Miniature camera and laser common-caliber optical system and use method

Abstract

The invention discloses a miniature camera and laser common-caliber optical system and a use method, and relates to the field of laser optical instruments. The problem that an existing multi-band common-caliber optical system cannot achieve integration, multi-functionalization and miniaturization at the same time is solved. The miniature camera and laser common-aperture optical system comprises a zoom optical lens group, a beam expanding telescope group, an electromagnetic galvanometer, a spectroscope, a fast reflecting mirror and a laser light source. The laser converging zoom optical lens group and the fine tracking imaging branch are respectively connected with the zoom cam lens cone and the fine tracking lens cone, the beam expanding telescope group is connected with the antenna frame, and the electromagnetic galvanometer, the spectroscope and the reflector are all connected with respective bases. The optical axis collinear coupling design is adopted among the components, it is ensured that a laser path and an image path are completely overlapped, and high-precision image guide striking control is achieved. The small mobile platform is suitable for industrial precision machining and rapid identification, high-precision tracking and laser precise striking of short-range dynamic targets.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser optical instruments, in particular to a micro camera and laser co-boresight optical system and use method. BACKGROUND

[0002] With the continuous development of modern high-precision attack and intelligent perception tasks towards remote, miniaturization and integration, the structural design and control precision of photoelectric systems are facing higher challenges. Especially in key scenes such as precision guidance, space target identification and high-speed maneuvering target identification, optical systems with high-resolution imaging, sub-arcsecond optical axis control and laser coaxial attack capability are required to realize the integrated workflow of target identification, aiming tracking and laser attack.

[0003] Chinese patent with publication number CN115373122A discloses a laser emission and imaging co-bore optical system and design method. The front expander telescope group of the off-axis two-reflection afocal Cassegrain system, the primary mirror, the secondary mirror and the three mirrors are all free-form off-axis three-reflection imaging systems, which build a laser emission and imaging co-bore system and realize the overall design of the one-transmitting and one-receiving optical system. It belongs to the traditional co-bore optical system design, and the focal length of the imaging optical system and the laser emission branch is not optimized, and the off-axis three imaging system with free-form surface is high in cost and difficult to assemble and adjust.

[0004] Chinese patent with publication number CN119335741A discloses a three-waveband co-bore multifunctional optical system. The primary mirror and the secondary mirror of the coaxial Cassegrain system realize the integration of the two imaging systems and the laser emission branch of the multi-waveband co-bore optical system, and realize the overall design of the two-receiving and one-transmitting optical system. It also belongs to the traditional co-bore optical system design, and the focal length of the imaging optical system and the laser emission branch is not optimized.

[0005] Therefore, there is a need for a micro camera and laser co-boresight optical system that can optimize the above laser emission branch. By using zoom for the laser emission branch and coaxial spherical mirror group for the imaging system, the laser can attack different long-distance targets in the optimized optical path, which can reduce the cost and assembly difficulty while ensuring the system function, improve the miniaturization level of the optical system, and meet the structure compactness, optical axis consistency and high-precision control capability of the photoelectric system architecture. SUMMARY

[0006] The present application is to solve the problem that the multi-waveband co-bore optical system cannot realize integration, multifunction and miniaturization at the same time. Therefore, the present application proposes a micro camera and laser co-boresight optical system and use method.

[0007] To solve the above technical problems, the present application is realized by the following technical solutions: In the first aspect, the present application provides a micro camera and laser co-boresight optical system, which integrates an imaging system and a laser emission branch in the same optical path, wherein the imaging system comprises an inverse laser collimation zoom optical lens group and a fine tracking optical path composed of a fine tracking imaging lens group; the laser emission branch comprises a main laser light source, a focusing lens group, the focusing lens group comprising a first positive meniscus lens, a first negative meniscus lens, a second negative meniscus lens, a second positive meniscus lens, a third positive meniscus lens, an electromagnetic vibration mirror, a beam splitter, a fast mirror, a laser light source, an off-axis two-mirror afocal Cassegrain module and a converging zoom lens group. The laser beam emitted by the main laser light source is reflected by the fast mirror, transmitted by the beam splitter, adjusted in direction by the electromagnetic vibration mirror, expanded and collimated by the off-axis two-mirror afocal Cassegrain module, and finally converged and irradiated to the target by the converging zoom lens group; the fine tracking imaging lens group is used for high-precision identification and tracking of the target based on the imaging; the electromagnetic vibration mirror is used for high-bandwidth fine tracking correction of the emitted main laser beam according to the feedback information of the fine tracking imaging lens group, so as to realize accurate aiming and attack of the laser on the target.

[0008] Further, a preferred embodiment is provided, wherein the optical system further comprises a primary mirror and a secondary mirror, the reflecting surface of the primary mirror is a concave parabolic surface, and the reflecting surface of the secondary mirror is a convex parabolic surface; the focal points of the primary mirror and the secondary mirror coincide and there is no intermediate image point.

[0009] Further, a preferred embodiment is provided, wherein the electromagnetic vibration mirror, the beam splitter and the fast mirror are all installed on their respective bases, and the inclination angles of their reflecting surfaces or transmitting surfaces are all 45° with respect to the horizontal plane.

[0010] Further, a preferred embodiment is provided, wherein the laser emission branch specifically comprises: The laser beam emitted by the main laser light source is reflected by the fast mirror, transmitted by the beam splitter, reflected by the laser and visible light shared electromagnetic vibration mirror, then reflected by the secondary mirror and the primary mirror for expansion and collimation, and finally focused by the first positive meniscus lens, the first negative meniscus lens, the second negative meniscus lens, the second positive meniscus lens and the third positive meniscus lens and emitted to the target; the fast mirror and the electromagnetic vibration mirror are used for beam direction adjustment of the laser emission branch; the primary mirror and the secondary mirror together form an off-axis two-mirror afocal Cassegrain module, which is used for expansion and collimation of the laser beam; and the first positive meniscus lens, the first negative meniscus lens, the second negative meniscus lens, the second positive meniscus lens and the third positive meniscus lens are used for focusing the expanded and collimated laser beam on the target surface.

[0011] Further, a preferred embodiment is provided, the fine tracking light path is used for accurately identifying and locking the moving target, and stably locking the laser spot at a specific position of the target surface, the fine tracking light path comprises a reflective light path structure and a transmissive imaging lens group; the transmissive imaging lens group comprises a first single lens, a first doublet lens, a second single lens and a third single lens in sequence along the optical axis direction; the first single lens is a double convex lens, the first doublet lens is composed of a double convex lens close to the object side and a double concave lens close to the image side, and the double convex lens is made of ultra-low dispersion material; the second lens is a meniscus lens with negative focal power; and the third lens is a double convex lens with positive focal power.

[0012] Further, a preferred embodiment is provided, the material of all lenses is not limited to optical glass material.

[0013] Scheme two, the use method of the micro camera and the laser co-boresight optical system according to any one of scheme one, the method comprises the following steps: Step 1, the imaging system, laser emission branch, electromagnetic mirror drive module, detector and data processing module are initialized, the initialization includes the steps of temperature control activation, electronic module self-checking and working parameter loading; Step 2, after completing the initialization calibration in step 1, dynamic target tracking and laser striking test are carried out; Step 3, the upper computer software controls the laser light source to switch to the working mode, the optical system controls the motor drive cam mechanism of the converging focusing lens group according to the estimated target distance and the target surface characteristics, the position of the cam mechanism is updated in real time according to the preset zoom cam curve, and the minimum laser spot is formed on the target surface; The laser beam is output through fiber coupling, reflected and corrected by the fast mirror, and dynamically compensated by the platform jitter; the laser beam is output through the fiber coupling of the laser light source, reflected by the fast mirror, and then enters the light path shared with the imaging system; after the path correction by the beam splitter, the optical antenna performs shaping and beam expanding on the laser beam, and the focusing lens group behind the optical antenna dynamically adjusts the focal length under the control of the system, the laser converging point position is adjusted by driving the motor to drive the zoom cam in real time, and the laser energy is accurately converged to the target surface; the optical system synchronously monitors the deviation between the laser path center and the image coordinate system, and automatically corrects the beam through the electromagnetic mirror; Step 4, closed loop correction is carried out, laser pulse irradiation on the target produces strong flash or ablation point, the detector captures the target image in the next exposure period, the target reflection signal is reversely received by the main mirror of the common preamplification beam expansion imaging group, the reflection signal is processed by echo light, and then fed back to the detector through the imaging channel, and the image processing module is used for identifying the coordinates of the laser hitting point, calculating the pixel deviation of the hitting point and the expected hitting point of the target, automatically correcting the angle of the electromagnetic vibration mirror, forming the image and the beam closed loop control, and the subsequent system evaluates the target striking effect in multiple modes, and if the target is hit, the next step is carried out, if the target is lost, the feature acquisition is carried out again, and the control system parameters are updated; Step 5, on the basis of the motion position prediction of the optical system, a pre-constructed neural network model is run, when the target moves or the field of view of the environment changes, the system continuously acquires images at a certain frequency, extracts the motion trend of the target through the neural network algorithm, and real-time corrects the angle of the electromagnetic vibration mirror, so as to complete the double-axis rapid tracking; Step 6, in the running process of the optical system, the embedded processing module records the image data, target coordinates, laser emission state, electromagnetic vibration mirror angle, power and temperature state information in real time, and stores them into the solid state storage module in a double redundancy mode; if it is detected that the average image brightness of the system image processing module decreases by more than 70%, the optical system immediately triggers the safety mode, closes the main laser emission, records the light path shielding fault code and alarms the upper computer software, the laboratory power supply simulates voltage reduction, the optical system power management module detects under-voltage, and the optical system immediately enters the safety mode, closes the laser emission, and sends power abnormal alarm information to the upper control system.

[0014] Step 7, after the task is completed or the termination instruction is received, the optical system sequentially executes automatic stopping of laser emission, driving the electromagnetic vibration mirror to zero, and driving the converging focusing lens group to reset to the initial state; the imaging optical axis returns to the default direction, each module executes temperature control and state saving operation, the main control terminal generates a task report, including target tracking image sequence, electromagnetic vibration mirror adjustment curve, laser control log, and exports as PDF or uploads to the task management platform through an encrypted interface.

[0015] Further, a preferred embodiment is provided, wherein the detector pixel size is equal to 6.5um.

[0016] The present application has the advantages of: The micro camera and laser co-bores optical system adopt a co-bores structure to realize coaxial design of the precision tracking imaging and laser emission channel, effectively reduce the system volume, and improve the optical axis consistency. The electromagnetic vibration mirror is used for realizing the fine adjustment of the laser beam direction, and the pointing accuracy is better than ±10μrad, which is suitable for real-time locking of dynamic targets.

[0017] The optical system adopts a reflective Cassegrain structure matched with a zoom imaging lens group, has high-resolution imaging and long-focus observation capability, and meets the requirements of long-distance target identification and laser irradiation.

[0018] The laser emission branch is designed by zooming and the imaging system is designed by coaxial spherical lens group, so that the laser can strike different long-distance targets in the optimized optical path, the cost and adjustment difficulty can be reduced under the premise of guaranteeing the system function, the miniaturization level of the optical system is improved, and the optical and electrical system architecture with compact structure, optical axis consistency and high-precision control capability is met. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 A schematic structural diagram of the optical system of the micro camera and laser co-boresight according to the present application.

[0020] Figure 2 A schematic structural diagram of the continuous zoom optical system of the micro camera and laser co-boresight according to the present application.

[0021] Figure 3 The MTF curve diagram of the continuous zoom optical system at a back intercept of 5m according to the present application.

[0022] Figure 4 The MTF curve diagram of the continuous zoom optical system at a back intercept of 6m according to the present application.

[0023] Figure 5 The MTF curve diagram of the continuous zoom optical system at a back intercept of 7m according to the present application.

[0024] Figure 6 The MTF curve diagram of the continuous zoom optical system at a back intercept of 8m according to the present application.

[0025] Figure 7 The MTF curve diagram of the continuous zoom optical system at a back intercept of 9m according to the present application.

[0026] Figure 8 The MTF curve diagram of the continuous zoom optical system at a back intercept of 10m according to the present application.

[0027] Figure 9 The MTF curve diagram of the rear imaging group in the visible light band according to the present application.

[0028] Figure 10 The MTF curve diagram of the optical system in the visible light band according to the present application.

[0029] Figure 11 Point spread diagram of the rear imaging group described in the present application in the visible light band.

[0030] Figure 12 Point spread diagram of the optical system described in the present application in the visible light band.

[0031] Figure 13 Field distortion diagram of the optical system described in the present application in the visible light band.

[0032] Figure 14 Flow chart of the method for using the micro-camera and laser co-boresight optical system described in the present application.

[0033] Wherein, the first positive meniscus lens 1, the first negative meniscus lens 2, the second negative meniscus lens 3, the second positive meniscus lens 4, the third positive meniscus lens 5, the primary mirror 6, the secondary mirror 7, the electromagnetic vibration mirror 8, the beam splitter 9, the first single lens 10, the first doublet lens 11, the second single lens 12, the third single lens 13, the fast mirror 14, the laser light source 15, the fourth single lens 16, the fifth single lens 17, the sixth single lens 18, the seventh single lens 19, and the eighth single lens 20. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all embodiments of the present application.

[0035] Embodiment one, referring to Figures 1 to 14 The present embodiment proposes a micro-camera and laser co-boresight optical system, which specifically includes the following steps: As Figure 1 shown, Figure 1 A small tracking camera and laser co-boresight laser tracking optical system structure schematic diagram is shown, which includes, from the object side to the image side, the first positive meniscus lens 1, the first negative meniscus lens 2, the second negative meniscus lens 3, the second positive meniscus lens 4, the third positive meniscus lens 5, the primary mirror 6, the secondary mirror 7, the electromagnetic vibration mirror 8, the beam splitter 9, the first single lens 10, the first doublet lens 11, the second single lens 12, the third single lens 13, the fast mirror 14, the laser light source 15, the fourth single lens 16, the fifth single lens 17, the sixth single lens 18, the seventh single lens 19, and the eighth single lens 20.

[0036] In this embodiment, the beam expander telescope adopts off-axis reflection type, with laser beam expansion and central blocking elimination. The beam expander telescope is composed of a primary mirror 6 and a secondary mirror 7. The reflecting surface of the primary mirror 6 is a concave parabolic surface, and the reflecting surface of the secondary mirror 7 is a convex parabolic surface. The focal points of the primary mirror 6 and the secondary mirror 7 coincide and there is no intermediate image point. Coating, 5°~15°, reflecting film, A surface, Rs, p>99.9% @1060nm~1100nm, Rs, p>95% @450nm~700nm, film system resistant to strong light, pulse laser energy 150mJ, pulse width 10ns, frequency 100Hz, damage threshold: primary mirror average power density 0.236W / cm2, primary mirror peak power density 0.236MW / cm2; secondary mirror average power density 3.773W / cm2, secondary mirror peak power density 3.773MW / cm2.

[0037] In this embodiment, in the micro camera and laser common aperture optical system, the electromagnetic vibration mirror 8 has the functions of receiving and transmitting laser beam folding optical axis, executing terminal controller pointing instruction, completing two-axis pointing and scanning functions, and realizing high-precision optical angle feedback. The electromagnetic vibration mirror 8, the beam splitter 9, and the fast mirror 14 are all installed on their respective bases, and the inclination angles of their reflecting surfaces or transmitting surfaces are all 45° with the horizontal plane.

[0038] In this embodiment, in the micro camera and laser common aperture optical system, the mirror assembly is composed of a lens, a pressing ring, a mirror chamber, and an adjusting gasket, and the azimuth and pitch of the lens barrel can be adjusted by grinding the gasket. The mirror chamber is made of titanium alloy (TC4) material, which has good thermal stability, and the rest of the materials are made of aluminum alloy (2A12) material, which is light in weight and easy to process. The installation frame mainly supports various components, and the installation places of the antenna primary mirror assembly and the mirror assembly are provided with bosses to ensure the installation flatness. The material of the installation frame is titanium alloy (TC4), which has good thermal stability.

[0039] In this embodiment, in the laser emission light path, the laser emitted by the laser source 15 is reflected by the fast mirror 14, reflected by the common beam splitter 9 and the electromagnetic vibration mirror 8, enters the off-axis two-mirror afocal Cassegrain module, is reflected by the secondary mirror 7 and the primary mirror 6 for beam expansion, reaches the continuous zoom optical system, and is finally emitted after being converged by the continuous zoom optical system. The optical elements of the zoom optical system include, in sequence, a first positive meniscus lens 1 with positive optical power, a second negative meniscus lens 3 with negative optical power, a second positive meniscus lens 4 with positive optical power, and a third positive meniscus lens 5 with positive optical power. The zoom optical system is used for converging the laser beam to meet the requirements of laser focusing and striking on a long-distance target; the optical power distribution, surface combination, and material selection of the lens group work together to effectively suppress aberration and meet the performance requirements of continuous zoom tracking and striking on a moving target.

[0040] In the embodiment, the visible light fine tracking imaging light path is composed of reflective and transmissive structures: the visible light is transmitted through the first positive meniscus lens 1 with positive focal power, the first negative meniscus lens 2 with negative focal power, the second negative meniscus lens 3 with negative focal power, the second positive meniscus lens 4 with positive focal power, the third positive meniscus lens 5 with positive focal power, the primary mirror 6 and the secondary mirror 7, reflected, and then turned by the electromagnetic mirror 8 to the beam splitter 9, reflected into the first single lens 10, the first doublet lens 11, the second single lens 12, the third single lens 13, and finally focused on the fine tracking detector. The fine tracking light path includes a reflective light path structure and a transmissive imaging lens group: the transmissive imaging lens group includes, in sequence along the optical axis direction, the first single lens 10, the first doublet lens 11, the second single lens 12, and the third single lens 13. The first single lens 10 of the fine tracking lens group is a biconvex lens with positive focal power. The first doublet lens 11 is composed of a biconvex lens close to the object side and a biconcave lens close to the image side, and has positive focal power. The biconvex lens uses an ultra-low dispersion material. The second single lens 12 is a meniscus lens with negative focal power. The third single lens 13 of the visible light imaging system is a biconvex lens with positive focal power. The system meets the requirements of accurately identifying and locking the moving target and stably locking the laser spot on the specific position of the target surface.

[0041] In the embodiment, the fourth single lens 16 of the laser converging and focusing optical system is made of H-ZPK7, with a refractive index of 1.569 and an Abbe number of 71.304. The fifth single lens 17 is made of H-ZK21, with a refractive index of 1.622 and an Abbe number of 58.120. The sixth single lens 18 is made of H-F4, with a refractive index of 1.620 and an Abbe number of 36.345. The seventh single lens 19 is made of H-LAK6A, with a refractive index of 1.693 and an Abbe number of 53.380. The eighth single lens 20 is made of D-LAK5, with a refractive index of 1.677 and an Abbe number of 54.889.

[0042] In the embodiment, the first single lens 10 of the fine tracking imaging system is made of H-QF1, with a refractive index of 1.548 and an Abbe number of 45.820. The material close to the object side of the first doublet lens 11 is LAF3, with a refractive index of 1.604 and an Abbe number of 80.831. The material close to the image side is H-ZLAF75A, with a refractive index of 1.903 and an Abbe number of 31.314. The second single lens 12 is made of ZF12, with a refractive index of 1.761 and an Abbe number of 26.555. The third single lens 13 is made of D-ZK3-25, with a refractive index of 1.588 and an Abbe number of 61.284.

[0043] In the embodiment, the lenses all use optical glass as the material, which is common, easy to obtain and easy to process. The lens materials of the micro camera and the laser co-bores optical system can be replaced by optical resin and optical crystal material according to specific requirements.

[0044] As shown in Figure 2 The fourth single lens 16 is a positive meniscus lens with positive focal power, the fifth single lens 17 is a meniscus lens with negative focal power, the fourth single lens 16 and the fifth single lens 17 together form a front fixed group of the micro camera and the laser co-bores continuous zoom optical system. The sixth single lens 18 is a meniscus lens with negative focal power, the sixth single lens 18 is a zoom group of the micro camera and the laser co-bores continuous zoom optical system. The seventh single lens 19 is a meniscus lens with positive focal power, the seventh single lens 19 is a compensation group of the micro camera and the laser co-bores continuous zoom optical system. The eighth single lens 20 is a meniscus lens with positive focal power, the eighth single lens 20 is a rear fixed group of the micro camera and the laser co-bores continuous zoom optical system.

[0045] In the embodiment, the lens movement amount of the zoom lens group at the rear working distance of 5-10m far distance is shown in Table 1, D is the rear working distance of the zoom lens group, d1, d2 and d3 are the movement amounts between the zoom group and the compensation group and the front fixed group and the rear fixed group, respectively.

[0046] Table 1 Lens movement amount of the zoom lens group at the rear working distance of 5-10m far distance

[0047] In the embodiment, the H-ZPK7 glass with good dispersion performance is used in the front fixed group of the zoom optical system to reduce the chromatic aberration generated in the wide band. At the same time, single spherical lenses are used in the whole optical system to further reduce the adjustment difficulty. The micro camera and the laser co-bores optical system use a cam to realize continuous zoom, the zoom stroke is short, the zoom curve is smooth, and there is no inflection point. In order to realize the light weight of the system, reduce the complexity of the system and reduce the processing cost, the present application does not use aspherical lenses, and continuous zoom can be realized.

[0048] Figures 3 to 8 The MTF diagram of the micro camera and the laser co-bores continuous zoom optical system, Figures 9 to 10respectively are MTF curves of the rear imaging group and the common-aperture optical system. MTF (Modulation Transfer Function) can reflect the imaging quality of the optical system. Specifically, the larger the area enclosed by the MTF curve and the x-axis, the smoother the transition of the MTF curve, and the better the imaging quality of the optical system. As can be seen from the figure, the MTF of the continuous zoom optical system of the miniature camera and the laser at the limit frequency coincides with the diffraction limit, which indicates that the system has excellent imaging performance.

[0049] Figure 11 is a spot diagram of the rear imaging group in the visible light band, Figure 12 is a spot diagram of the system of the common-aperture optical system embodiment of the present application in the visible light band. The spot diagram reflects the geometric structure of the imaging of the optical system. In the image quality evaluation, the density of the spot diagram can very intuitively reflect the pros and cons of the imaging quality. The smaller the RMS radius in the spot diagram, the smaller the aberration, and the better the imaging quality of the system. As can be seen, the RMS diameter is within 3 um, and the spot radius of each field changes little, and the aberration correction is good. The continuous zoom optical system of the visible light and the near-infrared laser common-aperture and common-path has excellent imaging quality.

[0050] Figure 13 is a field curvature distortion diagram of an optical system of a miniature camera and a laser common-aperture, according to Figure 13 As shown in the figure, the axial aberration of the eyepiece optical system is not large. The field curvature is within 0.15 mm, that is, the field curvature of the laser tracking optical system of the miniature tracking camera and the laser common-aperture has been corrected to a small range. At the same time, when the distortion of the system is less than 4%, the imaging deformation is not felt. As can be seen from the figure, the distortion of the system is less than 0.05%, and the imaging does not exist easy-to-detect distortion.

[0051] Embodiment two, as Figure 14 shown in the figure, a method for using the miniature camera and the laser common-aperture optical system according to embodiment one, the method comprising the following steps: Step one: start the host terminal in the upper computer software, and complete the power-on of the power management module through the embedded control platform. The imaging system, the laser emitting module, the electromagnetic mirror driving module, the detector and the data processing module are sequentially initialized, including temperature control activation, electronic module self-checking and working parameter loading. A high-precision crosshair reticle is placed 5 m in front of the optical system, the zoom lens group is moved to the preset position corresponding to the 5 m rear intercept, the upper computer software triggers the detector to collect the image, calculates the center of the reticle in the detector coordinates, and adjusts the collimation of the fine tracking light path optical axis. The laser light source is switched to the low-power indicating light mode, the laser emitting branch optical axis is checked, the fine tracking light path and the laser emitting light path are coaxially aligned, the incident angle is normalized, and the system focus point and the optical axis center are consistent.

[0052] Step two: After the initial calibration is completed, dynamic target tracking and laser striking test is carried out. The optical system opens the fine tracking channel, the zoom lens group starts the wide area scanning mode, and the camera exposure time is automatically adjusted. The target reflected light is guided into the high-resolution imaging lens group through the co-axial off-axis Cassegrain system. The image processing module obtains the target feature profile in real time based on the sub-pixel level edge extraction algorithm, and realizes trajectory prediction and stable locking combined with Kalman filter. The fine tracking galvanometer calculates the target center deviation based on image feedback data, dynamically adjusts the angle through motor-driven galvanometer, and realizes sub-pixel precision positioning. The Zernike matrix edge detection outputs the miss distance vector, the laser emission branch path is pre-aligned, and the fast mirror is pre-compensated based on target motion prediction. In the optical axis closed loop calibration stage, image processing and feature recognition are carried out through the target tracking algorithm, and the fine adjustment control of the galvanometer is used to correct the precise angle after the optical axis calibration is executed.

[0053] Step three: The upper computer software controls the laser light source 15 to switch to the working mode. The optical system controls the motor-driven cam mechanism of the zoom lens group according to the estimated target distance and target surface characteristics. The cam position is updated in real time according to the preset zoom cam curve, ensuring that the laser beam forms the smallest spot on the target surface. The laser beam is output through fiber coupling, the fast mirror is reflected and corrected, and the dynamic compensation platform is dithered. The correction range is less than 2 mrad. The laser beam is output through fiber coupling, reflected by the fast mirror 14, and enters the common optical path with the imaging system. After path correction by the beam splitter, the optical antenna shapes and expands the laser beam with a magnification of 5 times. The focusing lens group behind the optical antenna dynamically adjusts the focal length under system control, adjusts the lens positions of the zoom group and the compensation group in the zoom lens group according to the target distance and target surface characteristics, and adjusts the laser convergence point position in real time by driving the motor-driven zoom cam, ensuring that the laser energy is accurately converged to the target surface. The optical system synchronously monitors the deviation of the laser path center and the image coordinate system, and completes the automatic correction of the beam through the electromagnetic galvanometer.

[0054] Step four: Closed loop correction is carried out. The laser pulse irradiates the target to produce a strong flash or ablation point. The fine tracking detector captures the target image in the next exposure period. The target reflection signal is received in reverse by the main mirror of the co-front beam expansion imaging group, and the echo light processing is carried out on the reflection signal. The image is fed back to the detector through the imaging channel. The image processing module identifies the coordinates of the laser hit point by running a specific algorithm, calculates the pixel deviation between the hit point and the expected striking point of the target, and if the deviation exceeds the set threshold, the deviation is used as the feedback quantity. The optical system automatically corrects the angle of the electromagnetic galvanometer, forming an image and a closed loop control of the beam. This closed loop significantly improves the target hit accuracy and stability. The subsequent optical system carries out multi-modal evaluation on the target striking effect. If the hit is effective, the next step is carried out. If the target is lost, feature acquisition is re-performed, and the control system parameters are updated.

[0055] Step five: Based on the prediction of the optical system motion position, an additional lightweight neural network model is run. When the target moves or the field of view changes, the optical system continuously acquires images at a specific frequency, extracts the target motion trend through neural network algorithm, and real-time corrects the electromagnetic vibration mirror angle to complete the dual-axis fast tracking. The system keeps the laser stable locking on the target key parts, ensuring that the laser pointing error is within the allowed range, and adapts to high-speed or small-angle displacement of the target.

[0056] Step six: During the operation of the optical system, the embedded processing module records image data, target coordinates, laser emission state, electromagnetic vibration mirror angle, power and temperature state, etc. in real time, and stores them in a dual-redundant manner to the solid-state storage module. If the average image brightness of the system image processing module drops by more than 70%, the system immediately triggers the safety mode, closes the main laser emission, records the light path obstruction fault code and sends an alarm to the upper computer software. A slight human impact on the platform simulates the light axis deviation caused by vibration, and the optical system determines the pointing drift, closes the laser, records the fault alarm, and attempts to restart the dedicated process. The laboratory power supply simulates voltage reduction, and the optical system power management module detects undervoltage. The optical system immediately enters the safety mode, closes the laser emission, and sends power abnormal alarm information to the upper control system.

[0057] Step seven: After the task is completed or the termination instruction is received, the optical system sequentially executes automatic stopping of laser emission, driving the electromagnetic vibration mirror to zero, and driving the zoom lens group to reset to the initial state. The imaging optical axis returns to the default direction, and each module performs temperature control cooling and state saving operation. The main control terminal generates a task report containing target tracking image sequence, electromagnetic vibration mirror adjustment curve, laser control log, etc., which can be exported as PDF or uploaded to the task management platform through an encrypted interface.

[0058] Those skilled in the art can understand that the above description is only a preferred embodiment of the present application, and the features described in each embodiment and / or claim of the present disclosure can be combined or combined, even if such combination or combination is not explicitly described in the present disclosure. It is not intended to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, and those skilled in the art can modify the technical solutions described in the foregoing embodiments or make equivalent replacement of part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

[0059] While the preferred embodiments of the application have been described, additional variations and modifications can be made to these embodiments by those skilled in the art once they have the benefit of the foregoing description without departing from the spirit and scope of the application. Accordingly, it is intended that the appended claims be interpreted as including all such variations and modifications as fall within the spirit and scope of the application. It is apparent that those skilled in the art can modify and adapt the application without departing from the spirit and scope of the application. It is therefore intended that the application not be limited to the disclosed embodiments, but that it can also cover modifications and variations within the scope of the present application.

Claims

1. An optical system with a micro camera and a laser having the same aperture, characterized in that: The optical system integrates an imaging system and a laser emission branch in the same optical path, and the imaging system includes a fine tracking optical path composed of a reverse laser collimating zoom optical lens group and a fine tracking imaging lens group; the laser emission branch includes a main laser light source, a focusing lens group, and the focusing lens group includes a first positive meniscus lens (1), a first negative meniscus lens (2), a second negative meniscus lens (3), a second positive meniscus lens (4), a third positive meniscus lens (5), an electromagnetic galvanometer (8), a beam splitter (9), a fast reflection mirror (14), a laser light source (15), an off-axis two-mirror afocal Cassegrain module, and a converging zoom lens group; The laser beam emitted by the main laser light source is reflected by the fast reflection mirror (14), transmitted by the beam splitter (9), adjusted by the electromagnetic galvanometer (8), and expanded and collimated by the off-axis two-reflection non-focal Cassegrain module, and finally converged by the convergent zoom lens group to illuminate the target; the fine tracking imaging lens group is used to perform high-precision identification and tracking of the target based on imaging; the electromagnetic galvanometer (8) is used to perform high-bandwidth fine tracking correction on the emitted main laser beam based on feedback information from the fine tracking imaging lens group, so as to achieve accurate aiming and striking of the laser at the target.

2. The optical system of the micro camera and laser with the same aperture as claimed in claim 1, characterized in that: The optical system further comprises a primary mirror (6) and a secondary mirror (7); the reflecting surface of the primary mirror (6) is a concave parabola, and the reflecting surface of the secondary mirror (7) is a convex parabola; the focal points of the primary mirror (6) and the secondary mirror (7) coincide with each other and there is no intermediate image point.

3. The optical system of the micro camera and laser with the same aperture as claimed in claim 1, characterized in that: The electromagnetic galvanometer (8), the beam splitter (9), and the quick-reflection mirror (14) are all mounted on their respective bases, and the inclination angles of their reflection surfaces or transmission surfaces are all 45° to the horizontal plane.

4. The optical system of the micro camera and laser with the same aperture as claimed in claim 1, characterized in that: The laser emission branch is specifically: The laser beam emitted by the main laser light source is reflected by the fast-reflecting mirror (14) and reaches the beam splitter (9). After being transmitted by the beam splitter (9), it is reflected by the electromagnetic galvanometer (8) shared by the laser and visible light, and then reflected by the secondary mirror (7) and the primary mirror (6) for beam expansion and collimation. Finally, it is focused by the first positive meniscus lens (1), the first negative meniscus lens (2), the second negative meniscus lens (3), the second positive meniscus lens (4), and the third positive meniscus lens (5) and then emitted to the target. The fast-reflecting mirror (14) and the electromagnetic galvanometer (8) are used for adjusting the beam direction of the laser emission branch. The primary mirror (6) and the secondary mirror (7) together constitute an off-axis two-reflection non-focal Cassegrain module for beam expansion and collimation of the laser beam. The first positive meniscus lens (1), the first negative meniscus lens (2), the second negative meniscus lens (3), the second positive meniscus lens (4), and the third positive meniscus lens (5) are used to focus the laser beam after beam expansion and collimation on the target surface.

5. The optical system of the micro camera and laser with the same aperture as claimed in claim 1, characterized in that: The precise tracking optical path is used to accurately identify and lock a moving target, and stably lock the laser spot at a specific position on the target surface. The precise tracking optical path includes a reflective optical path structure and a transmissive imaging lens group; the transmissive imaging lens group includes a first single lens (10), a first double-cemented lens (11), a second single lens (12), and a third single lens (13) in sequence along the optical axis direction; the first single lens (10) is a biconvex lens, the first double-cemented lens (11) is composed of a biconvex lens close to the object side and a biconcave lens close to the image side, and the biconvex lens is made of ultra-low dispersion material; the second single lens (12) is a meniscus lens with negative optical focal length; the third single lens (13) is a biconvex lens with positive optical focal length.

6. The optical system of the micro camera and laser with the same aperture as claimed in claim 1, characterized in that: The materials of all lenses are not limited to optical glass materials.

7. A method for using the optical system of the micro camera and laser according to any one of claims 1 to 6, the method comprising the following steps: Step 1: Initialize the imaging system, laser emission branch, electromagnetic galvanometer drive module, detector and data processing module. The initialization includes the steps of temperature control activation, electronic module self-test and working parameter loading. Step 2: After completing the initialization calibration in step 1, perform dynamic target tracking and laser strike testing; Step 3, the upper computer software controls the laser light source (15) to switch to the working mode, and the optical system controls the motor-driven cam mechanism of the convergence zoom lens group according to the estimated target distance and target surface characteristics. The position of the cam mechanism is updated in real time according to the preset zoom cam curve to ensure that the laser beam forms a minimum spot on the target surface; The laser beam is output through optical fiber coupling, and the reflection is corrected by the fast mirror (14), and the platform jitter is dynamically compensated. The laser beam is output through optical fiber coupling of the laser light source (15), and after being reflected by the fast mirror (14), it enters the optical path shared with the imaging system; after the path correction by the beam splitter (9), the optical antenna shapes and expands the laser beam, and the focusing lens group connected to the optical antenna dynamically adjusts the focal length under the control of the optical system, and the zoom cam is driven in real time by the driving motor to adjust the position of the laser convergence point to ensure that the laser energy is accurately focused on the target surface; the optical system synchronously monitors the deviation between the center of the laser path and the image coordinate system, and completes the automatic correction of the beam through the electromagnetic galvanometer (8); Step 4: perform closed-loop correction. The laser pulse irradiates the target to produce a strong flash or ablation point. The detector captures the target image in the next exposure cycle. The target reflection signal is received in reverse by the main mirror of the common front beam expansion imaging group. The reflection signal is processed by echo light and then fed back to the detector through the imaging channel. The image processing module is used to identify the coordinates of the laser impact point and calculate the pixel deviation between the impact point and the expected impact point of the target. The optical system automatically corrects the angle of the electromagnetic galvanometer (8) to form an image and beam closed-loop control. The optical system performs multi-modal evaluation on the target impact effect. If the target is hit, the next step is carried out. If the target is lost, the feature collection is repeated and the control system parameters are updated. Step 5: Based on the prediction of the motion position of the optical system, the pre-built neural network model is run. When the target moves or the environmental field of view changes, the optical system continuously acquires images at a specific frequency, extracts the target motion trend through the neural network algorithm, and corrects the angle of the electromagnetic galvanometer (8) in real time to complete dual-axis fast tracking; Step 6: During the operation of the optical system, the embedded processing module records the image data, target coordinates, laser emission status, electromagnetic galvanometer (8) angle, power supply and temperature status information in real time, and stores them in a dual-redundant manner to the solid-state storage module; if it is detected that the average image brightness of the optical system image processing module drops by more than 70%, the optical system immediately triggers the safety mode, turns off the main laser emission, records the optical path obstruction fault code and sends an alarm to the upper computer software, the laboratory power supply simulation voltage decreases, the power management module detects undervoltage, the optical system immediately enters the safety mode, turns off the laser emission, and sends a power abnormality alarm message to the upper control system; Step 7: After the task is completed or the termination command is received, the optical system automatically stops the laser emission, drives the electromagnetic galvanometer (8) to return to zero, and drives the convergence zoom lens group to reset to the initial state; the imaging optical axis returns to the default direction, and each module performs temperature control cooling and state saving operations. The main control terminal generates a task report, including the target tracking image sequence, the electromagnetic galvanometer (8) adjustment curve, and the laser control log, which is exported to PDF or uploaded to the task management platform through the encryption interface.

8. The method for using the optical system based on the co-aperture of the micro camera and the laser according to claim 7, characterized in that: The detector pixel size is equal to 6.5um.

Images