wherein the collimator assembly comprises:
the central axes of the secondary reflector and the main reflector are superposed and pass through the center of the dichroic mirror, the secondary reflector and the dichroic mirror are respectively arranged at two sides of the main reflector, and the center of the main reflector is provided with a through hole.
4. A device according to claim 2 or 3, wherein the primary mirror is a concave mirror and the secondary mirror is a convex mirror.
5. The apparatus of claim 1, wherein the multiple optical axes comprise: long wave infrared light, medium wave infrared light, near infrared light, and visible light.
6. A method for multi-axis uniformity calibration using the apparatus of any of claims 1-5, the method comprising the steps of:
providing a point source target formed by collimated light, adjusting the angle of an adjustable reflector, placing the azimuth and the rotation center of the pitching two shafts of the tested photoelectric equipment at the vertex position of a collimated light cone, and operating the tested photoelectric equipment to detect the point source target;
controlling the rotation shaft system to rotate, so that the point source target makes circular motion relative to the top point of the collimated light cone, operating the tested photoelectric equipment to track the point source target, and radiating laser;
the near-infrared CCD of the collimator assembly is controlled to sense the laser radiated by the tested photoelectric equipment, the data processing assembly calculates the position of a laser spot deviating from the center of the near-infrared CCD, and the dynamic consistency of the aiming optical axis and the laser axis of the tested photoelectric equipment in a certain specific view field range is calculated by combining different positions of the rotation axis system for controlling the point source target to move.
7. The method of claim 6, wherein the method further comprises the steps of:
and changing the angle of the adjustable reflector, repeating the steps, and calculating the dynamic consistency of the aiming optical axis and the laser axis of the tested photoelectric equipment in another specific field range.
8. The method of claim 7, wherein the method further comprises the steps of:
repeating the steps for multiple times, and calculating the consistency of the aiming optical axis and the laser axis in most of the field range of the tested photoelectric equipment;
and establishing a consistency comparison table of aiming optical axes and laser axes corresponding to different positions in the field range of the measured photoelectric equipment.
9. The method of claim 6, wherein aiming the optical axis comprises: long wave infrared light, medium wave infrared light, near infrared light, and visible light.
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