A control method and system of a fast steering mirror, an electronic device and a storage medium

Abstract

The application discloses a kind of control method, system, electronic equipment and storage medium of fast reflecting mirror, and the technical field belongs to laser tracking and sighting technology.The control method of fast reflecting mirror includes: determining the test angle set of fast reflecting mirror;The fast reflecting mirror is rotated according to the deflection angle in the test angle set, and the laser irradiation point of outgoing laser on the photoelectric detector target surface under each deflection angle is obtained;According to the coordinate value of the laser irradiation point and the deflection angle, a direction vector group is calculated;Receive laser tracking task, calculate the angle correction value corresponding to the laser tracking task according to the direction vector group, and control the fast reflecting mirror to rotate according to the angle correction value.The application can realize the rapid calibration of fast reflecting mirror, and improve the tracking accuracy of incident laser.

Description

Technical Field

[0001] This application relates to the field of laser tracking technology, and in particular to a control method, system, electronic device and storage medium for a fast reflector. Background Technology

[0002] A laser tracking system enables an external incident laser beam to accurately illuminate the target surface (usually the center of the target surface) of a photodetector, allowing the photodetector to track the incident laser. Laser tracking systems have numerous applications, including mutual alignment and tracking of laser communication links between two satellites, tracking of downlink laser beams from satellites by ground observation stations, and tracking of high-speed moving targets by photoelectric devices such as cameras.

[0003] Compared to traditional photoelectric tracking systems, laser tracking systems have higher requirements for tracking and aiming accuracy. To meet these requirements, laser tracking systems require a fast-reflecting mirror. When the incident laser shines on the surface of the fast-reflecting mirror, the mirror can rotate rapidly around two orthogonal deflection axes (X-axis and Y-axis) at a certain angle, changing the spatial direction of the emitted laser through the principle of plane mirror reflection. If, at a certain moment, the emitted laser does not illuminate the center position O of the photodetector target surface, but instead illuminates position coordinate A, the tracking system will calculate a set of correct angle correction values ​​for the fast-reflecting mirror based on the deviation between coordinate A and the target center coordinate O. Subsequently, the fast-reflecting mirror rotates the correction angle to accurately reflect the incident laser to the center position of the photodetector target surface. During operation, the above process typically needs to run rapidly and accurately to achieve uninterrupted tracking of the incident laser.

[0004] In practical applications, laser tracking systems have errors in mechanical structure and installation accuracy. These errors cause the position coordinates of the emitted laser on the target surface to no longer be in a Cartesian coordinate system, ultimately resulting in errors in the angle correction value of the fast reflector.

[0005] Therefore, how to achieve rapid calibration of the fast reflector and improve the tracking accuracy of the incident laser is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0006] The purpose of this application is to provide a control method, system, electronic device, and storage medium for a fast reflector, which can realize the rapid calibration of the fast reflector and improve the tracking accuracy of the incident laser.

[0007] To address the aforementioned technical problems, this application provides a method for controlling a fast-reflecting mirror, the method comprising:

[0008] Receive laser tracking and aiming tasks, and calculate the angle correction value corresponding to the laser tracking and aiming tasks based on the direction vector group;

[0009] The fast reflector is controlled to rotate according to the angle correction value; wherein the fast reflector is used to refract the incident laser onto the target surface of the photodetector;

[0010] The process of generating the direction vector group includes: determining the test angle set of the fast reflector; controlling the fast reflector to rotate according to the deflection angle in the test angle set to obtain the laser irradiation point of the emitted laser on the photodetector target surface at each deflection angle; and calculating the direction vector group based on the coordinate value of the laser irradiation point and the deflection angle.

[0011] The test angle set includes at least three deflection angles, at least three laser irradiation points are not collinear, and the direction vector set includes at least two linearly independent coordinate basis vectors in the target surface coordinate system, which is the coordinate system of the photodetector target surface.

[0012] Optionally, determining the set of test angles for the fast reflector includes:

[0013] Set a first deflection angle; wherein, the first deflection angle includes an X-axis deflection value and a Y-axis deflection value;

[0014] Adjust the X-axis deflection value and / or Y-axis deflection value of the first deflection angle to obtain the second deflection angle;

[0015] Adjust the X-axis deflection value and / or Y-axis deflection value of the first deflection angle to obtain the third deflection angle;

[0016] Construct a set of test angles that includes the first deflection angle, the second deflection angle, and the third deflection angle.

[0017] Optionally, controlling the fast reflector to rotate according to the deflection angle in the test angle set to obtain the laser illumination point of the emitted laser on the photodetector target surface at each deflection angle includes:

[0018] The fast reflector is controlled to rotate according to the first deflection angle to obtain the first laser irradiation point of the emitted laser on the photodetector target surface at the first deflection angle;

[0019] The fast reflector is controlled to rotate according to the second deflection angle to obtain the second laser irradiation point of the emitted laser on the photodetector target surface at the second deflection angle;

[0020] The fast reflector is controlled to rotate according to the third deflection angle to obtain the third laser irradiation point of the emitted laser on the target surface of the photodetector at the third deflection angle.

[0021] Optionally, a direction vector set is calculated based on the coordinates of the laser irradiation point and the deflection angle, including:

[0022] The first coordinate base vector of the target surface coordinate system is calculated based on the coordinate difference between the first laser irradiation point and the second laser irradiation point, and the angle difference between the first deflection angle and the second deflection angle.

[0023] The second coordinate base vector of the target surface coordinate system is calculated based on the coordinate difference between the second laser irradiation point and the third laser irradiation point, and the angle difference between the second deflection angle and the third deflection angle.

[0024] Construct a direction vector group that includes the first coordinate base vector and the second coordinate base vector.

[0025] Optionally, the angle correction value corresponding to the laser tracking task is calculated based on the direction vector group, including:

[0026] The actual laser irradiation point on the photodetector target surface is determined after the fast reflector performs the laser tracking and aiming task;

[0027] The angle correction value is calculated based on the coordinates of the actual laser irradiation point, the coordinates of the center point of the photodetector target surface, and the direction vector group.

[0028] Accordingly, controlling the fast-reflecting mirror to rotate according to the angle correction value includes:

[0029] The fast reflector is controlled to rotate according to the angle correction value so that the new actual laser irradiation point on the photodetector target surface coincides with the center point of the photodetector target surface.

[0030] Optionally, before controlling the fast reflector to rotate according to the deflection angle in the set of test angles, the method further includes:

[0031] Remove deflection angles from the set of test angles that do not meet the preset conditions;

[0032] The preset conditions are: the deflection angle does not exceed the maximum rotation range of the fast reflector, and the laser irradiation point after the fast reflector rotates according to the deflection angle is within the target surface of the photodetector.

[0033] Optionally, after calculating the direction vector set based on the coordinates of the laser irradiation point and the deflection angle, the method further includes:

[0034] Write the direction vector group into the storage module of the laser tracking and aiming system;

[0035] Accordingly, before calculating the angle correction value corresponding to the laser tracking task based on the direction vector group, the process also includes:

[0036] Read the direction vector group from the storage module.

[0037] This application also provides a control system for a fast-reflecting mirror, the system comprising:

[0038] The correction value calculation module is used to receive the laser tracking and aiming task and calculate the angle correction value corresponding to the laser tracking and aiming task based on the direction vector group.

[0039] A control module is used to control the rotation of the fast reflector according to the angle correction value; wherein the fast reflector is used to refract the incident laser onto the target surface of the photodetector.

[0040] The process of generating the direction vector group includes: determining the test angle set of the fast reflector; controlling the fast reflector to rotate according to the deflection angle in the test angle set to obtain the laser irradiation point of the emitted laser on the photodetector target surface at each deflection angle; and calculating the direction vector group based on the coordinate value of the laser irradiation point and the deflection angle.

[0041] The test angle set includes at least three deflection angles, at least three laser irradiation points are not collinear, and the direction vector set includes at least two linearly independent coordinate basis vectors in the target surface coordinate system, which is the coordinate system of the photodetector target surface.

[0042] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the control method for the aforementioned fast-reflecting mirror.

[0043] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the above-described control method for a fast reflector.

[0044] This application provides a control method for a fast reflector, comprising: receiving a laser tracking task; calculating an angle correction value corresponding to the laser tracking task based on a direction vector set; controlling the fast reflector to rotate according to the angle correction value; wherein the fast reflector is used to refract incident laser light onto the target surface of a photodetector; wherein the generation process of the direction vector set includes: determining a set of test angles for the fast reflector; controlling the fast reflector to rotate according to the deflection angle in the set of test angles to obtain the laser illumination point of the emitted laser light on the target surface of the photodetector at each deflection angle; calculating the direction vector set based on the coordinate values ​​of the laser illumination point and the deflection angle; wherein the set of test angles includes at least three deflection angles, at least three laser illumination points are not collinear, and the direction vector set includes at least two linearly independent coordinate basis vectors in the target surface coordinate system, the target surface coordinate system being the coordinate system of the photodetector target surface.

[0045] This application determines a set of test angles for a fast reflector and controls the fast reflector to rotate according to at least three deflection angles in the test angle set, resulting in three non-collinear laser illumination points formed by the emitted laser on the photodetector target surface. This application calculates a set of direction vectors based on the coordinates of the laser illumination points and the deflection angles, thus obtaining at least two linearly independent coordinate basis vectors in the target surface coordinate system. This set of direction vectors describes the coordinate system error between the fast reflector's coordinate system and the photodetector target surface's coordinate system. Upon receiving a laser tracking task, the direction vector set can be used to calculate angle correction values, thereby controlling the fast reflector to rotate according to the angle correction values, ensuring that the emitted laser illuminates the center of the photodetector target surface. The above process can achieve fast reflector calibration using at least three laser illumination points, enabling rapid calibration and improving the tracking accuracy of the incident laser. This application also provides a control system for a fast reflector, a storage medium, and an electronic device, all possessing the aforementioned beneficial effects, which will not be elaborated upon further here. Attached Figure Description

[0046] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 A flowchart illustrating a control method for a fast-reflecting mirror provided in an embodiment of this application;

[0048] Figure 2 This is a schematic diagram illustrating the working process of a laser tracking and aiming system provided in an embodiment of this application;

[0049] Figure 3 A schematic diagram showing the relationship between the exit coordinate system of a fast reflector and the target surface coordinate system of a photodetector in a laser tracking and aiming system provided in an embodiment of this application;

[0050] Figure 4 A schematic diagram illustrating the calibration process of a fast-reflecting mirror in a laser tracking system provided in this application embodiment;

[0051] Figure 5 This is a schematic diagram of the control system for a fast reflector provided in an embodiment of this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] Please see below. Figure 1 , Figure 1 A flowchart illustrating a control method for a fast reflector provided in an embodiment of this application.

[0054] Specific steps may include:

[0055] S101: Determine the set of test angles for the fast reflector;

[0056] This embodiment can be applied to a laser tracking system, which includes a fast reflector and a photodetector. The fast reflector can refract the incident laser onto the target surface of the photodetector.

[0057] In this step, a set of test angles for the fast reflector is determined, including at least three deflection angles, so that the fast reflector rotates according to these at least three deflection angles. These deflection angles may include rotation angles about the X-axis and rotation angles about the Y-axis in the fast reflector's coordinate system.

[0058] S102: Control the fast reflector to rotate according to the deflection angle in the test angle set, and obtain the laser irradiation point of the emitted laser on the photodetector target surface at each deflection angle;

[0059] In this process, based on the set of test angles, at least three deflection angles can be selected from the set, and the fast reflector can be controlled to rotate according to the selected deflection angles to obtain the laser illumination point of the emitted laser on the target surface of the photodetector at each deflection angle. By performing the above operation, at least three laser illumination points can be obtained, and at least three laser illumination points are not collinear.

[0060] As a feasible implementation, before controlling the fast reflector to rotate according to the deflection angle in the test angle set, deflection angles in the test angle set that do not meet preset conditions can be removed. The preset conditions are: the deflection angle does not exceed the maximum rotation range of the fast reflector, and the laser illumination point after the fast reflector rotates according to the deflection angle is within the target surface of the photodetector. After removing deflection angles that do not meet the preset conditions through the above operation, the number of deflection angles in the test angle set is greater than or equal to 3.

[0061] S103: Calculate the direction vector group based on the coordinates of the laser irradiation point and the deflection angle;

[0062] In this embodiment, by controlling the rotation of the fast reflector, at least three non-collinear laser illumination points can be obtained. Each laser illumination point has its corresponding coordinate values ​​and deflection angle. Based on the difference in coordinates and deflection angles between two laser illumination points, a coordinate basis vector is calculated, and thus a direction vector set can be obtained. This direction vector set includes at least two linearly independent coordinate basis vectors in the target surface coordinate system, which is the coordinate system of the photodetector target surface. The coordinate basis vectors in the direction vector set are used to describe the coordinate system deviation between the fast reflector's coordinate system and the photodetector target surface's coordinate system.

[0063] S104: Receive the laser tracking and aiming task, and calculate the angle correction value corresponding to the laser tracking and aiming task based on the direction vector group;

[0064] S105: Control the fast-reflecting mirror to rotate according to the stated angle correction value.

[0065] In this embodiment, after obtaining the direction vector group, the direction vector group can be stored. Upon receiving a laser tracking task, it is not necessary to repeat steps S101 to S103; instead, the pre-obtained direction vector group is read, and the angle correction value corresponding to the laser tracking task is calculated based on the direction vector group.

[0066] In this embodiment, upon receiving a laser tracking task, the fast reflector can deflect. However, due to errors in the mechanical structure and installation accuracy, the emitted laser after deflection may not reach the center of the photodetector target surface. Therefore, this embodiment calculates the angle correction value corresponding to the laser tracking task based on the direction vector set and controls the fast reflector to rotate according to the angle correction value, thus correcting the error. The laser tracking task requires the photodetector to track the incident laser. After the fast reflector in the laser tracking system deflects according to the incident laser, the actual laser illumination point is obtained. This embodiment can use the direction vector set to calculate the angle correction value for the actual laser illumination point, and then control the fast reflector to rotate again according to the angle correction value, so that the emitted laser illuminates the center of the photodetector target surface.

[0067] As a feasible implementation, after calculating the direction vector group based on the coordinates of the laser irradiation point and the deflection angle, the direction vector group can also be written into the storage module of the laser tracking system; correspondingly, before calculating the angle correction value corresponding to the laser tracking task based on the direction vector group, the direction vector group can be read from the storage module.

[0068] This embodiment determines a set of test angles for the fast reflector and controls its rotation according to at least three deflection angles in the test angle set, resulting in three non-collinear laser illumination points formed by the emitted laser on the photodetector target surface. This embodiment calculates a set of direction vectors based on the coordinates of the laser illumination points and the deflection angles, thus obtaining at least two linearly independent coordinate basis vectors in the target surface coordinate system. This set of direction vectors describes the coordinate system deviation between the fast reflector's coordinate system and the photodetector target surface's coordinate system. Upon receiving a laser tracking task, the direction vector set can be used to calculate angle correction values, thereby controlling the fast reflector to rotate according to these angle correction values, ensuring that the emitted laser illuminates the center of the photodetector target surface. This process can achieve fast reflector calibration using at least three laser illumination points, enabling rapid calibration and improving the tracking accuracy of the incident laser.

[0069] As a feasible implementation method, the test angle set of the fast reflector can be determined by: setting a first deflection angle; wherein the first deflection angle includes an X-axis deflection value and a Y-axis deflection value; adjusting the X-axis deflection value and / or the Y-axis deflection value of the first deflection angle to obtain a second deflection angle; adjusting the X-axis deflection value and / or the Y-axis deflection value of the first deflection angle to obtain a third deflection angle; and constructing a test angle set including the first deflection angle, the second deflection angle, and the third deflection angle.

[0070] Accordingly, the above embodiments can determine the three non-collinear laser irradiation points in the following way:

[0071] The fast reflector is controlled to rotate according to the first deflection angle to obtain a first laser irradiation point of the emitted laser on the photodetector target surface at the first deflection angle; the fast reflector is controlled to rotate according to the second deflection angle to obtain a second laser irradiation point of the emitted laser on the photodetector target surface at the second deflection angle; the fast reflector is controlled to rotate according to the third deflection angle to obtain a third laser irradiation point of the emitted laser on the photodetector target surface at the third deflection angle.

[0072] An example illustrates the above process:

[0073] The fast reflector is controlled to rotate according to the first deflection angle, so that the emitted laser from the fast reflector is aligned with the target surface of the photodetector, thus obtaining the first laser illumination point. The first deflection angle includes an X-axis deflection angle xm and a Y-axis deflection angle ym. m In this embodiment, the coordinates P1(x) of the first laser irradiation point on the target surface of the emitted laser center can be recorded. d1 y d1 ).

[0074] The fast reflector is controlled to rotate according to the second deflection angle, ensuring that the emitted laser from the fast reflector remains within the range of the photodetector target surface, thus obtaining the second laser illumination point. The aforementioned second deflection angle includes an X-axis deflection angle set to x. m +x inc2 and the Y-axis deflection angle y m +y inc2 In this embodiment, the coordinates P2(x) of the second laser irradiation point on the target surface of the emitted laser center can be recorded. d2 y d2 The above x inc2 ≠0, and y inc2 ≠0.

[0075] The fast reflector is controlled to rotate according to the third deflection angle, ensuring that the emitted laser from the fast reflector remains within the range of the photodetector target surface, thus obtaining the third laser illumination point; the aforementioned third deflection angle includes an X-axis deflection angle set to x. m +x inc3 and the Y-axis deflection angle y m +y inc3 In this embodiment, the coordinates P3(x) of the second laser irradiation point on the target surface, where the emitted laser center is located, can be recorded. d3 y d3 The above x inc3 ≠0, and y inc3≠0.

[0076] In this embodiment, mathematical principles can be used to determine the coordinates P1 = (x... d1 y d1 P2 = (x) d2 y d2 P3 = (x d3 y d3 Are the three points collinear? For example, if vectors... and If the outer product of the two points is equal to 0, then the three points are collinear. If the three points are collinear, then the deflection angle increment x in the above two steps needs to be changed. inc2 y inc2 x inc3 y inc3 until the coordinates P1, P2, and P3 are no longer collinear.

[0077] Based on the first, second, and third laser illumination points mentioned above, the direction vector set can be calculated in the following way:

[0078] Based on the coordinate difference between the first laser irradiation point and the second laser irradiation point, and the angle difference between the first deflection angle and the second deflection angle, a first coordinate basis vector of the target surface coordinate system is calculated; based on the coordinate difference between the second laser irradiation point and the third laser irradiation point, and the angle difference between the second deflection angle and the third deflection angle, a second coordinate basis vector of the target surface coordinate system is calculated; based on the coordinate difference between the first laser irradiation point and the third laser irradiation point, and the angle difference between the first deflection angle and the third deflection angle, a third coordinate basis vector of the target surface coordinate system is calculated. The direction vector group constructed in this embodiment includes at least two of the first, second, and third coordinate basis vectors.

[0079] Calculate the first coordinate basis vector of the emitted laser from the fast reflector on the target surface. Second coordinate basis vector That is, the direction vector group:

[0080]

[0081]

[0082] As a feasible implementation, this embodiment can calculate the angle correction value and then control the rotation of the fast reflector by: determining the actual laser illumination point on the photodetector target surface after the fast reflector performs the laser tracking task; calculating the angle correction value based on the coordinates of the actual laser illumination point, the coordinates of the center point of the photodetector target surface, and the direction vector group; and controlling the fast reflector to rotate according to the angle correction value so that the new actual laser illumination point on the photodetector target surface coincides with the center point of the photodetector target surface.

[0083] This scheme is used to solve for the linear combination coefficients of the correction vector: Assume the actual laser irradiation point coordinates A = (x...) on the target surface of the already offset emitted laser center. A y A This scheme aims to ensure that the emitted laser center illuminates the target surface center at coordinates O = (x... O y O At position (x), the correction vector (x) is applied. O -x A y O -y A () can be represented as two non-collinear vectors A linear combination of , whose linear combination coefficients (λ1, λ2) are solutions to the following equation:

[0084]

[0085] Expanding the above formula and solving the system of two linear equations in two variables, we get:

[0086]

[0087] The angle correction value (x) of the fast-reflecting mirror can be obtained from the first deflection angle, the second deflection angle, the third deflection angle, and the linear combination coefficients (λ1, λ2). fb y fb )as follows:

[0088] (x fb y fb )=λ1(x inc2 y inc2 )+λ2(x inc3 y inc3 );

[0089] Solving the above formula, we can obtain:

[0090]

[0091] In practical applications, the angle correction value of the fast reflector can be calculated simply by substituting the linear combination coefficients (λ1, λ2) into the above formula.

[0092] The process described in the above embodiments is illustrated below through examples in practical applications.

[0093] Please see Figure 2 , Figure 2 This is a schematic diagram of the working process of a laser tracking system provided in an embodiment of this application. The laser tracking system includes a fast-reflecting mirror optical subsystem 201, a photodetector subsystem 202, and a computer subsystem 203. After the incident light passes through the fast-reflecting mirror of the mirror optical subsystem 201, the outgoing light is projected onto the photodetector target surface of the photodetector subsystem 202. The computer subsystem 203 calculates the coordinates A of the beam center on the target surface and calculates the angle correction value in combination with the known target surface center coordinates O, so that the fast-reflecting mirror optical subsystem 201 rotates to correct the angle.

[0094] Please see Figure 3 , Figure 3 This is a schematic diagram showing the relationship between the exit coordinate system of a fast reflector and the target surface coordinate system of a photodetector in a laser tracking system provided in an embodiment of this application. Figure 3 Includes a stereo view and a left view. In the stereo view, the incident laser passes through the fast reflector 301 and then the emitted laser is projected onto the photodetector target surface 302. The projection range of the emitted laser is also shown by dashed lines in the figure. The left view shows the relationship between the target surface coordinate system XOY, the fast reflector emission coordinate system X'O'Y', and the photodetector target surface 302.

[0095] The laser tracking system needs to calculate the "angle correction value" of the fast reflector based on the coordinate difference between "target surface coordinate A" and "target surface center coordinate O". The accuracy of this angle correction value is crucial. In practical applications, laser tracking systems inevitably have errors in mechanical structure and installation precision. Specifically, it cannot be guaranteed that the installation angle of the photodetector's target surface is accurately aligned with the X-axis and Y-axis coordinate systems of the fast reflector; nor can it be guaranteed that the angle between the photodetector's target surface normal vector and the Z-axis direction of the emitted laser propagation is zero. This means that the photodetector has installation angle errors in all three dimensions (X, Y, and Z). This installation angle error causes the position coordinates of the emitted laser on the target surface to no longer be in a Cartesian coordinate system, ultimately leading to errors in calculating the "angle correction value". Therefore, before the system is put into use, the relationship between the fast reflector's output coordinate system and the photodetector's target surface coordinate system needs to be pre-calibrated.

[0096] The function of a laser tracking system is to accurately direct an external incident laser beam onto the target surface of a photodetector (usually the center of the target surface), enabling the photodetector to track the incident laser. However, as... Figure 3As shown, the actual system has installation errors, which cannot guarantee that the installation angle of the photodetector target surface is accurately aligned with the coordinate system angle of the fast reflector. This results in the coordinate system in which the emitted laser space points (i.e., the emission coordinate system of the fast reflector) is inconsistent with the coordinate system of the photodetector target surface (i.e., the target surface coordinate system).

[0097] In related technologies, the following methods exist for determining the angle correction value: (1) By using precise machining and installation processes, the installation angle error is minimized to achieve precise alignment between the exit coordinate system of the fast reflector and the target surface coordinate system of the photodetector. (2) Acknowledging the existence of the above installation error, by pre-calibrating the pointing characteristics of the fast reflector on the target surface of the photodetector, the correct angle correction value of the fast reflector can still be given, thereby enabling the photodetector to track the incident laser.

[0098] The aforementioned technologies have the following drawbacks:

[0099] (1) The coordinate system of the fast reflector is not calibrated as a whole; instead, the basis function set needs to be measured, resulting in a large amount of calibration data. The essence of the angular deviation between the fast reflector and the photodetector target surface is that their coordinate systems are not aligned. Therefore, the essence of the fast reflector calibration problem is to clarify the correspondence between their coordinate systems. To describe a rectangular coordinate system, it is only necessary to know the direction vectors of its X-axis and Y-axis, and then any point in the coordinate system can be represented by the direction vectors of the X-axis and Y-axis. Mathematically speaking, at least three coordinate points are needed to describe the entire two-dimensional rectangular coordinate plane. However, the existing method requires the measurement of a large number of points in the coordinate system when calibrating the fast reflector, forming the aforementioned complex basis function set. The large amount of calibration data limits the real-time performance in practical applications. For example, in practical applications, if the system vibrates or some components are displaced, the exit coordinates of the fast reflector need to be recalibrated immediately. In this case, the timeliness of the existing calibration method will limit the performance of the system.

[0100] (2) Based on the basis functions, it is necessary to additionally determine the relationship between the basis functions and the azimuth or elevation angles, and to discuss them in three different types, which increases the uncertainty of the method. Existing methods divide the basis function set into three categories based on the relationship between the basis functions and the azimuth or elevation angles. This method adds an extra judgment process. Especially in some cases where the boundaries are ambiguous, it is difficult to accurately classify the state of the fast reflector into a certain category, and incorrect classification will lead to calibration errors and systematic errors.

[0101] As can be seen, in related technologies, mechanical installation struggles to guarantee accurate alignment of the installation angle, and precise mechanical installation requires significant manpower and resources. Existing fast reflector calibration methods require measuring a large set of basis functions, making the methods complex. To address the technical problems of the aforementioned related technologies, this embodiment proposes a fast reflector calibration method that does not require measuring a large set of basis functions. It only requires measuring three data points: recording the three deflection angles of the fast reflector and the position data of its emitted laser on the photodetector target surface, thus achieving fast reflector calibration. This method helps improve the system's calibration efficiency and achieves real-time, rapid calibration.

[0102] Please see Figure 4 , Figure 4 This is a schematic diagram illustrating the calibration process of a fast-reflecting mirror in a laser tracking system provided in this application embodiment. The diagram shows the emission direction and coordinates of the emitted laser at different rotation angles, specifically including the following steps:

[0103] Step 1: Measure the first point: Align the emitted laser from the fast reflector with the target surface of the photodetector (hereinafter referred to as "target surface"), and record the X' axis deflection angle x of the fast reflector at this time. m And the deflection angle ym of the Y' axis; and record the coordinates (x, y') of the emitted laser irradiation point on the target surface. d1 y d1 ).

[0104] Step 2: Measure the second point: Set the X' axis deflection angle of the fast-reflecting mirror to x. m +x inc Degree, x inc >0, the Y' axis deflection angle of the fast reflector remains constant at ym, ensuring that the center of the emitted laser remains within the target surface. Record the coordinates (x, ym) of the new emitted laser illumination point on the target surface at this point. d2 y d2 ).

[0105] Step 3: Measure the third point: Set the Y' axis deflection angle of the fast-reflecting mirror to y m +y inc Degree, y inc >0, the X' axis deflection angle of the fast reflector is set to the x in step one. m Keep the center of the emitted laser within the target surface. Record the coordinates (x, y) of the new emitted laser irradiation point on the target surface at this moment. d3 y d3 ).

[0106] Step 4: Calculate the two directional vectors of the laser emitted from the fast reflector on the target surface:

[0107] The direction vector of the X-axis of the laser emitted from the fast reflector on the target surface

[0108]

[0109] The direction vector of the Y-axis of the laser emitted from the fast reflector on the target surface

[0110]

[0111] Step 5: Apply this scheme to solve for the angle correction value of the fast reflector: Assume the coordinates of the already offset emitted laser center on the target surface are A = (x... A y A In this embodiment, it is desired that the emitted laser center illuminates the target surface center coordinate O = (x O y O At position ), the angle correction value (x) of the fast-reflecting mirror is... fb y fb () is the solution to the following equation:

[0112]

[0113] After expanding the above formula, solving the system of two linear equations in two variables yields:

[0114]

[0115] In steps two and three above, the deflection angle of the fast reflector relative to the initial angle value in step one changes only on one of the axes, the X-axis or the Y-axis.

[0116] An alternative solution is that in steps two and three, the deflection angle of the fast reflector changes simultaneously on the X and Y axes relative to the initial angle value in step one, and the emitted lasers in steps one, two, and three are not collinear at the coordinate points on the target surface of the photodetector.

[0117] The measurement process in this embodiment only requires three sets of angle and coordinate data points, that is, setting three sets of deflection angles for the center of the emitted laser from the fast reflector within the target surface range, including: the deflection angle of the fast reflector (x) m y m The deflection angle of the fast-reflecting mirror is two (x) m +x inc y m The deflection angle of the fast-reflecting mirror is three (x). m y m +y inc ). Where x inc y inc All are greater than zero. Then, three sets of coordinates of the emitted laser center on the target surface are measured respectively, namely: coordinate one (x d1 y d1 ), coordinates two (xd2 y d2 ), coordinates three (x d3 y d3 ).

[0118] This embodiment calculates the two directional vectors of the laser emitted from the fast reflector on the target surface using the above three sets of angle and coordinate data points. and That is, the direction vector group.

[0119] When applying this embodiment to solve for the angle correction value of the fast reflector, it is only necessary to input the target surface vector to be corrected and the direction vector. and Simply substitute the values ​​into the formula to solve.

[0120] This embodiment starts from the overall output coordinate system of the fast reflector. It only requires measuring three data points: recording the three deflection angles of the fast reflector and the corresponding coordinate positions of the emitted laser on the photodetector target surface. Through mathematical calculations, the fast reflector can be calibrated. This embodiment does not require a large set of basis functions, nor does it require any assumptions or classifications regarding the relationship between basis functions and azimuth or elevation angles. This embodiment has high calibration efficiency, enabling real-time online calibration. This embodiment quickly and accurately calibrates the fast reflector, achieving accurate calculation of the target surface deflection angle. This embodiment does not require a large set of basis functions, nor does it require any assumptions or classifications regarding the relationship between basis functions and azimuth or elevation angles. This invention has high calibration efficiency, facilitating real-time online calibration.

[0121] Please see Figure 5 , Figure 5 This is a schematic diagram of a control system for a fast-reflecting mirror provided in an embodiment of this application. The system may include:

[0122] Angle determination module 501 is used to determine a set of test angles for a fast reflector; wherein the fast reflector is used to refract incident laser light onto the target surface of a photodetector, and the set of test angles includes at least three deflection angles;

[0123] Test module 502 is used to control the fast reflector to rotate according to the deflection angle in the test angle set, so as to obtain the laser irradiation point of the emitted laser on the photodetector target surface at each deflection angle; wherein, at least three of the laser irradiation points are not collinear;

[0124] Vector determination module 503 is used to calculate a direction vector group based on the coordinates of the laser irradiation point and the deflection angle; wherein, the direction vector group includes at least two linearly independent coordinate basis vectors in the target surface coordinate system, and the target surface coordinate system is the coordinate system of the photodetector target surface;

[0125] The correction value calculation module 504 is used to receive the laser tracking and aiming task and calculate the angle correction value corresponding to the laser tracking and aiming task based on the direction vector group.

[0126] The control module 505 is used to control the fast reflector to rotate according to the angle correction value.

[0127] This embodiment determines a set of test angles for the fast reflector and controls its rotation according to at least three deflection angles in the test angle set, resulting in three non-collinear laser illumination points formed by the emitted laser on the photodetector target surface. This embodiment calculates a set of direction vectors based on the coordinates of the laser illumination points and the deflection angles, thus obtaining at least two linearly independent coordinate basis vectors in the target surface coordinate system. This set of direction vectors describes the coordinate system deviation between the fast reflector's coordinate system and the photodetector target surface's coordinate system. Upon receiving a laser tracking task, the direction vector set can be used to calculate angle correction values, thereby controlling the fast reflector to rotate according to these angle correction values, ensuring that the emitted laser illuminates the center of the photodetector target surface. This process can achieve fast reflector calibration using at least three laser illumination points, enabling rapid calibration and improving the tracking accuracy of the incident laser.

[0128] Furthermore, the process by which the angle determination module 501 determines the test angle set of the fast reflector includes: setting a first deflection angle; wherein the first deflection angle includes an X-axis deflection value and a Y-axis deflection value; adjusting the X-axis deflection value and / or the Y-axis deflection value of the first deflection angle to obtain a second deflection angle; adjusting the X-axis deflection value and / or the Y-axis deflection value of the first deflection angle to obtain a third deflection angle; and constructing a test angle set including the first deflection angle, the second deflection angle, and the third deflection angle.

[0129] Furthermore, the process by which the test module 502 controls the fast reflector to rotate according to the deflection angle in the test angle set to obtain the laser irradiation point of the emitted laser on the photodetector target surface at each deflection angle includes: controlling the fast reflector to rotate according to the first deflection angle to obtain the first laser irradiation point of the emitted laser on the photodetector target surface at the first deflection angle; controlling the fast reflector to rotate according to the second deflection angle to obtain the second laser irradiation point of the emitted laser on the photodetector target surface at the second deflection angle; and controlling the fast reflector to rotate according to the third deflection angle to obtain the third laser irradiation point of the emitted laser on the photodetector target surface at the third deflection angle.

[0130] Furthermore, the process by which the vector determination module 503 calculates the direction vector group based on the coordinate values ​​of the laser irradiation point and the deflection angle includes: calculating the first coordinate basis vector of the target surface coordinate system based on the coordinate difference between the first laser irradiation point and the second laser irradiation point, and the angle difference between the first deflection angle and the second deflection angle; calculating the second coordinate basis vector of the target surface coordinate system based on the coordinate difference between the second laser irradiation point and the third laser irradiation point, and the angle difference between the second deflection angle and the third deflection angle; and constructing a direction vector group containing the first coordinate basis vector and the second coordinate basis vector.

[0131] Furthermore, the process by which the correction value calculation module 504 calculates the angle correction value corresponding to the laser tracking task based on the direction vector group includes: determining the actual laser illumination point on the photodetector target surface after the fast reflector performs the laser tracking task; and calculating the angle correction value based on the coordinates of the actual laser illumination point, the coordinates of the center point of the photodetector target surface, and the direction vector group.

[0132] Accordingly, the process by which the control module 505 controls the fast reflector to rotate according to the angle correction value includes: controlling the fast reflector to rotate according to the angle correction value so that the new actual laser irradiation point of the emitted laser on the photodetector target surface coincides with the center point of the photodetector target surface.

[0133] Furthermore, it also includes:

[0134] The filtering module is used to remove deflection angles from the set of test angles that do not meet the preset conditions.

[0135] The preset conditions are: the deflection angle does not exceed the maximum rotation range of the fast reflector, and the laser irradiation point after the fast reflector rotates according to the deflection angle is within the target surface of the photodetector.

[0136] Furthermore, the vector determination module 503 is also used to write the direction vector group into the storage module of the laser tracking and aiming system;

[0137] Accordingly, the control module 504 is also used to read the direction vector group from the storage module.

[0138] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, and they will not be repeated here.

[0139] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0140] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0141] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0142] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for controlling a fast-reflecting mirror, characterized in that, include: Receive laser tracking and aiming tasks, and calculate the angle correction value corresponding to the laser tracking and aiming tasks based on the direction vector group; The fast reflector is controlled to rotate according to the angle correction value; wherein the fast reflector is used to refract the incident laser onto the target surface of the photodetector; The process of generating the direction vector group includes: determining the test angle set of the fast reflector; controlling the fast reflector to rotate according to the deflection angle in the test angle set to obtain the laser irradiation point of the emitted laser on the photodetector target surface at each deflection angle; and calculating the direction vector group based on the coordinate value of the laser irradiation point and the deflection angle. The test angle set includes at least three deflection angles, at least three laser irradiation points are not collinear, and the direction vector set includes at least two linearly independent coordinate basis vectors in the target surface coordinate system, which is the coordinate system of the photodetector target surface.

2. The control method for the fast-reflecting mirror according to claim 1, characterized in that, The determination of the test angle set for the fast reflector includes: Set a first deflection angle; wherein, the first deflection angle includes an X-axis deflection value and a Y-axis deflection value; Adjust the X-axis deflection value and / or Y-axis deflection value of the first deflection angle to obtain the second deflection angle; Adjust the X-axis deflection value and / or Y-axis deflection value of the first deflection angle to obtain the third deflection angle; Construct a set of test angles that includes the first deflection angle, the second deflection angle, and the third deflection angle.

3. The control method for the fast-reflecting mirror according to claim 2, characterized in that, Controlling the fast reflector to rotate according to the deflection angle in the test angle set, and obtaining the laser illumination point of the emitted laser on the photodetector target surface at each deflection angle, includes: The fast reflector is controlled to rotate according to the first deflection angle to obtain the first laser irradiation point of the emitted laser on the photodetector target surface at the first deflection angle; The fast reflector is controlled to rotate according to the second deflection angle to obtain the second laser irradiation point of the emitted laser on the photodetector target surface at the second deflection angle; The fast reflector is controlled to rotate according to the third deflection angle to obtain the third laser irradiation point of the emitted laser on the target surface of the photodetector at the third deflection angle.

4. The control method for the fast-reflecting mirror according to claim 3, characterized in that, The direction vector set is calculated based on the coordinates of the laser irradiation point and the deflection angle, including: The first coordinate base vector of the target surface coordinate system is calculated based on the coordinate difference between the first laser irradiation point and the second laser irradiation point, and the angle difference between the first deflection angle and the second deflection angle. The second coordinate base vector of the target surface coordinate system is calculated based on the coordinate difference between the second laser irradiation point and the third laser irradiation point, and the angle difference between the second deflection angle and the third deflection angle. Construct the direction vector group that includes the first coordinate base vector and the second coordinate base vector.

5. The control method for the fast-reflecting mirror according to claim 1, characterized in that, The angle correction value corresponding to the laser tracking and aiming task is calculated based on the direction vector group, including: The actual laser irradiation point on the photodetector target surface is determined after the fast reflector performs the laser tracking and aiming task; The angle correction value is calculated based on the coordinates of the actual laser irradiation point, the coordinates of the center point of the photodetector target surface, and the direction vector group. Accordingly, controlling the fast-reflecting mirror to rotate according to the angle correction value includes: The fast reflector is controlled to rotate according to the angle correction value so that the new actual laser irradiation point on the photodetector target surface coincides with the center point of the photodetector target surface.

6. The control method for the fast-reflecting mirror according to claim 1, characterized in that, Before controlling the fast reflector to rotate according to the deflection angle in the set of test angles, the method further includes: Remove deflection angles from the set of test angles that do not meet the preset conditions; The preset conditions are: the deflection angle does not exceed the maximum rotation range of the fast reflector, and the laser irradiation point after the fast reflector rotates according to the deflection angle is within the target surface of the photodetector.

7. The control method for the fast-reflecting mirror according to claim 1, characterized in that, After calculating the direction vector set based on the coordinates of the laser irradiation point and the deflection angle, the method further includes: Write the direction vector group into the storage module of the laser tracking and aiming system; Accordingly, before calculating the angle correction value corresponding to the laser tracking task based on the direction vector group, the process also includes: Read the direction vector group from the storage module.

8. A control system for a fast-reflecting mirror, characterized in that, include: The correction value calculation module is used to receive the laser tracking and aiming task and calculate the angle correction value corresponding to the laser tracking and aiming task based on the direction vector group. A control module is used to control the rotation of the fast reflector according to the angle correction value; wherein the fast reflector is used to refract the incident laser onto the target surface of the photodetector. The process of generating the direction vector group includes: determining the test angle set of the fast reflector; controlling the fast reflector to rotate according to the deflection angle in the test angle set to obtain the laser irradiation point of the emitted laser on the photodetector target surface at each deflection angle; and calculating the direction vector group based on the coordinate value of the laser irradiation point and the deflection angle. The test angle set includes at least three deflection angles, at least three laser irradiation points are not collinear, and the direction vector set includes at least two linearly independent coordinate basis vectors in the target surface coordinate system, which is the coordinate system of the photodetector target surface.

9. An electronic device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the control method for the fast reflector as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores computer-executable instructions, which, when loaded and executed by a processor, implement the steps of the control method for the fast reflector as described in any one of claims 1 to 7.

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