A dual-galvanometer optical path tracking and translation compensation device, method, equipment and medium

Abstract

A dual-galvanometer optical path tracking and translation compensation device, method, equipment and medium, belonging to the field of optoelectronic technology, solves the problem that the existing laser light spot and aiming emission device needs to retain a certain margin when designing the main antenna due to the influence of light beam translation, resulting in an increase in the volume and weight of the antenna. The dichroic prism is fixedly installed on the path of the laser emission end of the emission lens; the receiving camera of the receiving mechanism is vertically installed on the path of the laser emission end of the emission lens; the fine tracking galvanometer is rotatably installed on the path of the laser emission end of the emission lens; the compensation galvanometer is rotatably installed opposite the fine tracking galvanometer; the optical antenna is installed below the compensation galvanometer; the first drive device is connected to the fine tracking galvanometer; the second drive device is connected to the compensation galvanometer.

Description

Technical Field

[0001] The present invention relates to the field of optoelectronic technology, and in particular to a dual-galvanometer optical path tracking and translation compensation device, method, equipment and medium. Background Art

[0002] In the laser spot and aiming emission system, an electromagnetic galvanometer is generally used in combination with a tracking camera's precision tracking device to perform high-precision alignment of the laser optical axis, achieving coaxiality between the transmitting optical path and the receiving optical path, and ensuring that after the system completes precise tracking of the target through the receiving optical axis, the emitted laser can accurately irradiate the target.

[0003] When tracking the target in the receiving optical path, the electromagnetic galvanometer needs to deflect a certain angle to compensate for the optical axis deviation caused by the target movement, etc., to ensure that the target is tracked in the center of the tracking camera's field of view. At this time, the emitted laser is transmitted in reverse through the electromagnetic galvanometer. After the electromagnetic galvanometer deflects a certain angle, the emitted laser produces a certain translation on the main antenna. After the antenna is amplified, the beam translation at the main antenna's emission exit pupil position is further increased. The larger the galvanometer swing angle, the longer the emission optical path length, and the greater the translation produced at the exit pupil. Due to the influence of beam translation, a certain margin needs to be reserved when designing the main antenna, resulting in an increase in the volume and weight of the antenna.

[0004] Therefore, the existing laser spot and aiming and launching device has the following defects: due to the influence of beam translation, a certain margin needs to be reserved when designing the main antenna, which increases the volume and weight of the antenna. Summary of the invention

[0005] The present invention solves the problem that the existing laser light spot and aiming and emitting device needs to retain a certain margin when designing the main antenna due to the influence of light beam translation, which causes the antenna volume and weight to increase.

[0006] The present invention discloses a dual-galvanometer optical path tracking and translation compensation device, which includes a transmitting lens, a beam splitter prism, a receiving mechanism, a precision tracking galvanometer, a compensation galvanometer, an optical antenna, a first driving device and a second driving device;

[0007] The receiving mechanism includes a receiving camera;

[0008] The beam splitter prism is fixedly mounted on the path of the laser emitting end of the emitting lens;

[0009] The receiving camera of the receiving mechanism is vertically mounted on the path of the laser emitting end of the emitting lens;

[0010] The precision tracking galvanometer is rotatably mounted on the path of the laser emitting end of the emitting lens;

[0011] The compensation galvanometer is rotationally mounted facing the precision tracking galvanometer;

[0012] The optical antenna is installed below the compensation galvanometer;

[0013] The first driving device is connected to the precision tracking galvanometer;

[0014] The second driving device is connected to the compensation galvanometer.

[0015] Furthermore, in one embodiment of the present invention, the laser emitting end of the emitting lens faces downward and is installed in a vertical direction.

[0016] Furthermore, in one embodiment of the present invention, after the laser emitting end of the emitting lens emits the laser, under the joint action of the precision tracking galvanometer and the compensation galvanometer, the laser forms a Z-shaped folded optical path between the emitting lens and the optical antenna.

[0017] Further, in one embodiment of the present invention, the receiving mechanism further includes a receiving lens;

[0018] The receiving lens is fixedly mounted on one side of the receiving camera.

[0019] Furthermore, in one embodiment of the present invention, the compensation galvanometer rotates along with the precision tracking galvanometer.

[0020] The dual-galvanometer optical path tracking method described in the present invention is implemented by using a dual-galvanometer optical path tracking and translation compensation device described in any of the above methods, and comprises the following steps:

[0021] Step S1, the fine tracking galvanometer and the compensation galvanometer are initially calibrated respectively;

[0022] Step S2, after the tracking target enters the field of view of the receiving camera, the receiving camera obtains the angle at which the tracking optical axis needs to be deflected according to the pixel value of the tracking target deviating from the center of the field of view of the receiving camera;

[0023] Step S3, according to the angle of deflection required for the tracking optical axis obtained in step S2, the fine tracking galvanometer and the compensation galvanometer respectively determine the angles required for deflection, and then swing them under the drive of the first driving device and the second driving device respectively, at this time, the tracking target moves closer to the center of the field of view of the receiving camera;

[0024] Step S4, the fine tracking galvanometer performs fine tracking under the driving of the first driving device until the tracking target is at the center of the field of view of the receiving camera;

[0025] Step S5, the laser emitting end of the emitting lens emits laser, and the laser is emitted in reverse direction along the tracking optical path to the optical antenna, and the optical antenna emits the received laser to the tracking target.

[0026] Further, in one embodiment of the present invention, the fine tracking galvanometer and the compensation galvanometer are initially calibrated, specifically:

[0027] The precision tracking galvanometer and the compensation galvanometer are driven by the first driving device and the second driving device respectively to swing to their respective initial zero positions. At this time, the laser emitted by the laser emitting end of the transmitting lens is reflected to the center of the optical antenna through the joint action of the precision tracking galvanometer and the compensation galvanometer.

[0028] The dual-galvanometer translation compensation method described in the present invention is implemented by using a dual-galvanometer optical path tracking and translation compensation device described in any of the above methods, specifically:

[0029] When the angle that the fine tracking galvanometer needs to deflect is less than the set threshold, the laser reflected by the fine tracking galvanometer is reflected again to the optical antenna through the compensation galvanometer, and the laser received by the optical antenna is within its range;

[0030] When the fine tracking galvanometer needs to deflect at an angle greater than a set threshold, the compensation galvanometer and the fine tracking galvanometer respectively calculate the required deflection angles, while the optical antenna compensates for the translation of the laser optical axis so that the laser reflected to the optical antenna has a translation range within the optical antenna.

[0031] An electronic device described in the present invention comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0032] Memory, used to store computer programs;

[0033] The processor is used to implement any of the method steps described in the above method when executing the program stored in the memory.

[0034] The present invention provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any method step described in the above method is implemented.

[0035] The present invention solves the problem that the existing laser light spot and aiming emission device needs to retain a certain margin when designing the main antenna due to the influence of beam translation, resulting in an increase in the volume and weight of the antenna. Specific beneficial effects include:

[0036] The dual-galvanometer optical path tracking and translation compensation device described in the present invention adds a compensation galvanometer on the basis of the original precision tracking galvanometer, and folds the optical path in a Z shape. When the device is working, the precision tracking galvanometer and the compensation galvanometer work together to reduce the translation of the emission optical axis on the optical antenna caused by the swing of the galvanometer while meeting the adjustment of the tracking optical axis angle, thereby reducing the design margin of the optical antenna and reducing the volume and weight of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0038] Figure 1 It is a schematic diagram of the structure of a dual-galvanometer optical path tracking and translation compensation device described in a specific implementation method;

[0039] In the figure, 1 is a transmitting lens, 2 is a beam splitter prism, 3 is a receiving mechanism, 31 is a receiving lens, 32 is a receiving camera, 4 is a precision tracking galvanometer, 5 is a compensation galvanometer, 6 is an optical antenna, 7 is a first driving device, and 8 is a second driving device. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe various embodiments of the present invention in conjunction with the accompanying drawings. The embodiments described with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0041] A dual-galvanometer optical path tracking and translation compensation device described in this embodiment includes a transmitting lens 1, a beam splitter prism 2, a receiving mechanism 3, a precision tracking galvanometer 4, a compensation galvanometer 5, an optical antenna 6, a first driving device 7 and a second driving device 8;

[0042] The receiving mechanism 3 includes a receiving camera 32;

[0043] The beam splitter prism 2 is fixedly mounted on the path of the laser emitting end of the emitting lens 1;

[0044] The receiving camera 32 of the receiving mechanism 3 is vertically installed on the path of the laser emitting end of the emitting lens 1;

[0045] The precision tracking galvanometer 4 is rotatably mounted on the path of the laser emitting end of the emitting lens 1;

[0046] The compensation galvanometer 5 is rotatably mounted facing the precision tracking galvanometer 4;

[0047] The optical antenna 6 is installed below the compensation galvanometer 5;

[0048] The first driving device 7 is connected to the fine tracking galvanometer 4;

[0049] The second driving device 8 is connected to the compensation galvanometer 5 .

[0050] In this embodiment, the laser emitting end of the emitting lens 1 faces downward, and is installed in a vertical direction.

[0051] In this embodiment, after the laser emitting end of the emitting lens 1 emits the laser, under the joint action of the precision tracking galvanometer 4 and the compensation galvanometer 5 , the laser forms a Z-shaped folded optical path between the emitting lens 1 and the optical antenna 6 .

[0052] In this embodiment, the receiving mechanism 3 further includes a receiving lens 31;

[0053] The receiving lens 31 is fixedly installed on one side of the receiving camera 32 .

[0054] In this embodiment, the compensation galvanometer 5 rotates along with the precision tracking galvanometer 4 .

[0055] This embodiment provides a practical implementation method based on a dual-galvanometer optical path tracking and translation compensation device described in the present invention:

[0056] The transmitting lens 1 is installed in a vertical direction with its laser emitting end facing downward, the beam splitter prism 2 is fixedly installed on the path of the laser emitting end of the transmitting lens 1, the receiving mechanism 3 is vertically installed along the path of the laser emitting end of the transmitting lens 1, the precision tracking galvanometer 4 is rotatably installed on the path of the laser emitting end of the transmitting lens 1, the compensation galvanometer 5 is rotatably installed opposite to the precision tracking galvanometer 4, and the optical antenna 6 is installed below the compensation galvanometer 5;

[0057] After the laser emitting end of the emitting lens 1 emits the laser, the laser forms a Z-shaped folded optical path between the emitting lens 1 and the optical antenna 6 under the joint action of the precision tracking galvanometer 4 and the compensation galvanometer 5;

[0058] The receiving mechanism 3 includes a receiving lens 31 and a receiving camera 32, and the receiving camera 32 is fixedly mounted on one side of the receiving lens 31;

[0059] The rotating mounting ends of the precision tracking galvanometer 4 and the compensation galvanometer 5 are respectively provided with a first driving device 7 and a second driving device 8. The precision tracking galvanometer 4 is driven by the first driving device 7 to perform angle and translation compensation on the laser optical axis according to the angle of deflection required, and the compensation galvanometer 5 is driven by the second driving device 8 to swing along with the precision tracking galvanometer 4, thereby performing angle and translation compensation on the laser optical axis.

[0060] A dual-galvanometer optical path tracking method described in this embodiment is implemented by using a dual-galvanometer optical path tracking and translation compensation device described in any of the above embodiments, and includes the following steps:

[0061] Step S1, the fine tracking galvanometer 4 and the compensation galvanometer 5 are respectively initially calibrated;

[0062] Step S2, after the tracking target enters the field of view of the receiving camera 32, the receiving camera 32 obtains the angle at which the tracking optical axis needs to be deflected according to the pixel value of the tracking target deviating from the center of the field of view of the receiving camera 32;

[0063] Step S3, according to the angle of deflection of the tracking optical axis obtained in step S2, the fine tracking galvanometer 4 and the compensation galvanometer 5 respectively determine the angles of deflection required, and then swing under the drive of the first driving device 7 and the second driving device 8 respectively, at this time, the tracking target moves closer to the center of the field of view of the receiving camera 32;

[0064] Step S4, the fine tracking galvanometer 4 is driven by the first driving device 7 to perform fine tracking until the tracking target is at the center of the field of view of the receiving camera 32;

[0065] Step S5, the laser emitting end of the emitting lens 1 emits laser, and the laser is emitted in reverse direction along the tracking optical path to the optical antenna 6, and the optical antenna 6 emits the received laser to the tracking target.

[0066] In this embodiment, the fine tracking galvanometer 4 and the compensation galvanometer 5 are initially calibrated, specifically:

[0067] The precision tracking galvanometer 4 and the compensation galvanometer 5 are driven by the first drive device 7 and the second drive device 8 respectively to swing to their respective initial zero positions. At this time, the laser emitted by the laser emitting end of the transmitting lens 1 is reflected to the center of the optical antenna 6 through the combined action of the precision tracking galvanometer 4 and the compensation galvanometer 5.

[0068] A dual-galvanometer translation compensation method described in this embodiment is implemented by using a dual-galvanometer optical path tracking and translation compensation device described in any of the above embodiments, specifically:

[0069] When the deflection of the fine tracking galvanometer 4 required to be swung is less than the set threshold, the laser reflected by the fine tracking galvanometer 4 is reflected again to the optical antenna 6 through the compensation galvanometer 5, and the laser received by the optical antenna 6 is within its range;

[0070] When the angle of deflection required by the fine tracking galvanometer 4 is greater than the set threshold, the compensation galvanometer 5 and the fine tracking galvanometer 4 respectively calculate the required deflection angles, and the optical antenna 6 compensates for the translation of the laser optical axis so that the laser reflected to the optical antenna 6 has a translation range within the optical antenna 6.

[0071] This embodiment provides a practical implementation method based on a dual-galvanometer optical path tracking and translation compensation method described in the present invention:

[0072] The working principle is:

[0073] The transmitting and receiving optical paths are separated by a beam splitter prism 2, and the optical paths of the transmitting lens 1, the precision tracking galvanometer 4, the compensation galvanometer 5 and the optical antenna 6 are folded in a Z-shape, so that the two galvanometers can control the laser offset while performing angle compensation;

[0074] The tracking target is received by the receiving camera 32 after passing through the optical antenna 6, the compensation galvanometer 5, the fine tracking galvanometer 4, the dichroic prism 2 and the receiving lens 31 respectively. The receiving camera 32 obtains the miss amount of the tracking target according to the offset of the tracking target in the field of view, and controls the fine tracking galvanometer 4 and the compensation galvanometer 5 to work simultaneously according to the miss amount. Both of them are deflected at the same time to compensate and adjust the angle of the optical axis of the tracking target. At this time, the device does not perform fine tracking, as long as the tracking target is ensured to be within a small range of the center of the field of view of the receiving camera 32. At this time, the laser emitted by the laser emitting end of the transmitting lens 1 generates a small offset on the optical antenna 6 when it is emitted in the reverse direction. After that, the fine tracking galvanometer 4 enters the fine tracking state to perform fine tracking on the laser emitting end, ensuring that the tracking target is reliably and stably in the center of the field of view of the receiving camera 32, so as to meet the requirements of fine tracking accuracy.

[0075] When the deflection angle of the fine tracking galvanometer 4 does not exceed the set threshold, the compensation galvanometer 5 swings according to the deflection angle of the fine tracking galvanometer 4. When the deflection angle of the fine tracking galvanometer 4 exceeds the set threshold, the fine tracking galvanometer 4 and the compensation galvanometer 5 calculate the required deflection angle according to the compensation formula to compensate the laser optical axis, so as to ensure that the offset of the emitted laser at the optical antenna 6 meets the requirements;

[0076] The compensation formula is pre-designed based on the miss distance of the receiving camera 32 , the optical path length between the precision tracking galvanometer 4 and the compensation galvanometer 5 , and the optical path length between the compensation galvanometer 5 and the optical antenna 6 .

[0077] A dual-galvanometer optical path tracking and translation compensation method comprises the following steps:

[0078] Step S1, the precision tracking galvanometer 4 and the compensation galvanometer 5 are driven by the first driving device 7 and the second driving device 8 to swing to their respective initial zero positions. At this time, the laser emitted by the laser emitting end of the transmitting lens 1 is reflected by the precision tracking galvanometer 4 and the compensation galvanometer 5 to the center of the optical antenna 6;

[0079] Step S2, when the tracking target enters the field of view of the receiving camera 32, the receiving camera 32 obtains the angle at which the tracking optical axis needs to be deflected according to the pixel value of the tracking target deviating from the center of the field of view of the receiving camera 32;

[0080] Step S3, the fine tracking galvanometer 4 and the compensating galvanometer 5 need to be compensated at this time. After the fine tracking galvanometer 4 and the compensating galvanometer 5 calculate the deflection angle according to the compensation formula, they swing under the drive of the first driving device 7 and the second driving device 8 respectively. At this time, the tracking target moves closer to the center of the field of view of the receiving camera 32, and the deviation between the center of the field of view of the receiving camera 32 is less than the preset threshold at this time;

[0081] Step S4, the fine tracking galvanometer 4 performs fine tracking, and tracks the tracking target to the center of the field of view of the receiving camera 32, that is, the tracking accuracy requirement is met. Since the compensation galvanometer 5 swings with the fine tracking galvanometer 4, the laser reflected by the compensation galvanometer 5 also has a small deviation on the optical antenna 6;

[0082] Step S5, the laser emitted by the laser emitting end of the emitting lens 1 is emitted in reverse direction along the tracking optical path to the optical antenna 6, and the optical antenna 6 emits the received laser to the tracking target;

[0083] In step S6, the compensation galvanometer 5 swings along with the precision tracking galvanometer 4. When the deflection angle of the precision tracking galvanometer 4 is greater than the set threshold, the compensation galvanometer 5 and the precision tracking galvanometer 4 respectively calculate the deflection angle according to the compensation formula, and compensate for the translation of the laser optical axis on the optical antenna 6 to ensure that the translation of the emitted laser on the optical antenna 6 meets the design requirements.

[0084] In order to better illustrate the dual-galvanometer optical path tracking and translation compensation method described in this application, Figure 1 To better understand the present embodiment, the following examples are described in detail:

[0085] The optical path distance L from the fine tracking galvanometer 4 to the compensation galvanometer 5 1 is 300 mm, compensating for the optical path distance L from the galvanometer 5 to the optical antenna 6 2 is 1200mm. When the precision tracking galvanometer 4 is at zero position, the angle between the normal line of the precision tracking galvanometer 4 and the optical axis of the emission light path is θ 1 When the compensation galvanometer 5 is at zero position, the angle between the normal line of the compensation galvanometer 5 and the optical axis of the emission light path is θ 2 is 2°. At this time, the emission optical axis is at the center of the optical antenna 6. The horizontal distance between the center of the optical antenna 6 and the emission optical axis is L 3 is 20.93 mm, the preset threshold of the deflection angle of the fine tracking galvanometer 4 is 2 mrad, the maximum allowable offset of the transmitting optical axis on the optical antenna 6 is 4 mm, and the field of view of the receiving camera 32 is 6 mrad;

[0086] Step S1, the precision tracking galvanometer 4 and the compensation galvanometer 5 are driven by the first driving device 7 and the second driving device 8 to swing to their respective initial zero positions. At this time, the laser emitted by the laser emitting end of the transmitting lens 1 is reflected by the precision tracking galvanometer 4 and the compensation galvanometer 5 to the center of the optical antenna 6;

[0087] Step S2, when the tracking target enters the field of view of the receiving camera 32, the receiving camera 32 obtains that the angle at which the tracking optical axis needs to be deflected is 6 mrad according to the pixel value of the tracking target deviating from the center of the field of view of the receiving camera 32;

[0088] Step S3, the fine tracking galvanometer 4 and the compensation galvanometer 5 need to be compensated at this time, and the fine tracking galvanometer 4 and the compensation galvanometer 5 respectively calculate the deflection angle θ according to the compensation formula 1 is 1.97° and θ 2 After the angle is 1.63°, it swings under the drive of the first driving device 7 and the second driving device 8 respectively. At this time, the tracking target moves closer to the center of the field of view of the receiving camera 32, and the deviation between it and the center of the field of view of the receiving camera 32 is less than the preset threshold value of 2mrad;

[0089] Step S4, the fine tracking galvanometer 4 performs fine tracking and tracks the tracking target to the center of the field of view of the receiving camera 32, that is, the tracking accuracy requirement is met. Since the compensation galvanometer 5 swings with the fine tracking galvanometer 4, the laser reflected by the compensation galvanometer 5 also has an offset of 0.43 mm on the optical antenna 6;

[0090] Step S5, the laser emitted by the laser emitting end of the emitting lens 1 is emitted in reverse direction along the tracking optical path to the optical antenna 6, and the optical antenna 6 emits the received laser to the tracking target;

[0091] Step S6, the compensation galvanometer 5 swings with the precision tracking galvanometer 4. When the deflection angle of the precision tracking galvanometer 4 is less than the set threshold value of 2mrad, the translation of the laser on the optical antenna 6 is less than 3mm. When the deflection angle of the precision tracking galvanometer 4 is greater than the set threshold value of 2mrad, the precision tracking galvanometer 4 and the compensation galvanometer 5 respectively calculate the deflection angle according to the compensation formula, and compensate for the translation of the laser optical axis on the optical antenna 6 to ensure that the translation of the emitted laser on the optical antenna 6 meets the design requirements.

[0092] An electronic device described in this embodiment includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0093] Memory, used to store computer programs;

[0094] The processor is used to implement the method steps described in any of the above implementation modes when executing the program stored in the memory.

[0095] The present embodiment describes a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in any one of the above embodiments are implemented.

[0096] The memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM). It should be noted that the memory of the method described in the present invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0097] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state disc (SSD)).

[0098] In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The steps of the method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software modules in a processor for execution. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it is not described in detail here.

[0099] It should be noted that the processor in the embodiment of the present application can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiment can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to perform, or the hardware and software modules in the decoding processor can be combined and performed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0100] The above is a detailed introduction to the dual-galvanometer optical path tracking and translation compensation device, method, equipment and medium proposed in the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A dual-galvanometer optical path tracking and translation compensation device, characterized in that: The device comprises a transmitting lens (1), a beam splitting prism (2), a receiving mechanism (3), a precision tracking galvanometer (4), a compensation galvanometer (5), an optical antenna (6), a first driving device (7) and a second driving device (8); The receiving mechanism (3) comprises a receiving camera (32); The beam splitter prism (2) is fixedly mounted on the path of the laser emitting end of the emitting lens (1); The receiving camera (32) of the receiving mechanism (3) is vertically mounted on the path of the laser emitting end of the emitting lens (1); The precision tracking galvanometer (4) is rotatably mounted on the path of the laser emitting end of the emitting lens (1); The compensation galvanometer (5) is rotatably mounted facing the precision tracking galvanometer (4); The optical antenna (6) is installed below the compensating galvanometer (5); The first driving device (7) is connected to the precision tracking galvanometer (4); The second driving device (8) is connected to the compensation galvanometer (5).

2. The dual-galvanometer optical path tracking and translation compensation device according to claim 1, characterized in that: The laser emitting end of the emitting lens (1) faces downwards and is installed in a vertical direction.

3. The dual-galvanometer optical path tracking and translation compensation device according to claim 1, characterized in that: After the laser emitting end of the emitting lens (1) emits laser light, under the joint action of the precision tracking galvanometer (4) and the compensation galvanometer (5), the laser light forms a Z-shaped folded optical path between the emitting lens (1) and the optical antenna (6).

4. The dual-galvanometer optical path tracking and translation compensation device according to claim 1, characterized in that: The receiving mechanism (3) further comprises a receiving lens (31); The receiving lens (31) is fixedly mounted on one side of the receiving camera (32).

5. The dual-galvanometer optical path tracking and translation compensation device according to claim 1, characterized in that: The compensation galvanometer (5) rotates along with the precision tracking galvanometer (4).

6. A dual-galvanometer optical path tracking method, the method being implemented by using a dual-galvanometer optical path tracking and translation compensation device as claimed in any one of claims 1 to 5, characterized in that: The following steps are involved: Step S1, the fine tracking galvanometer (4) and the compensation galvanometer (5) are respectively initially calibrated; Step S2, after the tracking target enters the field of view of the receiving camera (32), the receiving camera (32) obtains the angle at which the tracking optical axis needs to be deflected according to the pixel value of the tracking target deviating from the center of the field of view of the receiving camera (32); Step S3, according to the angle of deflection required for the tracking optical axis obtained in step S2, the precision tracking galvanometer (4) and the compensation galvanometer (5) respectively determine the angles required for deflection, and then swing under the drive of the first driving device (7) and the second driving device (8), respectively, at which time the tracking target moves closer to the center of the field of view of the receiving camera (32); Step S4, the fine tracking galvanometer (4) performs fine tracking under the drive of the first driving device (7) until the tracking target is at the center of the field of view of the receiving camera (32); Step S5, the laser emitting end of the emitting lens (1) emits laser light, and the laser light is emitted in reverse direction along the tracking optical path to the optical antenna (6), and the optical antenna (6) emits the received laser light to the tracking target.

7. A dual-galvanometer optical path tracking and translation compensation method according to claim 6, characterized in that: The fine tracking galvanometer (4) and the compensation galvanometer (5) are initially calibrated, specifically: The precision tracking galvanometer (4) and the compensation galvanometer (5) are driven by the first drive device (7) and the second drive device (8) to swing to their respective initial zero positions. At this time, the laser light emitted by the laser emission end of the emission lens (1) is reflected to the center of the optical antenna (6) by the combined action of the precision tracking galvanometer (4) and the compensation galvanometer (5).

8. A dual-galvanometer translation compensation method, the method being implemented by using a dual-galvanometer optical path tracking and translation compensation device as claimed in any one of claims 1 to 5, characterized in that: Specifically: When the angle at which the fine tracking galvanometer (4) needs to deflect is less than a set threshold, the laser reflected by the fine tracking galvanometer (4) is reflected again by the compensation galvanometer (5) to the optical antenna (6), and the laser received by the optical antenna (6) is within its range; When the angle that the fine tracking galvanometer (4) needs to deflect is greater than a set threshold, the compensation galvanometer (5) and the fine tracking galvanometer (4) respectively calculate the angles that need to deflect, while the optical antenna (6) compensates for the translation of the laser optical axis, so that the laser reflected to the optical antenna (6) has a translation range within the optical antenna (6).

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing the method steps described in any one of claims 6 to 8 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in any one of claims 6 to 8 are implemented.

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