Shading control system, method and device for a shading mechanism in an optical device

Abstract

The application provides a light shielding control system, method and device of a light shielding mechanism in an optical device, wherein the light shielding mechanism comprises a plurality of light shielding columns, each of which is controlled by a motor, the system comprises a trajectory planning module, a position determination module and a motor control module, the trajectory planning module is configured to determine at least one movement path of each light shielding column according to a current position of the light shielding column and a target position of the light shielding column; the position determination module is configured to detect an intermediate position of each light shielding column after the light shielding column moves one movement path; and the motor control module is configured to control the movement of each light shielding column according to the at least one movement path of the light shielding column and the intermediate position of the light shielding column after the light shielding column moves one movement path. The application avoids code waste, reduces the calculation time of the algorithm, and accurately controls the position of the light shielding mechanism.

Description

Technical Field

[0001] This application relates to the field of optical equipment control technology, and more specifically, to a light-shielding control system, method, and device for a light-shielding mechanism in an optical device. Background Technology

[0002] Currently, in the control process of the light-shielding mechanism of an optical system, each light-shielding element needs to be controlled individually. This not only results in a large amount of code and wastes a lot of storage space, but also requires additional control boards to control the light-shielding units when there are many light-shielding units, which wastes code and increases the computation time of the algorithm.

[0003] Furthermore, due to the large amount of code, it is difficult to achieve complete position feedback for each light-shielding element, which leads to inaccurate position control of the light-shielding mechanism. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a light-shielding control system, method, and device for a light-shielding mechanism in an optical device. This system can determine the movement path of each light-shielding column through a trajectory planning module, control the movement of each light-shielding column through a motor control module, and provide feedback on the position of the light-shielding column after movement through a position determination module. This solves the problems in the prior art where the inability to control multiple light-shielding elements leads to wasted code, increased algorithm computation time, and inaccurate position control of the light-shielding mechanism. This application achieves the effect of avoiding wasted code, reducing algorithm computation time, and accurately controlling the position of the light-shielding mechanism.

[0005] In a first aspect, embodiments of this application provide a light-shielding control system for a light-shielding mechanism in an optical device. The light-shielding mechanism includes multiple light-shielding columns, each controlled by a motor. The light-shielding control system includes a trajectory planning module, a position determination module, and a motor control module. The trajectory planning module is used to determine at least one movement path for each light-shielding column based on its current position and target position. The position determination module is used to detect the intermediate position of each light-shielding column after it has moved one movement path. The motor control module is used to control the movement of each light-shielding column based on its at least one movement path and its intermediate position after moving one movement path.

[0006] Optionally, the position determination module includes a sensor and a position measurement submodule. The sensor is used to detect the position signal of each light-shielding column after it has moved one movement path. The position measurement submodule is used to determine the intermediate position of each light-shielding column after it has moved one movement path, based on the position signal of each light-shielding column after it has moved one movement path.

[0007] Optionally, the motor control module includes a servo controller and an execution submodule. The servo controller is used to determine a first control signal corresponding to each movement path of the light-shielding column based on at least one movement path of the light-shielding column. The execution submodule is used to control the movement of the light-shielding column based on the first control signal and the second control signal of the light-shielding column.

[0008] Optionally, the motor control module further includes a first feedback unit, which is used to determine a second control signal for each light-shielding column based on at least one movement path of the light-shielding column and the intermediate position of the light-shielding column after each movement path.

[0009] Optionally, the motor control module further includes an execution submodule, which includes a saturation limiting unit and an execution unit. The saturation limiting unit is used to determine at least one motor execution signal for each light-shielding column based on the saturation limiting of the motor of the light-shielding column, a first control signal, and a second control signal. The execution unit is used to control the movement of each light-shielding column based on the at least one motor execution signal of the light-shielding column.

[0010] Optionally, the trajectory planning module is further configured to determine at least one motion characteristic data of each shading column based on its current position and target position.

[0011] Optionally, the motor control module further includes a second feedback unit, a gain calculation unit, and a filtering unit. The filtering unit is used to filter at least one motion path of each light-shielding column determined by the trajectory planning module, so as to transmit the filtered motion path of each light-shielding column to the saturation limiting unit. The gain calculation unit is used to determine a third control signal for each light-shielding column based on at least one motion characteristic data of the light-shielding column. The second feedback unit is used to transmit the third control signal to the saturation limiting unit, so that the saturation limiting unit determines at least one motor execution signal for the light-shielding column based on the third control signal.

[0012] Secondly, embodiments of this application also provide a light-shielding control method for a light-shielding mechanism in an optical device, characterized in that the light-shielding mechanism includes a plurality of light-shielding columns, each light-shielding column being controlled by a motor, and a light-shielding control system for the light-shielding mechanism in any of the aforementioned optical devices, the method comprising:

[0013] For each light-shielding column, the trajectory planning module is controlled to determine at least one movement path for the light-shielding column based on its current position and target position; for each light-shielding column, the position determination module is controlled to detect the intermediate position of the light-shielding column after each movement path; for each light-shielding column, the motor control module is controlled to control the movement of the light-shielding column based on at least one movement path and the intermediate position of the light-shielding column after each movement path.

[0014] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the light-shielding control method of the light-shielding mechanism in the optical device described above.

[0015] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the light-shielding control method of the light-shielding mechanism in the optical device described above.

[0016] The light-shielding control system, method, and device for the light-shielding mechanism in the optical device provided in this application embodiment can determine the movement path of each light-shielding column through a trajectory planning module, control the movement of each light-shielding column through a motor control module, and realize the position feedback of the light-shielding column after movement through a position determination module. This solves the problems in the prior art where the inability to control multiple light-shielding elements leads to wasted code, increased algorithm calculation time, and inaccurate position control of the light-shielding mechanism. It achieves the effect of avoiding wasted code, reducing algorithm calculation time, and accurately controlling the position of the light-shielding mechanism.

[0017] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the light-shielding control system of the light-shielding mechanism in the first optical device provided in the embodiments of this application;

[0020] Figure 2 This is a schematic diagram of the light-shielding control system of the light-shielding mechanism in the second type of optical device provided in the embodiments of this application;

[0021] Figure 3 This is a schematic diagram of the light-shielding control system of the light-shielding mechanism in the third type of optical device provided in the embodiments of this application;

[0022] Figure 4 A flowchart illustrating a light-shielding control method for a light-shielding mechanism in an optical device, provided as an embodiment of this application;

[0023] Figure 5 This application provides a schematic diagram of the structure of an electronic device. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0025] First, the applicable scenarios for this application will be introduced. This application can be applied to the field of optical equipment control technology.

[0026] Research has revealed that currently, the control process of the light-shielding mechanism in optical systems requires individual control of each light-shielding element. This not only results in a large amount of code and wastes a lot of storage space, but also requires additional control boards to control the light-shielding units when there are many light-shielding units, leading to a waste of code and increased algorithm computation time.

[0027] Furthermore, due to the large amount of code, it is difficult to achieve complete position feedback for each light-shielding element, which leads to inaccurate position control of the light-shielding mechanism.

[0028] Based on this, embodiments of this application provide a light-shielding control system, method, and device for a light-shielding mechanism in an optical device. This system can determine the movement path of each light-shielding column through a trajectory planning module, control the movement of each light-shielding column through a motor control module, and provide position feedback on the position of the light-shielding column after movement through a position determination module. This solves the problems in the prior art where the inability to control multiple light-shielding elements leads to wasted code, increased algorithm computation time, and inaccurate position control of the light-shielding mechanism. It achieves the effect of avoiding wasted code, reducing algorithm computation time, and accurately controlling the position of the light-shielding mechanism.

[0029] Please see Figure 1 , Figure 1 This is a schematic diagram of the light-shielding control system of the light-shielding mechanism in the first optical device provided in the embodiments of this application. Figure 1 The diagram shown is a schematic of the light-shielding control system of the light-shielding mechanism in the optical device provided in this application embodiment, including: a trajectory scale block 101, a position determination module 102, and a motor control module 103.

[0030] It should be noted that the light-shielding mechanism includes multiple light-shielding columns, each of which is controlled by a motor.

[0031] The trajectory planning module 101 is used to determine at least one movement path for each shading column based on its current position and target position.

[0032] For example, the trajectory planning module 101 can be a setpoint generator. Specifically, the setpoint generator can calculate a fourth-order point-to-point trajectory. The setpoint generator is the input module for the motion control algorithm. The trajectory planning algorithm is implemented in this module. The basic idea of ​​the trajectory planning algorithm is to make the motion smooth and fast, because the smoother the displacement curve is, the more stable the motion will be.

[0033] The position determination module 102 is used to detect the middle position of each light-shielding column after it has moved one movement path.

[0034] The motor control module 103 is used to control the movement of each light-shielding column based on at least one movement path of the light-shielding column and the intermediate position of the light-shielding column after each movement path.

[0035] The position determination module includes a sensor and a position measurement submodule, and the motor control module includes a servo controller and an execution submodule.

[0036] For details, please refer to Figure 2 , Figure 2This is a schematic diagram of the light-shielding control system of the light-shielding mechanism in the second type of optical device provided in this application embodiment. Figure 2 The diagram shown is a schematic of the light-shielding control system of the light-shielding mechanism in the optical device provided in this application embodiment, including: a trajectory scale block 101, a servo controller 201, an execution submodule 202, a sensor 204, and a position measurement submodule 203.

[0037] Specifically, sensor 204 is used to detect the position signal of each light-shielding column after it has moved one movement path.

[0038] Here, sensor 204 can read the sensor signal and convert it into displacement data in SI units, which is then transmitted to the measurement system.

[0039] The position measurement submodule 203 is used to determine the middle position of each light-shielding column after it has moved one movement path, based on the position signal of the light-shielding column after it has moved one movement path.

[0040] Here, the position measurement submodule 203 can calculate and compensate for measurements from various sensors. The selection of the position measurement submodule 203 is in a one-to-one correspondence with the logical axis, because the position measurement submodule 203 provides feedback on the position of the logical axis in the absolute coordinate system. Due to different application scenarios, different measurement system operating conditions need to be selected.

[0041] The servo controller 201 is used to determine a first control signal corresponding to each motion path of each light-shielding column based on at least one motion path of the light-shielding column.

[0042] The execution submodule 202 is used to control the movement of each light-shielding column according to the first control signal and the second control signal of the light-shielding column.

[0043] The motor control module further includes a first feedback unit, an execution submodule, a saturation limiting unit and an execution unit, and a second feedback unit, a gain calculation unit and a filtering unit.

[0044] For example, please refer to Figure 3 , Figure 3 This is a schematic diagram of the light-shielding control system of the light-shielding mechanism in the third type of optical device provided in this application embodiment. Figure 3The diagram shown illustrates a light-shielding control system for a light-shielding mechanism in an optical device provided in this application embodiment. The system includes: a trajectory scaling block 101, a first feedback unit 301, a second feedback unit 304, a gain calculation unit 306, a filtering unit 305, a saturation limiting unit 302, an execution unit 303, a sensor 204, and a position measurement submodule 203. For example, the filtering unit includes a PID filter 3051, a low-pass filter 3052, and a notch filter 3053.

[0045] The first feedback unit 301 is used to determine a second control signal for each light-shielding column based on at least one movement path of the light-shielding column and the intermediate position of the light-shielding column after each movement path.

[0046] The saturation limiting unit 302 is used to determine at least one motor execution signal for each light-shielding column based on the saturation limiting of the motor of the light-shielding column, the first control signal, and the second control signal.

[0047] The execution unit 303 is used to control the movement of each light-shielding column according to at least one motor execution signal of the light-shielding column.

[0048] Specifically, the trajectory planning module 101 is also used to determine at least one motion feature data of each shading column based on its current position and target position.

[0049] The filtering unit 305 is used to filter at least one motion path of each shading column determined by the trajectory planning module, so as to transmit at least one motion path of each shading column after filtering to the saturation limiting unit.

[0050] The gain calculation unit 306 is used to determine a third control signal for each light-shielding column based on at least one motion characteristic data of the light-shielding column.

[0051] The second feedback unit 304 is used to transmit the third control signal to the saturation limiting unit so that the saturation limiting unit determines at least one motor execution signal of the light-blocking column according to the third control signal.

[0052] For example, please refer to Figure 3 The filtering unit 305 includes a PID filter 3051, a low-pass filter 3052, and a notch filter 3053.

[0053] The output of the PID filter 3051 can be limited by a saturation level; the low-pass filter 3052 can be a second-order low-pass filter; and the notch filter 3053 can be a Notch filter, which can suppress system resonance.

[0054] Optionally, the servo controller also includes diagnostic and testing functions. User-required time-domain metrics (stabilization time, position error window, positioning accuracy, repeatability, etc.) and frequency-domain metrics (bandwidth, gain margin, and phase margin, etc.) serve as the design basis for the controller and the standard for verifying servo performance. Therefore, the diagnostic and testing functions need to be able to calculate and track servo performance data, inject noise test signals for simulation, and also have error handling capabilities.

[0055] The light-shielding control method for the light-shielding mechanism in the optical device provided in this application embodiment can determine the movement path of each light-shielding column through the trajectory planning module, control the movement of each light-shielding column through the motor control module, and realize the position feedback of the light-shielding column after movement through the position determination module. This solves the problems in the prior art that lead to wasted code, increased algorithm calculation time, and inaccurate position control of the light-shielding mechanism due to the inability to control multiple light-shielding elements. It achieves the effect of avoiding wasted code, reducing algorithm calculation time, and accurately controlling the position of the light-shielding mechanism.

[0056] Based on the same inventive concept, this application also provides a method for controlling the light-shielding mechanism in an optical device, which corresponds to the light-shielding control system of the light-shielding mechanism in the optical device. Since the principle of solving the problem by the method in this application is similar to the light-shielding control system of the light-shielding mechanism in the optical device described above in this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0057] Please see Figure 4 , Figure 4 This is a flowchart illustrating a light-shielding control method for a light-shielding mechanism in an optical device, as provided in an embodiment of this application. The light-shielding mechanism includes multiple light-shielding columns, each controlled by a motor, and a light-shielding control system for the light-shielding mechanism in any of the above embodiments of the optical device. Figure 4 As shown, the light-shielding control method 400 of the light-shielding mechanism in the optical device includes:

[0058] S401. For each light-shielding column, the trajectory planning module is controlled to determine at least one movement path for the light-shielding column based on its current position and target position.

[0059] S402. For each light-shielding column, control the position determination module to detect the middle position of the light-shielding column after each movement path.

[0060] S403. For each light-shielding column, the motor control module controls the movement of the light-shielding column based on at least one movement path of the light-shielding column and the intermediate position of the light-shielding column after each movement path.

[0061] The light-shielding control method for the light-shielding mechanism in the optical device provided in this application embodiment can determine the movement path of each light-shielding column through the trajectory planning module, control the movement of each light-shielding column through the motor control module, and realize the position feedback of the light-shielding column after movement through the position determination module. This solves the problems in the prior art that lead to wasted code, increased algorithm calculation time, and inaccurate position control of the light-shielding mechanism due to the inability to control multiple light-shielding elements. It achieves the effect of avoiding wasted code, reducing algorithm calculation time, and accurately controlling the position of the light-shielding mechanism.

[0062] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 5 As shown, the electronic device 500 includes a processor 510, a memory 520, and a bus 530.

[0063] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 and the memory 520 communicate via the bus 530. When the machine-readable instructions are executed by the processor 510, they can perform the operations described above. Figure 4 The steps of the light-shielding control method of the light-shielding mechanism in the optical device in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0064] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 4 The steps of the light-shielding control method of the light-shielding mechanism in the optical device in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0065] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0066] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0067] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0068] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0069] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0070] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A light-shielding control system for a light-shielding mechanism in an optical device, characterized in that, The light-shielding mechanism includes multiple light-shielding columns, each controlled by a motor. The light-shielding control system includes a trajectory planning module, a position determination module, and a motor control module. The trajectory planning module is used to determine at least one movement path for each shading column based on its current position and target position. The position determination module includes a sensor and a position measurement submodule. The sensor is used to detect the position signal of each light-shielding column after it has moved one movement path. The position measurement submodule is used to determine the middle position of each light-shielding column after it has moved one movement path, based on the position signal of each light-shielding column after it has moved one movement path. The motor control module is used to control the movement of each light-shielding column based on at least one movement path of the light-shielding column and the intermediate position of the light-shielding column after each movement path. The motor control module includes a servo controller and an execution submodule. The servo controller is used to determine a first control signal corresponding to each movement path of the light-shielding column based on at least one movement path of the light-shielding column. The execution submodule is used to control the movement of each light-shielding column according to the first control signal and the second control signal of the light-shielding column. The servo controller includes a first feedback unit, a second feedback unit, a gain calculation unit, and a filtering unit. The first feedback unit is used to determine a second control signal for each light-shielding column based on at least one motion path of the light-shielding column and the intermediate position of the light-shielding column after each motion path. The second feedback unit is used to transmit a third control signal to a saturation limiting unit, so that the saturation limiting unit determines at least one motor execution signal for the light-shielding column based on the third control signal. The gain calculation unit is used to determine a third control signal for each light-shielding column based on at least one motion characteristic data of the light-shielding column. The filtering unit is used to filter at least one motion path of each light-shielding column determined by the trajectory planning module, so as to transmit the filtered at least one motion path of each light-shielding column to the saturation limiting unit. The execution submodule includes a saturation limiting unit and an execution unit. The saturation limiting unit is used to determine at least one motor execution signal for each light-shielding column based on the saturation limiting of the motor of the light-shielding column, a first control signal, and a second control signal. The execution unit is used to control the movement of each light-shielding column based on the at least one motor execution signal of the light-shielding column.

2. The system according to claim 1, characterized in that, The trajectory planning module is also used to determine at least one motion characteristic data of each shading column based on its current position and target position.

3. A method for controlling the light-shielding mechanism in an optical device, characterized in that, The light-shielding mechanism includes a plurality of light-shielding columns, each light-shielding column being controlled by a motor, and a light-shielding control system for the light-shielding mechanism in any one of claims 1 to 2, the method comprising: For each light-shielding column, the control trajectory planning module determines at least one movement path for the light-shielding column based on its current position and target position. For each light-shielding column, the control position determination module detects the position signal after the light-shielding column moves one movement path, and determines the middle position of the light-shielding column after each movement path based on the position signal after each movement path. For each light-shielding column, the motor control module controls the movement of the light-shielding column based on at least one movement path of the light-shielding column and the midpoint position of the light-shielding column after each movement path. For each light-shielding column, the motor control module determines a first control signal corresponding to each movement path of the light-shielding column based on at least one movement path of the light-shielding column; for each light-shielding column, the movement of the light-shielding column is controlled based on the first control signal and the second control signal of the light-shielding column. For each light-shielding column, the servo controller determines a second control signal for that column based on at least one motion path and the midpoint position after each motion path. A third control signal is then transmitted to the saturation limiting unit, which determines at least one motor execution signal for that column based on the third control signal. For each light-shielding column, a third control signal is determined based on at least one motion characteristic data. The at least one motion path for each light-shielding column determined by the trajectory planning module is filtered, and the filtered motion path is then transmitted to the saturation limiting unit. For each light-shielding column, the control execution submodule determines at least one motor execution signal for that light-shielding column based on the saturation limit of the motor of that light-shielding column, the first control signal, and the second control signal; and controls the movement of that light-shielding column based on the at least one motor execution signal of that light-shielding column.

4. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the method as described in claim 3.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method as described in claim 3.

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