Beacon light-assisted tracking and alignment method and device

Abstract

The present invention discloses a beacon light assisted tracking alignment method and device. The device comprises a polarized beacon light source, a main laser light source, a polarization component, a quarter wave plate, a dichroic mirror, an angle-adjustable reflective component, a first lens, a detector and a controller; the method comprises: the polarized beacon light source emits a P-polarized beacon light, which is irradiated to the polarization component and the quarter wave plate, and is successively emitted through the dichroic mirror and the angle-adjustable reflective component; the angle of the angle-adjustable reflective component is adjusted so that the circularly polarized beacon light reflected from the target is successively irradiated to the angle-adjustable reflective component and the dichroic mirror, and the circularly polarized beacon light reflected back passes through the quarter wave plate and irradiates to the polarization component; the main laser light source emits a laser, and the angle-adjustable reflective component irradiates the laser to the target. The present invention can accurately and continuously track the target.

Description

Technical Field

[0001] The present invention relates to the field of laser technology and tracking and aiming control technology, and in particular to a beacon light-assisted tracking and alignment method and device. Background Art

[0002] Lasers can be used for communication, such as emitting lasers between two objects for communication; lasers can also be used to ablate (destroy) target objects. In order to meet the requirements of laser communication or ablation (destruction), the transmitter in the laser communication system needs to track the receiver. However, the laser communication systems that can currently achieve tracking require the adjustment of multiple components to achieve tracking, and the tracking of the receiver has a large deviation, which makes it easy to lose the receiver.

[0003] The disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of the present invention. It does not necessarily belong to the prior art of the present invention. In the absence of clear evidence that the above content has been disclosed before the application date of the present invention, the above background technology should not be used to evaluate the novelty and creativity of the present invention. Summary of the invention

[0004] The present invention provides a beacon light-assisted tracking and alignment method and device, which can accurately and continuously track a target object.

[0005] In a first aspect, the present invention provides a beacon light assisted tracking and alignment method, using a beacon light assisted tracking and alignment device;

[0006] The device comprises a polarized beacon light source, a main laser light source, a polarization component, a quarter wave plate, a dichroic mirror, an angle-adjustable reflective component, a first lens and a detector;

[0007] The method includes feedback control and master laser control;

[0008] The feedback control comprises:

[0009] The polarized beacon light source emits P-polarized beacon light, which is converted into circularly polarized beacon light by the polarization component and the quarter-wave plate, and is emitted through the dichroic mirror and the angle-adjustable reflective component in sequence;

[0010] The angle of the angle-adjustable reflective component can be adjusted to control the emission angle of the emitted beacon light, so that the angle-adjustable reflective component will reflect the circularly polarized beacon light from the target object through the angle-adjustable reflective component and the dichroic mirror in sequence, so that the reflected circularly polarized beacon light becomes S-polarized beacon light after passing through the quarter-wave plate and irradiates the polarization component, and the polarization component transmits the S-polarized beacon light to the first lens, which receives the S-polarized beacon light and sends it to the detector;

[0011] The master laser control includes:

[0012] The main laser light source emits a main laser, which is coaxially propagated with the circularly polarized beacon light through the dichroic mirror and propagated to the angle-adjustable reflective component, and the angle-adjustable reflective component reflects the laser to the target object;

[0013] Wherein, the feedback control still continues to work when the main laser control is executed.

[0014] In some preferred embodiments, the angle of the angle-adjustable reflective component is adjusted so that the S-polarized beacon light enters the center of the detector or other specific position of the detector.

[0015] In some preferred embodiments, a posture adjustment mechanism is also used;

[0016] The angle-adjustable reflective component itself is angle-adjusted so that the S-polarized beacon light enters the detector;

[0017] If the deflection angle of the angle-adjustable reflective component is greater than a preset value, the posture adjustment mechanism adjusts the posture of at least a portion of the components of the device to reduce the deflection angle of the angle-adjustable reflective component while allowing the S-polarized beacon light to enter the detector.

[0018] In some preferred embodiments, the circularly polarized beacon light reflected from the target object is diffusely reflected circularly polarized beacon light.

[0019] In some preferred embodiments, a modulator is further included; the modulator modulates the main laser light source.

[0020] In a second aspect, the present invention provides a beacon light assisted tracking and alignment device, including a polarized beacon light source, a main laser light source, a polarization component, a quarter wave plate, a dichroic mirror, an angle-adjustable reflective component, a first lens, a detector, and a controller;

[0021] The polarized beacon light source can emit polarized beacon light;

[0022] The polarization component, the quarter wave plate, the dichroic mirror and the angle-adjustable reflective component are arranged in sequence along the advancing direction of the beacon light emitted by the polarized beacon light source;

[0023] The main laser light source can irradiate the emitted laser light onto the dichroic mirror;

[0024] The dichroic mirror can combine the laser light emitted by the main laser light source and the beacon light emitted by the polarized beacon light source into a coaxial light beam, and make the combined light beams irradiate the angle-adjustable reflective component together;

[0025] The angle-adjustable reflective component can adjust the light emission angle to irradiate the light to the target object;

[0026] The first lens can receive the light from the polarization component and can focus the light to illuminate the detector;

[0027] The detector is capable of measuring the irradiation position of the beacon light focused by the first lens;

[0028] The controller can communicate with the polarized beacon light source, the main laser light source, the detector and the angle-adjustable reflective component.

[0029] In some preferred embodiments, the polarization component comprises a polarization beam splitter and a polarizer. In some preferred embodiments, the polarization component further comprises a modulator capable of modulating the primary laser light source.

[0030] In some preferred embodiments, a second lens is further included which can expand or focus the light from the angle-adjustable reflective component.

[0031] In some preferred embodiments, the second lens is a beam expander lens or a focusing lens.

[0032] In some preferred embodiments, the dichroic mirror can reflect the laser light emitted by the main laser light source to the angle-adjustable reflective component; the polarized beacon light emitted by the polarized beacon light source can transmit the dichroic mirror to reach the angle-adjustable reflective component.

[0033] In some preferred embodiments, the dichroic mirror can reflect the polarized beacon light emitted by the polarized beacon light source to the angle-adjustable reflective component; the laser light emitted by the main laser light source can transmit the dichroic mirror to reach the angle-adjustable reflective component.

[0034] In some preferred embodiments, the wavelength of the laser light emitted by the main laser light source is greater than the wavelength of the polarized beacon light emitted by the polarized beacon light light source.

[0035] In some preferred embodiments, the angle-adjustable reflective component includes a galvanometer mirror and a deflection mirror.

[0036] In some preferred embodiments, the specific forms of the galvanometer include a one-dimensional scanning galvanometer and a two-dimensional scanning galvanometer.

[0037] In some preferred embodiments, the mechanism for adjusting the pointing direction of the final output laser includes, in addition to the angle-adjustable reflective component, a posture adjustment mechanism capable of adjusting the posture of at least a portion of the components of the device.

[0038] In some preferred embodiments, the specific form of the posture adjustment mechanism includes: a turntable-based posture adjustment mechanism, or a flywheel-based posture adjustment mechanism.

[0039] In some preferred embodiments, the detector comprises an image sensor and a position sensor.

[0040] In some preferred embodiments, specific forms of the image sensor include a charge coupled device image sensor, a complementary metal oxide semiconductor image sensor, and an enhanced charge coupled device image sensor.

[0041] In some preferred embodiments, the specific form of the position sensor includes a position sensitive device position sensor.

[0042] In a third aspect, the present invention provides a computer-readable storage medium having program instructions stored therein, wherein when the program instructions are executed by a processor of a computer, the processor is caused to execute the above method.

[0043] Compared with the prior art, the beneficial effects of the embodiments of the present invention include:

[0044] The P-polarized beacon light emitted by the polarized beacon light source reaches the quarter-wave plate through the polarization component. The P-polarized beacon light passes through the quarter-wave plate and becomes circularly polarized beacon light, which is then emitted through the dichroic mirror and the angle-adjustable reflective component. Through continuous feedback control of the angle-adjustable reflective component and the detector, the circularly polarized beacon light from the target returns along the original path and enters the detector. Then, the main laser light source emits a laser, which is combined with the polarized beacon light into a coaxial beam through the dichroic mirror and then propagated to the angle-adjustable reflective component, which emits the laser to the target. After the main laser is emitted, the aforementioned feedback control continues to work. In this way, the target can be accurately and continuously tracked, which is convenient for control, and communication with the target can be maintained until the task is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural schematic diagram of a beacon light assisted tracking and alignment device according to an embodiment of the present invention;

[0046] Figure 2 A schematic diagram of a process of a beacon light assisted tracking and alignment method according to an embodiment of the present invention;

[0047] Figure 3A schematic structural diagram of a variant of a beacon light assisted tracking and alignment device according to an embodiment of the present invention;

[0048] Figure 4 It is a structural schematic diagram of another variant of a beacon light assisted tracking and alignment device according to an embodiment of the present invention;

[0049] Figure 5 It is a schematic structural diagram of a third variant of a beacon light assisted tracking and alignment device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention more clear, the following Figures 1 to 5 It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0051] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for fixing or for circuit connection.

[0052] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0054] This embodiment provides a beacon light assisted tracking and alignment device and method. The method of this embodiment is implemented by the device of this embodiment. Among them, the beacon light assisted tracking and alignment device of this embodiment can also be called a tracking and aiming system.

[0055] refer to Figure 1The beacon light assisted tracking and alignment device of this embodiment includes a polarized beacon light source 1, a main laser light source 2, a polarization component 3, a quarter wave plate 4, a dichroic mirror 5, an angle-adjustable reflection component 6, a first lens 7 and a detector 8.

[0056] The polarized beacon light source 1 is used to emit polarized beacon light. In this embodiment, the polarized beacon light source 1 is used to emit P-polarized beacon light.

[0057] The main laser light source 2 is used to emit the main laser. The main laser can be used for communication or for damage. The main laser used for communication is the communication light; the main laser used for damage is the damage light.

[0058] The polarization component 3 allows one polarized light to pass through and reflects another polarized light. In this embodiment, the polarization component 3 is a polarization beam splitter (PBS); in other embodiments, the polarization component 3 is a polarizer.

[0059] The quarter wave plate 4 is used to change the polarization state of light.

[0060] The dichroic mirror 5 can reflect one type of light and transmit another type of light.

[0061] The angle-adjustable reflective component 6 is used to reflect light to a specified position by adjusting its own angle, thereby adjusting the light emission angle. In the present embodiment, the angle-adjustable reflective component 6 is a galvanometer; in other embodiments, the angle-adjustable reflective component 6 is a deflection mirror. The galvanometer 6 can also be called a galvanometer system. The galvanometer 6 itself has an angle adjustment unit that can adjust the irradiation direction of light. The galvanometer 6 is a scanning galvanometer. In the present embodiment, the galvanometer 6 is a two-dimensional scanning galvanometer. In other embodiments, the galvanometer 6 is a one-dimensional scanning galvanometer.

[0062] The first lens 7 receives the light from the polarization beam splitter 3 and focuses the light to illuminate the detector 8 .

[0063] The detector 8 can measure the irradiation position of the beacon light focused by the first lens 7. The detector 8 can be an image sensor, a position sensor, or other detectors that can detect the position information of the light spot. Among them, the image sensor can form a pattern based on the received light; the image sensor can specifically be a CCD (Charge-coupled Device) image sensor, an enhanced CCD or a CMOS (Complementary Metal Oxide Semiconductor) image sensor; the position sensor can specifically be a PSD (Position Sensitive Detector) position sensor.

[0064] refer to Figure 1 , a polarization beam splitter 3, a quarter wave plate 4, a dichroic mirror 5 and a galvanometer 6 are arranged in sequence along the forward direction 100 of the polarized beacon light emitted by the polarized beacon light source 1. Among them, reference Figure 1 , the advancing direction 100 may be tortuous. In the advancing direction 100, the polarization beam splitter 3 is arranged behind the polarization beacon light source 1, the quarter wave plate 4 is arranged behind the polarization beam splitter 3, the dichroic mirror 5 is arranged behind the quarter wave plate 4, and the galvanometer 6 is arranged behind the dichroic mirror 5. In this way, the beacon light emitted from the polarization beacon light source 1 first reaches the polarization beam splitter 3, then the quarter wave plate 4, and then the dichroic mirror 5, and the galvanometer 6 irradiates the light to the target object 200. Of course, other optical elements, such as reflectors or lenses, may be arranged between any two of the polarization beam splitter 3, the quarter wave plate 4, the dichroic mirror 5 and the galvanometer 6.

[0065] The main laser light source 2 and the polarized beacon light source 1 share a dichroic mirror 5 and a galvanometer 6. The main laser light source 2 can irradiate the emitted laser light to the dichroic mirror 5, and then the galvanometer 6 irradiates the laser light to the target 200.

[0066] In this embodiment, preferably, the dichroic mirror 5 reflects the laser light emitted by the main laser light source 2 and transmits the beacon light emitted by the polarized beacon light source 1. In this way, the dichroic mirror 5 can reflect the laser light emitted by the main laser light source 2 to the galvanometer 5; the beacon light emitted by the polarized beacon light source 1 is irradiated on the surface of the galvanometer 6 through the dichroic mirror 5. In other embodiments, the dichroic mirror 5 reflects the beacon light emitted by the polarized beacon light source 1 and transmits the laser light emitted by the main laser light source 2; in this way, the dichroic mirror 5 reflects the beacon light emitted by the polarized beacon light source 1 to the galvanometer 5, and the laser light emitted by the main laser light source 2 is transmitted through the dichroic mirror 5 to the galvanometer 6.

[0067] The dichroic mirror 5 combines the laser light emitted by the main laser light source 2 and the beacon light emitted by the polarized beacon light source 1 into a coaxial light beam and irradiates the combined light beams to the galvanometer 6. The dichroic mirror 5 is arranged at a first specified angle, such as 45°, to the horizontal direction; the polarization beam splitter 3 is arranged to match the dichroic mirror 5, so that the laser light and the polarized beacon light are coaxial.

[0068] refer to Figure 1, the P-polarized beacon light emitted by the polarized beacon light source 1 is irradiated to the quarter wave plate 4 through the polarization beam splitter 3; the P-polarized beacon light is transformed into circularly polarized beacon light after passing through the quarter wave plate 4 and is irradiated on the transmission surface 51 of the dichroic mirror 5; the circularly polarized beacon light is irradiated on the surface of the galvanometer 6 through the dichroic mirror 5; the galvanometer 6 irradiates the circularly polarized beacon light to the surface of the target 200; the target 200 reflects the circularly polarized beacon light, such as diffusely reflecting; since the optical path is reversible, the diffusely reflected circularly polarized beacon light (diffusely reflected light) returns along the previous optical path, passes through the galvanometer 6 and the dichroic mirror 5 successively to reach the quarter wave plate 4; the diffusely reflected circularly polarized beacon light is transformed into S-polarized beacon light after passing through the quarter wave plate 4; the S-polarized beacon light is irradiated on the surface of the polarization beam splitter 3 and is reflected to the first lens 7; the first lens 7 receives the S-polarized beacon light from the polarization beam splitter 3 and transmits it The detector 8 is irradiated, wherein the first lens 7 focuses the S-polarized beacon light on the detector 8; the detector 8 measures the focusing position of the S-polarized beacon light based on the received S-polarized beacon light and generates a signal to realize tracking of the target 200 through the beacon light; after tracking the target 200 through the beacon light, the polarized beacon light source 1 is still working, and the laser emitted by the main laser light source 2 is irradiated to the reflecting surface 52 of the dichroic mirror 5; the laser emitted from the dichroic mirror 5 is coaxial with the circularly polarized beacon light, and is irradiated to the galvanometer 6 as a combined beam 300, and then irradiated to the target 200; wherein the laser and the circularly polarized beacon light are irradiated at the same position of the target 200; in this way, the laser emitted by the main laser light source 2 communicates with the target 200 or strikes the target 200 under the guidance of the polarized beacon light emitted by the polarized beacon light source 1.

[0069] According to the above, the P-polarized beacon light emitted by the polarized beacon light source 1 passes through the polarization beam splitter 3, the quarter wave plate 4, the dichroic mirror 5 and the galvanometer 6 when irradiating the target object 200; the circularly polarized beacon light reflected from the target object 200 also passes through the galvanometer 6, the dichroic mirror 5, the quarter wave plate 4 and the polarization beam splitter 3, and then enters the first lens 7; in this way, the transmission link and the return link of the polarized beacon light are the same, and the target object 200 can be tracked by adjusting the galvanometer 6, which is convenient for adjustment and can improve the control accuracy.

[0070] In other embodiments, the target object 200 performs specular reflection on the circularly polarized beacon light. In contrast, the beacon light-assisted tracking and alignment device of this embodiment receives the diffusely reflected circularly polarized beacon light returned by the target object 200 through diffuse reflection, which can be applied to more scenarios.

[0071] The present embodiment is described below in conjunction with the method and device of the present embodiment.

[0072] The beacon light assisted tracking and alignment method of this embodiment uses the beacon light assisted tracking and alignment device of this embodiment. Figure 1 The beacon light assisted tracking and alignment device of this embodiment further includes a controller 9 capable of communicating with the polarized beacon light source 1, the main laser light source 2, the detector 8 and the galvanometer 6. Figure 2 The method of this embodiment includes feedback control A10 and main laser control A20.

[0073] Feedback control A10 includes step A11 and step A12.

[0074] Step A11, the polarized beacon light source 1 emits P-polarized beacon light, which is converted into circularly polarized beacon light by the polarization beam splitter 3 and the quarter-wave plate 4, and is emitted through the dichroic mirror 5 and the galvanometer 6 in succession.

[0075] Specifically, the controller 9 may control the polarized beacon light source 1 to emit P polarized beacon light. Figure 1 , wherein the P-polarized beacon light emitted by the polarized beacon light source 1 passes through the polarization beam splitter 3 to reach the quarter wave plate 4; the P-polarized beacon light becomes circularly polarized beacon light after passing through the quarter wave plate 4; the circularly polarized beacon light passes through the dichroic mirror 5 to reach the surface of the galvanometer 6, and is emitted by the galvanometer 6 to irradiate the target object 200.

[0076] Step A12, adjust the angle of the galvanometer 6 so that the galvanometer 6 irradiates the circularly polarized beacon light reflected from the target object 200 to the galvanometer 6 and the dichroic mirror 5 in turn, so that the reflected circularly polarized beacon light becomes S-polarized beacon light after passing through the quarter-wave plate 4 and irradiates the polarization beam splitter 3, and the polarization beam splitter 3 transmits the S-polarized beacon light to the first lens 7, and the first lens 7 receives the S-polarized beacon light and sends it to the detector 8.

[0077] In step A11 , if the circularly polarized beacon light emitted from the galvanometer 6 does not irradiate the target object 200 , it is necessary to adjust the direction of the circularly polarized beacon light, specifically, to adjust the posture of the galvanometer 6 so that the circularly polarized beacon light irradiates the target object 200 .

[0078] The galvanometer 6 has a mechanism that can adjust its own angle. The galvanometer 6, such as a two-dimensional galvanometer, can adjust its own angle within a certain amplitude range. The controller 9 controls the galvanometer 6 to adjust its own angle, so that the circularly polarized beacon light emitted from the galvanometer 6 is irradiated on the target 200, and the circularly polarized beacon light reflected from the target 200 is successively irradiated to the galvanometer 6 and the dichroic mirror 5, specifically, it is successively reflected by the galvanometer 6 and transmitted by the dichroic mirror 5, and then the circularly polarized beacon light is transformed into S-polarized beacon light through the quarter wave plate 4 and irradiated to the surface of the polarization beam splitter 3, and the S-polarized beacon light reflected by the polarization beam splitter 3 is received by the first lens 7 and enters the detector 8, and the detector 8 measures the irradiation position of the beacon light focused by the first lens 7. Among them, the P-polarized beacon light (which can be called the first polarized beacon light) and the S-polarized beacon light (which can be called the second polarized beacon light) are two lights with different polarization states.

[0079] In other embodiments, the polarization beam splitter 3 transmits the S-polarized beacon light and reflects the P-polarized beacon light; then the S-polarized beacon light is received by the first lens 7 after transmitting the polarization beam splitter 3, and the P-polarized beacon light emitted by the polarization beacon light source 1 is reflected by the polarization beam splitter 3 to the quarter-wave plate 4.

[0080] In step A12, the angle of the galvanometer 6 can be adjusted so that the S-polarized beacon light enters the center of the detector 8 to accommodate the movement of the target 200. Of course, the angle of the galvanometer 6 can also be adjusted so that the S-polarized beacon light enters other specific positions of the detector 8.

[0081] refer to Figure 1 The beacon light assisted tracking and alignment device of this embodiment further includes a posture adjustment mechanism 10. The posture adjustment mechanism 10 is used to adjust the posture of at least a part of the beacon light assisted tracking and alignment device; for example, to adjust the posture of the galvanometer 6 or the posture of the entire beacon light assisted tracking and alignment device.

[0082] The angle adjustment of the galvanometer 6 itself is a fine posture adjustment, which can achieve fine tracking of the target object 200.

[0083] In this embodiment, the entire beacon light-assisted tracking and alignment device is installed on the posture adjustment mechanism 10. The controller 9 controls the posture adjustment mechanism 10 to adjust the posture of the entire beacon light-assisted tracking and alignment device. The posture adjustment mechanism 10 performs a rough posture adjustment on the entire beacon light-assisted tracking and alignment device to achieve rough tracking of the target object 200.

[0084] The attitude adjustment mechanism 10 adjusts the attitude of the entire beacon light-assisted tracking and alignment device, so that the spatial position of the entire beacon light-assisted tracking and alignment device changes, such as the position in the X, Y and Z directions changes. The attitude adjustment mechanism 10 can be a three-dimensional adjustment mechanism or a two-dimensional adjustment mechanism. Specifically, the attitude adjustment mechanism 10 can be an attitude adjustment mechanism based on a turntable or an attitude adjustment mechanism based on a flywheel. Among them, the base of the attitude adjustment mechanism based on the turntable is fixed, such as installed on a ship; the base of the attitude adjustment mechanism based on the flywheel is movable, such as installed on an aircraft, and attitude adjustment is achieved by relying on the conservation of momentum.

[0085] Of course, reference Figure 3 , a host computer 13 may also be provided. The controller 9 transmits the deflection angle information of the galvanometer 6 to the host computer 13 in real time, so that the host computer 13 can adjust the posture adjustment mechanism 10.

[0086] Step A11 and step A12 are a continuous feedback control process. In the process of continuous feedback control, the controller 9 communicates with the galvanometer 6, obtains the deflection angle information of the galvanometer 6, and makes a judgment on the deflection angle of the galvanometer 6 at all times. When the deflection angle of the galvanometer 6 is greater than the preset value, the fine tracking of the galvanometer 6 will be limited. At this time, the controller 9 controls the attitude adjustment mechanism 10 to adjust the attitude of the entire beacon light assisted tracking and alignment device, and reduces the deflection angle of the galvanometer 6 on the premise that the S-polarized beacon light enters the detector 8; that is, adjust the coarse adjustment mechanism (attitude adjustment mechanism 10) and reduce the adjustment range of the fine adjustment mechanism (galvanometer 6).

[0087] Of course, the deflection angle of the galvanometer 6 can also be reduced under the premise of ensuring that the imaging spot of the target 200 by the first lens 7 is kept at the center of the detector 8. Specifically, the detector 8 generates a signal based on the detected diffusely reflected circularly polarized beacon light from the target 200 and sends the signal to the controller 9; the controller 9 obtains the position of the spot on the detector 8 based on the signal received from the detector 8; if the spot of the diffusely reflected circularly polarized beacon light is not at the center of the detector 8, the galvanometer 6 is controlled to adjust its own angle to adjust the spot to the center of the detector 8. In this way, the target 200 can be effectively tracked continuously, and the target 200 can be kept in contact until the task is completed.

[0088] The main laser control A20 includes: the main laser light source 2 emits laser light, which is coaxially connected with the circularly polarized beacon light via the dichroic mirror 5 and then propagated to the galvanometer 6 , and the galvanometer 6 irradiates the laser light to the target object 200 .

[0089] At this time, the main laser light and the beacon light are coaxial and illuminate the same position or area of ​​the target object 200 .

[0090] The laser light emitted by the main laser light source 2 is irradiated onto the reflection surface 52 of the dichroic mirror 5 .

[0091] Among them, when the main laser control A20 is executed, the feedback control A10 still continues to work to achieve communication with the target object 200 or to strike the target object 200, that is, the laser emitted by the main laser light source 2 can be communication light or damage light.

[0092] The wavelength of the laser emitted by the main laser light source 2 is different from the wavelength of the beacon light emitted by the polarized beacon light source 1. Assuming that the wavelength of the beacon light is λ1 and the wavelength of the main laser is λ2, then λ1≠λ2. Preferably, λ1<λ2, that is, the wavelength λ2 of the laser emitted by the main laser light source 1 is greater than the wavelength λ1 of the beacon light emitted by the polarized beacon light source 2, which is convenient for implementation.

[0093] refer to Figure 4 If the beacon light-assisted tracking and alignment device of this embodiment is used for communication, and the aperture of the collimated light from the galvanometer 6 is relatively small, a second lens 11 capable of expanding the light from the galvanometer 6 needs to be provided between the galvanometer 6 and the target 200; in this case, the second lens 11 is a beam expander lens. If the aperture of the collimated light from the galvanometer 6 is relatively large, the second lens 11 may not be provided.

[0094] refer to Figure 4 For the communication scenario, a modulator 12 can also be provided to modulate the main laser light source 2. The controller 9 controls the modulator 12 to modulate the main laser light source 2, thereby realizing laser communication.

[0095] refer to Figure 5 If the beacon light-assisted tracking and alignment device of this embodiment is used for damage, a second lens 11 capable of focusing the light from the galvanometer 6 can be arranged between the galvanometer 6 and the target object 200; in this case, the second lens 11 is a focusing lens.

[0096] According to the above, the P-polarized beacon light emitted by the polarized beacon light source 1 passes through the polarization beam splitter 3 to reach the quarter wave plate 4. The P-polarized beacon light passes through the quarter wave plate 4 to become circularly polarized beacon light, and then passes through the dichroic mirror 5 and the galvanometer 6 to be emitted, irradiating the target object 200; the angle of the galvanometer 6 is adjusted so that the circularly polarized beacon light reflected from the target object 200 by the galvanometer 6 is reflected by the galvanometer 6 and transmitted by the dichroic mirror 5, and then passes through the quarter wave plate 4 to become S-polarized beacon light, and irradiates the polarization beam splitter 3; the polarization beam splitter 3 reflects the S-polarized beacon light to the first lens 7, and the S-polarized beacon light passes through the first lens 7 to irradiate the detector 8; the first lens 7 focuses the S-polarized beacon light on the detector 8; the detector 8 measures the S-polarized beacon light. The focusing position of the S-polarized beacon light focused on the detector is stabilized at a certain position by adjusting the posture adjustment mechanism 9 and the galvanometer 6, and continuous feedback is given to keep its position stable; in this way, through continuous feedback control of the galvanometer 6 and the detector 8, the diffusely reflected circularly polarized beacon light from the target 200 returns along the original path and enters the detector 8; then, the main laser light source 2 emits a laser, which is combined with the polarized beacon light into a coaxial light beam through the dichroic mirror 5 and then propagated to the galvanometer 6, and the galvanometer 6 irradiates the combined light beam to the target 200; after the main laser is emitted, the aforementioned feedback control still continues to work; in this way, the target 200 can be accurately and continuously tracked, which is convenient for control, and the target 200 can be kept in contact until the task is completed.

[0097] The above-mentioned embodiment mainly realizes continuous tracking through a spatial optical path, can simplify control, can be applied to various scenarios, is easy to implement and has low cost.

[0098] The order of the steps of the method of the present invention is flexible, and the technical solutions formed by changing the order of the steps are all included in the protection scope of the present invention.

[0099] Those skilled in the art can understand that all or part of the processes in the embodiment method can be completed by a computer program to instruct the relevant hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the various method embodiments. The aforementioned storage medium includes: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

[0100] The above contents are further detailed descriptions of the present invention in combination with specific / preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, they can also make several substitutions or modifications to these described embodiments without departing from the concept of the present invention, and these substitutions or modifications should be regarded as belonging to the protection scope of the present invention.

Claims

1. A beacon light-assisted tracking and alignment method, characterized in that: Using beacon light to assist tracking of alignment devices; The device comprises a polarized beacon light source, a main laser light source, a polarization component, a quarter wave plate, a dichroic mirror, an angle-adjustable reflective component, a first lens and a detector; The method includes feedback control and master laser control; The feedback control comprises: The polarized beacon light source emits P-polarized beacon light, which is converted into circularly polarized beacon light by the polarization component and the quarter-wave plate, and is emitted through the dichroic mirror and the angle-adjustable reflective component in sequence; Adjusting the angle of the angle-adjustable reflective component so that the angle-adjustable reflective component successively irradiates the circularly polarized beacon light reflected from the target object to the angle-adjustable reflective component and the dichroic mirror, so that the reflected circularly polarized beacon light becomes S-polarized beacon light after passing through the quarter-wave plate and irradiates the polarization component, and the polarization component transmits the S-polarized beacon light to the first lens, which receives the S-polarized beacon light and sends it to the detector; The master laser control includes: The main laser light source emits a main laser, and the main laser and the circularly polarized beacon light are coaxially propagated through the dichroic mirror and propagated to the angle-adjustable reflective component, and the angle-adjustable reflective component reflects the main laser to the target object; Wherein, the feedback control still continues to work when the main laser control is executed.

2. The method according to claim 1, characterized in that: The angle of the angle-adjustable reflective component is adjusted so that the S-polarized beacon light enters the center of the detector or other specific position of the detector.

3. The method according to claim 1, characterized in that: A posture adjustment mechanism is also used; The angle-adjustable reflective component is adjusted in angle so that the S-polarized beacon light enters the detector; If the deflection angle of the angle-adjustable reflective component is greater than a preset value, the posture adjustment mechanism adjusts the posture of at least a portion of the components of the device to reduce the deflection angle of the angle-adjustable reflective component while allowing the S-polarized beacon light to enter the detector.

4. The method according to claim 1, characterized in that: The circularly polarized beacon light reflected from the target object is diffusely reflected circularly polarized beacon light; the specific forms of the polarization component include a polarization beam splitter and a polarizer; the specific forms of the angle-adjustable reflective component include a galvanometer and a deflection mirror.

5. The method according to claim 1, characterized in that: It also includes a modulator; the modulator modulates the main laser light source.

6. A beacon light assisted tracking and alignment device using the beacon light assisted tracking and alignment method according to claim 1, characterized in that: It includes a polarized beacon light source, a main laser light source, a polarization component, a quarter wave plate, a dichroic mirror, an angle-adjustable reflective component, a first lens, a detector and a controller; The polarized beacon light source can emit polarized beacon light; The polarization component, the quarter wave plate, the dichroic mirror and the angle-adjustable reflective component are arranged in sequence along the advancing direction of the beacon light emitted by the polarized beacon light source; The main laser light source can irradiate the emitted laser light onto the dichroic mirror; The dichroic mirror can combine the laser light emitted by the main laser light source and the beacon light emitted by the polarized beacon light source into a coaxial light beam, and make the combined light beams irradiate the angle-adjustable reflective component together; The angle-adjustable reflective component can adjust the light emission angle to irradiate the light to the target object; The first lens can receive the light from the polarization component and can focus the light to illuminate the detector; The detector is capable of measuring the irradiation position of the beacon light focused by the first lens; The controller can communicate with the polarized beacon light source, the main laser light source, the detector and the angle-adjustable reflective component.

7. The device according to claim 6, characterized in that: It also includes a second lens capable of expanding or focusing the light from the angle-adjustable reflective component; The specific forms of the angle-adjustable reflective component include a galvanometer mirror and a deflection mirror; The specific forms of the galvanometer include a one-dimensional scanning galvanometer and a two-dimensional scanning galvanometer; Also includes a posture adjustment mechanism capable of adjusting the posture of at least a portion of the components of the device; The controller can also communicate with the posture adjustment mechanism; The specific forms of the posture adjustment mechanism include: a posture adjustment mechanism based on a turntable, or a posture adjustment mechanism based on a flywheel; Specific forms of the polarization component include polarization beam splitters and polarizers; The specific forms of the detector include an image sensor and a position sensor; Specific forms of the image sensor include a charge coupled device image sensor, a complementary metal oxide semiconductor image sensor and an enhanced charge coupled device image sensor; The specific form of the position sensor includes a position sensitive device position sensor.

8. The device according to claim 6, characterized in that: The dichroic mirror can reflect the laser light emitted by the main laser light source to the angle-adjustable reflective component; the polarized beacon light emitted by the polarized beacon light source can transmit the dichroic mirror to reach the angle-adjustable reflective component; Alternatively, the dichroic mirror can reflect the polarized beacon light emitted by the polarized beacon light source to the angle-adjustable reflective component; the laser light emitted by the main laser light source can transmit the dichroic mirror to reach the angle-adjustable reflective component.

9. The device according to claim 6, characterized in that: The wavelength of the laser light emitted by the main laser light source is different from the wavelength of the polarization beacon light.

10. The device according to claim 9, characterized in that: The wavelength of the laser light emitted by the main laser light source is greater than the wavelength of the polarized beacon light emitted by the polarized beacon light light source.

11. A computer-readable storage medium, characterized in that: include: The computer-readable storage medium stores program instructions, and when the program instructions are executed by a processor of a computer, the processor is caused to execute the method according to any one of claims 1 to 5.

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