Image rotation elimination method, device, electronic device, storage medium and program product

Abstract

The embodiment of the present invention provides an image rotation elimination method, device, electronic device, storage medium and program product, wherein the image rotation elimination method includes: obtaining the initial position of the light spot measured by the detector; determining the target position of the light spot after eliminating the image rotation based on the initial position and the target transfer matrix, the target transfer matrix corresponds to the image rotation type of the laser load, the image rotation type is determined based on the angle relationship and rotation relationship between the reference coordinate system of the detector and the tracking coordinate system of the laser load, the target transfer matrix is ​​determined based on the angle relationship, and the tracking coordinate system is constructed based on the positional relationship between the rotation position of the test light spot measured by the detector after the laser load is rotated in two preset directions perpendicular to each other, and the original position of the test light spot measured by the detector. The target transfer matrix corresponding to the image rotation type is determined by the angle and rotation relationship between the reference coordinate system and the tracking coordinate system, and the image rotation is accurately eliminated by the target transfer matrix.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of optical technology, and in particular to a method, device, electronic device, storage medium and program product for eliminating image rotation. Background Art

[0002] In the beam tracking system, the image rotation phenomenon that occurs during the beam transmission due to the non-ideality of optical elements or the asymmetry of optical paths causes the relative position of the target image point to change when it is imaged at the receiving end, resulting in a decrease in tracking accuracy.

[0003] In order to eliminate image rotation, the rotation angle of the target image point relative to the expected position is usually calculated, and then the inverse transformation is applied to correct the image rotation. However, when the image also involves a mirror transformation, the inverse transformation cannot effectively compensate for the impact of image rotation.

[0004] Therefore, there is an urgent need for an accurate and widely applicable image rotation elimination method. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a method for eliminating image rotation. One or more embodiments of the present invention also relate to an image rotation elimination device, a computing device, a computer-readable storage medium and a computer program product to solve the technical defects existing in the prior art.

[0006] According to a first aspect of an embodiment of the present invention, there is provided a method for eliminating image rotation, comprising:

[0007] Obtaining the initial position of the light spot measured by the detector;

[0008] Based on the initial position and the target transfer matrix, the target position of the light spot after eliminating the image rotation is determined, wherein the target transfer matrix corresponds to the image rotation type of the laser payload, the image rotation type is determined based on the angular relationship and rotational relationship between the reference coordinate system of the detector and the tracking coordinate system of the laser payload, the target transfer matrix is ​​determined based on the angular relationship, and the tracking coordinate system is constructed based on the positional relationship between the rotational position of the test light spot measured by the detector after the laser payload is rotated in two preset directions perpendicular to each other, and the original position of the test light spot measured by the detector.

[0009] According to a second aspect of an embodiment of the present invention, there is provided an image rotation elimination device, comprising:

[0010] An acquisition module is configured to acquire an initial position of the light spot measured by the detector;

[0011] A determination module is configured to determine a target position of a light spot after image rotation is eliminated based on an initial position and a target transfer matrix, wherein the target transfer matrix corresponds to an image rotation type of a laser payload, the image rotation type is determined based on an angular relationship and a rotational relationship between a reference coordinate system of a detector and a tracking coordinate system of a laser payload, the target transfer matrix is ​​determined based on the angular relationship, and the tracking coordinate system is constructed based on a positional relationship between a rotational position of a test light spot measured by the detector after the laser payload is rotated in two preset directions perpendicular to each other, and an original position of the test light spot measured by the detector.

[0012] According to a third aspect of an embodiment of the present invention, there is provided a computing device, including:

[0013] Memory and processor;

[0014] The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer programs / instructions are executed by the processor, the steps of the above-mentioned image rotation elimination method are implemented.

[0015] According to a fourth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, which stores a computer program / instruction, and when the computer program / instruction is executed by a processor, the steps of the above-mentioned image rotation elimination method are implemented.

[0016] According to a fifth aspect of an embodiment of the present invention, there is provided a computer program product, comprising a computer program / instruction, which implements the steps of the above-mentioned image rotation elimination method when executed by a processor.

[0017] An embodiment of the present invention realizes obtaining the initial position of the light spot measured by the detector, and determining the target position of the light spot after eliminating the image rotation based on the initial position and the target transfer matrix, wherein the target transfer matrix corresponds to the image rotation type of the laser load, the image rotation type is determined based on the angle relationship and rotation relationship between the reference coordinate system of the detector and the tracking coordinate system of the laser load, the target transfer matrix is ​​determined based on the angle relationship, and the tracking coordinate system is constructed based on the position relationship between the rotation position of the test light spot measured by the detector after the laser load is rotated in two preset directions perpendicular to each other and the original position of the test light spot measured by the detector. Before the image rotation is eliminated, the image rotation type is determined by the angle relationship and rotation relationship between the reference coordinate system of the detector and the tracking coordinate system constructed by the position of the test light spot after the laser load is rotated in two preset directions perpendicular to each other. By comprehensively considering the angle relationship and rotation relationship between the reference coordinate system and the tracking coordinate system, it is possible to accurately determine whether the image rotation type is an image rotation type including mirror transformation, and determine the corresponding target transfer matrix according to the image rotation type, thereby realizing accurate elimination of the image rotation through the target transfer matrix and improving the tracking accuracy of the laser load. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is an interactive schematic diagram of an image rotation elimination system provided by an embodiment of the present invention;

[0019] Figure 2 is a flow chart of a method for eliminating image rotation provided by an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of a first type of image rotation provided by an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of a second type of image rotation provided by an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of a third type of image rotation provided by an embodiment of the present invention;

[0023] Figure 6 is a schematic diagram of a fourth type of image rotation provided by an embodiment of the present invention;

[0024] Figure 7 It is a scene schematic diagram of a method for eliminating image rotation applied to a swing-mirror laser communication payload provided by an embodiment of the present invention;

[0025] Figure 8 It is a process flow chart of a method for eliminating image rotation applied to a swing-mirror laser communication payload provided by an embodiment of the present invention;

[0026] Fig. 9 is a structural schematic diagram of an image rotation elimination device provided by an embodiment of the present invention;

[0027] Fig.10 It is a structural block diagram of a computing device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] Many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention, so the present invention is not limited to the specific implementation disclosed below.

[0029] The terms used in one or more embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present invention. The singular forms of "a", "said" and "the" used in one or more embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present invention refers to and includes any or all possible combinations of one or more associated listed items.

[0030] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present invention, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present invention, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0031] In addition, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of the present invention are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0032] First, the terms involved in one or more embodiments of the present invention are explained.

[0033] Swing mirror laser communication payload: also called laser payload in the embodiments of the present invention. Laser communication payload is a terminal for tracking light beams. A swing mirror laser communication payload uses a two-dimensional servo mechanism to drive a swing mirror to reflect light, and a laser communication payload that realizes initial pointing and rough tracking of the light beam is called a swing mirror laser communication payload.

[0034] CCD camera: A CCD camera is a digital camera that uses a charge-coupled device (CCD) as a photosensitive element. CCD is a semiconductor device that can convert light signals into electrical signals and is often used in imaging and photodetectors. In a CCD camera, light enters the CCD photosensitive element through a lens system, and the light hits the surface of the CCD to generate electric charges, which are then converted into digital signals through circuits to ultimately form an image. In some embodiments of the present invention, CCD cameras are also used as detectors for swing-mirror laser communication payloads.

[0035] Miss-target distance: In a swing-mirror laser communication payload, the position of the light spot relative to the reference coordinate system after the detector generates a light spot upon exposure.

[0036] Deviation: In a swing mirror laser communication payload, the position of the light spot relative to the reference coordinate system after the two-dimensional servo mechanism drives the swing mirror to rotate.

[0037] In the beam tracking system, the image rotation phenomenon that occurs during the beam transmission due to the non-ideality of optical elements or the asymmetry of optical paths causes the relative position of the target image point to change when it is imaged at the receiving end, resulting in a decrease in tracking accuracy.

[0038] In order to eliminate image rotation, the rotation angle of the target image point relative to the expected position is usually calculated, and then the inverse transformation is applied to correct the image rotation. However, when the image also involves a mirror transformation, the inverse transformation cannot effectively compensate for the impact of image rotation.

[0039] For example, taking the beam tracking system as a laser communication payload, when tracking and controlling the target beam, image rotation often occurs due to the characteristics of the optical device itself. In the prior art, there are three main methods to eliminate image rotation: eliminating image rotation through optical components, eliminating image rotation through image processing, and eliminating image rotation through inverse transformation compensation. However, eliminating image rotation by adding optical components increases the weight and power consumption of the system, which is not conducive to the lightweight and miniaturized design of laser communication payloads; eliminating image rotation by image processing increases the complexity of the feedback loop algorithm, causing increased delays, which is not conducive to improving the tracking accuracy of laser communication payloads; compensating for image rotation by calculating the rotation angle and then performing inverse transformation has the characteristics of simple algorithm, low cost, and fast response. However, engineering practice shows that the image rotation of the swing mirror laser communication payload on the two-dimensional detection plane is not only manifested as rotation, but also includes mirror transformation. Only calculating the rotation angle cannot inversely transform and compensate for the mirror transformation type of image rotation.

[0040] In view of the above problems, the present invention provides a method for eliminating image rotation. The present invention also relates to an image rotation elimination device, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0041] See also Figure 1 , Figure 1It is an interactive schematic diagram of an image rotation elimination system provided by an embodiment of the present invention, specifically comprising: a detector 100, used to measure the initial position of the light spot, and then send the initial position to a computing end 200; the computing end 200, used to determine the target position of the light spot after eliminating the image rotation based on the initial position and a predetermined target transfer matrix, wherein the target transfer matrix corresponds to the image rotation type of the laser load, the image rotation type is determined based on the angular relationship and rotational relationship between the reference coordinate system of the detector 100 and the tracking coordinate system of the laser load, the target transfer matrix is ​​determined based on the angular relationship, and the tracking coordinate system is constructed based on the positional relationship between the rotational position of the test light spot measured by the detector 100 after the laser load is rotated in two preset directions perpendicular to each other, and the original position of the test light spot measured by the detector 100; the computing end 200 is also used to send the target position to the detector 100 for the next step of image rotation elimination processing.

[0042] Applied to the image rotation elimination system, the initial position of the light spot measured by the detector 100 is obtained, and the target position of the light spot after eliminating the image rotation is determined based on the initial position and the target transfer matrix, wherein the target transfer matrix corresponds to the image rotation type of the laser load, the image rotation type is determined based on the angular relationship and rotational relationship between the reference coordinate system of the detector 100 and the tracking coordinate system of the laser load, the target transfer matrix is ​​determined based on the angular relationship, and the tracking coordinate system is constructed based on the positional relationship between the rotational position of the test light spot measured by the detector 100 after the laser load is rotated in two preset directions perpendicular to each other and the original position of the test light spot measured by the detector 100. Before image rotation elimination, the image rotation type is determined by the angular relationship and rotational relationship between the reference coordinate system of the detector 100 and the tracking coordinate system constructed by the position of the test light spot after the laser load is rotated in two preset directions perpendicular to each other. Taking into account the angular relationship and rotational relationship between the reference coordinate system and the tracking coordinate system, image rotation elimination can accurately determine whether the image rotation type is an image rotation type including mirror transformation, and determine the corresponding target transfer matrix according to the image rotation type, thereby achieving accurate elimination of image rotation through the target transfer matrix and improving the tracking accuracy of the laser load.

[0043] See also Figure 2 , Figure 2 It is a flow chart of a method for eliminating image rotation provided by an embodiment of the present invention, which specifically includes the following steps.

[0044] Step 202: Obtain the initial position of the light spot measured by the detector.

[0045] The light spot is formed by the target light beam input into the laser load. After the target light beam enters the laser load, it is changed by refraction, reflection and other means inside the laser load, and finally enters the photosensitive element of the detector to generate electric charge. The detector converts the electric charge into a digital signal through the circuit, and finally forms a light spot.

[0046] In practical applications, the target beam is introduced into the optical path system in the laser payload to ensure that the light can accurately pass through the device and illuminate the detector. After the beam is introduced into the detector, the detector converts the light spot into an electrical signal and transmits the signal to the detector data processing unit or computer. After the data processing unit or computer receives the signal from the detector, it processes the light spot image and extracts the position information of the light spot, which can be achieved through centroid algorithms, image processing algorithms, etc. Based on the processed light spot position information, the initial position coordinates of the light spot are calculated. While ensuring the accuracy of the calculation, calibration and error correction may be required.

[0047] In a specific embodiment of the present invention, taking the initial position of the light spot measured by the detector through the centroid algorithm as an example, the target light beam is introduced into the detector after passing through the optical device of the laser load, and the detector converts it into an electrical signal and transmits the signal to the detector data processing unit or computer. In the data processing unit or computer, the centroid algorithm is used to process the light spot image, and the algorithm scans the light spot image and calculates the center of gravity or center of mass position of the light spot. According to the center position of the light spot obtained by the centroid algorithm, the initial position coordinates of the light spot can be calculated. These coordinates represent the position of the light spot in the reference coordinate system in the detector, usually expressed in pixel coordinates or actual physical units.

[0048] Step 204: Based on the initial position and the target transfer matrix, determine the target position of the light spot after eliminating the image rotation, wherein the target transfer matrix corresponds to the image rotation type of the laser payload, the image rotation type is determined based on the angular relationship and rotational relationship between the reference coordinate system of the detector and the tracking coordinate system of the laser payload, the target transfer matrix is ​​determined based on the angular relationship, and the tracking coordinate system is constructed based on the positional relationship between the rotational position of the test light spot measured by the detector after the laser payload is rotated in two preset directions perpendicular to each other, and the original position of the test light spot measured by the detector.

[0049] Among them, the target transfer matrix is ​​the inverse transformation matrix of the image rotation type corresponding to the laser load, which is used to determine the matrix of the target position of the light spot after eliminating the image rotation. By applying the target transfer matrix to the initial position of the light spot, the light spot can be positioned to the target position after eliminating the image rotation. The image rotation type includes at least one of the rotation type and the mirror transformation type. The reference coordinate system is the coordinate system preset by the detector when imaging. The laser load rotates in two preset directions perpendicular to each other, respectively, and the motion mechanism in the laser load rotates in two preset directions perpendicular to each other. The motion mechanism is used to change the optical path of the moving light beam so that the light spot moves on a two-dimensional plane. It can be understood that when there is no image rotation in the laser load, the motion mechanism rotates in two preset directions perpendicular to each other, respectively, which will cause the light spot to move in the direction indicated by the two coordinate axes of the reference coordinate system. When there is image rotation in the source tracking device, the motion mechanism rotates in two preset directions perpendicular to each other, respectively, which will cause the light spot to move in the direction indicated by the two coordinate axes of the tracking coordinate system. The angular relationship between the reference coordinate system and the tracking coordinate system is the angle required for the reference coordinate system to rotate to coincide with the tracking coordinate system. Usually, this angle is within 180°. The rotational relationship between the reference coordinate system and the tracking coordinate system is the rotation direction in which the reference coordinate system rotates to coincide with the tracking coordinate system.

[0050] In practical applications, in the prior art, when determining the image rotation type of the laser load, only the angle of the relevant vector is usually calculated, and the image rotation type including the mirror transformation cannot be accurately determined. Therefore, in the embodiment of the present invention, the target transfer matrix corresponding to the image rotation type determined based on the angle relationship and rotation relationship between the reference coordinate system of the detector and the tracking coordinate system of the laser load is used to eliminate the image rotation, specifically including: testing stage: the motion mechanism in the laser load rotates in two preset directions perpendicular to each other, and the test spot moves in two directions disposed on the two-dimensional plane by changing the optical path, and the position relationship between the rotation position and the original position of the test spot is recorded at the same time. The original position is taken as the origin, and two direction vectors are constructed at the two rotation position end points, and the tracking coordinate system is determined based on the two direction vectors. The image rotation type of the laser load is determined by calculating the angle required for the reference coordinate system to rotate to coincide with the tracking coordinate system, and the rotation direction of the reference coordinate system when it rotates, and the target transfer matrix corresponding to the image rotation type is queried in the relational database based on the image rotation type. Elimination stage: after obtaining the initial position of the spot, the target position of the spot after eliminating the image rotation is calculated based on the initial position and the target transfer matrix. The detector corrects the initial position of the light spot according to the target position so that the light spot is located at the target position.

[0051] Furthermore, before obtaining the initial position of the light spot measured by the detector, it also includes: obtaining the original position and the rotation position of the test light spot measured by the detector; and determining the target transfer matrix based on the original position, the rotation position and the reference coordinate system of the detector.

[0052] In practical applications, the original position is the coordinate position of the light spot generated by the image formed after the target light beam enters the detector when the motion mechanism of the laser load is in the initialization state in the reference coordinate system of the detector. Usually, the original position is located at the origin of the reference coordinate system. The rotation position is the coordinate position of the light spot generated by the image formed after the motion mechanism rotates in the preset direction and the target light beam enters the detector in the reference coordinate system of the detector. When the motion mechanism moves in two preset directions perpendicular to each other in the initialization state, two rotation positions will be formed in the detector. Based on the original position and the two rotation positions, as well as the reference coordinate system, the positional relationship between the original position and the two rotation positions in the reference coordinate system is calculated, and the target transfer matrix is ​​further determined based on the positional relationship.

[0053] In a specific embodiment of the present invention, the preset directions are the clockwise rotation of the azimuth axis and the clockwise rotation of the pitch axis, and the initial position is (0, 0) as an example. The motion mechanism rotates 0.01° in the clockwise direction of the azimuth axis in the initialization state, and the first rotation position of the test spot is obtained as (1, 1). The motion mechanism rotates 0.01° in the clockwise direction of the pitch axis in the initialization state, and the second rotation position of the test spot is obtained as (-1, 1). Since in an ideal case where there is no image rotation in the laser load, the theoretical first rotation position is (1, 0) and the theoretical second rotation position is (0, 1). The image rotation type can be determined as counterclockwise rotation based on the coordinate system of the four rotation positions in the reference coordinate system, and the transfer matrix corresponding to the counterclockwise rotation is determined as the target transfer matrix.

[0054] Based on this, the original position and rotation position of the test light spot measured by the detector can be obtained, and the target transfer matrix can be determined based on this information, thereby achieving accurate correction of the light spot position and image rotation correction.

[0055] Furthermore, the original position and rotational position of the test spot measured by the detector are obtained, including: responding to the initialization instruction, scheduling the motion mechanism in the laser payload to perform position initialization, and obtaining the original position of the test spot measured by the detector; responding to the first scheduling instruction, scheduling the motion mechanism in the laser payload to rotate in a first preset direction, and obtaining the first rotational position of the test spot measured by the detector; responding to the initialization instruction, scheduling the motion mechanism in the laser payload to perform position initialization; responding to the second scheduling instruction, scheduling the motion mechanism in the laser payload to rotate in a second preset direction, and obtaining the second rotational position of the test spot measured by the detector, wherein the first preset direction and the second preset direction are perpendicular to each other.

[0056] The original position is the position of the light spot formed by the detector imaging after the target light beam enters the laser load and passes through the optical device connected to the motion mechanism after the motion mechanism is initialized, which is usually (0, 0) in the reference coordinate system.

[0057] In practical applications, in response to the initialization instruction, the motion mechanism in the laser payload performs position initialization to ensure that the mechanism is in the initial position state. The original position of the test spot measured by the detector is obtained. At this stage, the motion mechanism in the laser payload is scheduled to ensure that the detector can accurately measure the initial position of the test spot. In response to the first scheduling instruction, the motion mechanism in the laser payload rotates in a first preset direction so that the test spot moves in the reference coordinate system, and the first rotation position after the movement is recorded. Respond to the initialization instruction again to ensure that the motion mechanism in the laser payload performs position initialization again and returns to the initial state. This step is to ensure that the motion mechanism is in the initialized state before the second rotation. In response to the second scheduling instruction, the motion mechanism in the laser payload rotates in a second preset direction so that the test spot moves in the reference coordinate system, and the second rotation position after the movement is recorded.

[0058] In a specific embodiment of the present invention, the laser load is a swing mirror laser communication load, and the motion mechanism is a servo swing mirror. In response to the initialization instruction, the servo swing mirror in the swing mirror laser communication load performs position initialization to ensure that the mechanism is in the initial position state. The original position of the test spot measured by the detector is obtained. At this stage, the servo swing mirror in the swing mirror laser communication load is scheduled to ensure that the detector can accurately measure the initial position (0, 0) of the test spot. In response to the first scheduling instruction, the servo swing mirror in the swing mirror laser communication load rotates in the positive direction of the azimuth axis, so that the test spot moves in the reference coordinate system, and the first rotation position (1, 1) after the movement is recorded. Respond to the initialization instruction again to ensure that the servo swing mirror in the swing mirror laser communication load performs position initialization again and returns to the initial state. This step is to ensure that the servo swing mirror is in the initialized state before the second rotation. In response to the second scheduling instruction, the servo swing mirror in the swing mirror laser communication load rotates in the positive direction of the pitch axis, so that the test spot moves in the reference coordinate system, and the second rotation position (-1, 1) after the movement is recorded.

[0059] Based on this, the motion mechanism in the laser payload performs position initialization and rotation operations in sequence according to the instructions to obtain the rotation position information of the test spot measured by the detector in different directions. This position information will be used in the subsequent analysis and correction process to achieve accurate positioning and correction of the spot position in the laser payload.

[0060] Furthermore, the target transfer matrix is ​​determined based on the original position, the rotation position and the reference coordinate system of the detector, including: constructing a tracking coordinate system of the motion mechanism in the laser payload based on the positional relationship between the original position and the rotation position; determining the image rotation type of the laser payload based on the tracking coordinate system and the reference coordinate system; and obtaining the target transfer matrix corresponding to the image rotation type based on the image rotation type.

[0061] In practical applications, the tracking coordinate system of the moving mechanism in the laser payload is determined based on the positional relationship between the original position and the rotational position. Based on the positional relationship between the tracking coordinate system and the reference coordinate system, the transformation relationship between the posture and position of the moving mechanism in the laser payload and the imaging coordinate system of the detector is determined. This may involve geometric transformations such as translation, rotation, or mirror transformation. According to the relationship between the tracking coordinate system and the reference coordinate system, the image rotation type of the laser payload is determined. Image rotation types generally include rotation type and mirror transformation type, depending on the optical structure and imaging characteristics of the laser payload. According to the determined image rotation type, the target transfer matrix corresponding to the image rotation type is obtained. This matrix describes how to correct the light spot from the initial position to the target position under a specific image rotation type to eliminate the image rotation effect.

[0062] In a specific embodiment of the present invention, following the above example, for a swing mirror laser communication payload, the motion mechanism is usually a servo swing mirror. The tracking coordinate system can be constructed by extending from the original position to the two rotation positions. According to the positional relationship between the tracking coordinate system and the reference coordinate system, the conversion relationship between the tracking coordinate system of the swing mirror laser communication payload and the reference coordinate system of the detector is determined to be that the tracking coordinate system coincides after the reference coordinate system rotates counterclockwise. According to the conversion relationship between the tracking coordinate system and the reference coordinate system, the image rotation type is determined to be counterclockwise rotation. Obtain the target transfer matrix corresponding to the counterclockwise rotation image rotation type.

[0063] Based on this, by analyzing the motion and imaging characteristics of the motion mechanism in the laser payload, the relationship between the tracking coordinate system and the reference coordinate system is determined, and then the image rotation type and target transfer matrix are determined. This information will be used in the subsequent spot correction and image rotation correction process to achieve accurate control and correction of the spot position in the optical system.

[0064] Furthermore, a tracking coordinate system of the motion mechanism in the laser payload is constructed based on the positional relationship between the original position and the rotational position, including: constructing a tracking vector with the original position as the starting point and the rotational position as the end point; and constructing a tracking coordinate system of the motion mechanism in the laser payload based on the direction of the tracking vector.

[0065] In practical applications, the direction and length of the tracking vector are calculated based on the original position and the rotation position. The tracking vector is a vector pointing from the original position to the rotation position. According to the direction of the tracking vector, the direction of the tracking coordinate system of the motion mechanism in the laser payload is determined. According to the determined direction of the tracking coordinate system and the original position, the tracking coordinate system of the motion mechanism in the laser payload is constructed.

[0066] In a specific embodiment of the present invention, the original position is (0, 0) and the rotation position is (1, 1) and (-1, 1) for example. With the original position as the starting point and the rotation position as the end point, a first tracking vector = (1, 1) is constructed, and a second tracking vector = (-1, 1) is constructed. With the original position (0, 0) as the origin, the direction indicated by the first tracking vector is the direction of the first coordinate axis, and the direction indicated by the second tracking vector is the direction of the second coordinate axis, a tracking coordinate system is constructed.

[0067] Based on this, a tracking coordinate system that accurately reflects the characteristics of the image rotation type is constructed according to the original position and the rotation position.

[0068] Furthermore, the image rotation type of the laser payload is determined based on the tracking coordinate system and the reference coordinate system, including: calculating the angular relationship and the rotation relationship between the tracking coordinate system and the reference coordinate system; and determining the image rotation type of the laser payload based on the angular relationship and the rotation relationship.

[0069] In practical applications, the angle relationship and rotation relationship between the tracking coordinate system and the reference coordinate system are determined by calculating the rotation angle between the two coordinate systems. The angle relationship is the rotation angle when the reference coordinate system rotates to coincide with the tracking coordinate system, and the rotation relationship is the rotation direction when the reference coordinate system rotates to coincide with the tracking coordinate system. Based on the calculated angle relationship and rotation relationship, the image rotation type in the laser payload can be determined. Generally, image rotation types can be divided into two types: rotation type and mirror transformation type.

[0070] In a specific embodiment of the present invention, the tracking coordinate system is based on the first tracking vector = (1, 1), the second tracking vector = (-1, 1). Taking the original position (0, 0) as the origin, the direction indicated by the first tracking vector as the direction of the first coordinate axis, and the direction indicated by the second tracking vector as the direction of the second coordinate axis as an example, the X-axis vector of the reference coordinate system = (1, 0), and the Y-axis vector of the reference coordinate system = (0, 1). That is, the angle relationship is 45°, the rotation relationship is counterclockwise, and the image rotation type of the laser load is determined to be a counterclockwise rotation of 45°.

[0071] Further, the rotation position includes a first rotation position and a second rotation position, the first rotation position is the position of the test light spot measured by the detector after the motion mechanism rotates in a first preset direction, and the second rotation position is the position of the test light spot measured by the detector after the motion mechanism rotates in the first preset direction, the first preset direction corresponds to the first reference coordinate axis of the reference coordinate system, and the second preset direction corresponds to the second reference coordinate axis of the reference coordinate system; calculating the angular relationship and rotational relationship between the tracking coordinate system and the reference coordinate system, including: calculating a first angle between the first reference coordinate axis and the first tracking coordinate axis, wherein the first tracking coordinate axis is a coordinate axis constructed based on a first tracking vector determined with the original position as the starting point and the first rotation position as the end point; calculating a second angle between the second reference coordinate axis and the second tracking coordinate axis, wherein the second tracking coordinate axis is a coordinate axis constructed based on a second tracking vector determined with the original position as the starting point and the second rotation position as the end point; determining the rotation direction based on the first reference coordinate axis and the first tracking coordinate axis; determining the angular relationship between the tracking coordinate system and the reference coordinate system based on the first angle and the second angle, and determining the rotational relationship between the tracking coordinate system and the reference coordinate system based on the rotation direction.

[0072] In practical applications, the first rotation position is the position of the test light spot measured by the detector after the motion mechanism rotates in the first preset direction. The second rotation position is the position of the test light spot measured by the detector after the motion mechanism rotates in the second preset direction. The first preset direction corresponds to the first reference coordinate axis of the reference coordinate system, and the second preset direction corresponds to the second reference coordinate axis of the reference coordinate system. Therefore, the first rotation position and the second rotation position determine two tracking vectors, which point from the original position to the two rotation positions respectively. According to the two rotation positions, two tracking coordinate axes, namely the first tracking coordinate axis and the second tracking coordinate axis, can be constructed. The first rotation position is measured in the first preset direction, and the first preset direction corresponds to the first reference coordinate axis of the reference coordinate system. Therefore, the first tracking coordinate axis is constructed based on the first rotation position and corresponds to the first reference coordinate axis of the reference coordinate system. Similarly, the second tracking coordinate axis is constructed based on the second rotation position and corresponds to the second reference coordinate axis of the reference coordinate system.

[0073] In a specific embodiment of the present invention, a first angle between the first reference coordinate axis and the first tracking coordinate axis is determined. This can be achieved by calculating the angle between the vector of the first reference coordinate axis and the vector of the first tracking coordinate axis. Similarly, the second angle can be achieved by calculating the angle between the vector of the second reference coordinate axis and the vector of the second tracking coordinate axis. According to the angle between the first reference coordinate axis and the first tracking coordinate axis, the rotation direction is determined. Based on the calculation results of the first angle and the second angle, the angular relationship between the tracking coordinate system and the reference coordinate system is determined. This can include determining whether there is a rotation, mirror transformation or other forms of transformation relationship.

[0074] Based on this, if the first angle is different from the second angle, that is, the angles between the tracking coordinate axis and the reference coordinate axis corresponding to the first rotation position and the second rotation position are inconsistent, this may indicate that a mirror transformation exists, and the image rotation type of the mirror transformation can be accurately determined.

[0075] Furthermore, the angle relationship includes an equal relationship and a complementary relationship, and the rotation relationship includes clockwise rotation and counterclockwise rotation. Based on the angle relationship and the rotation relationship, the image rotation type of the laser load is determined, including: when the angle relationship is an equal relationship and the rotation relationship is clockwise rotation, the image rotation type of the laser load is determined to be clockwise rotation; when the angle relationship is an equal relationship and the rotation relationship is counterclockwise rotation, the image rotation type of the laser load is determined to be counterclockwise rotation; when the angle relationship is a complementary relationship and the rotation relationship is clockwise rotation, the image rotation type of the laser load is determined to be clockwise rotation and mirroring; when the angle relationship is a complementary relationship and the rotation relationship is counterclockwise rotation, the image rotation type of the laser load is determined to be counterclockwise rotation and mirroring.

[0076] In practical applications, the angle relationship is determined by calculating the angle between the first reference coordinate axis and the first tracking coordinate axis and the angle between the second reference coordinate axis and the second tracking coordinate axis. The angle relationship can be divided into an equal relationship and a complementary relationship. The rotation relationship is determined according to the rotation direction corresponding to the first rotation position and the second rotation position. The rotation relationship can be divided into clockwise rotation and counterclockwise rotation. Based on the angle relationship and the rotation relationship, the image rotation type of the laser load is determined. If the angle relationship is an equal relationship and the rotation relationship is clockwise rotation, the image rotation type is clockwise rotation. If the angle relationship is an equal relationship and the rotation relationship is counterclockwise rotation, the image rotation type is counterclockwise rotation. If the angle relationship is a complementary relationship and the rotation relationship is clockwise rotation, the image rotation type is clockwise rotation and mirroring. If the angle relationship is a complementary relationship and the rotation relationship is counterclockwise rotation, the image rotation type is counterclockwise rotation and mirroring.

[0077] In a specific embodiment of the present invention, see Figure 3 As shown, Figure 3 This is a schematic diagram of the first type of image rotation provided by an embodiment of the present invention. The first angle between the first reference coordinate axis X and the first tracking coordinate axis X' is α, and the second angle between the second reference coordinate axis Y and the second tracking coordinate axis Y' is β. If the angle relationship between α and β is equal and the rotation relationship is counterclockwise rotation, then the image rotation type is counterclockwise rotation.

[0078] See also Figure 4 As shown, Figure 4This is a schematic diagram of the second type of image rotation provided by an embodiment of the present invention, wherein the first angle between the first reference coordinate axis X and the first tracking coordinate axis X' is α, and the second angle between the second reference coordinate axis Y and the second tracking coordinate axis Y' is β. If the angle relationship between α and β is equal and the rotation relationship is clockwise rotation, the image rotation type is clockwise rotation.

[0079] See also Figure 5 As shown, Figure 5 This is a schematic diagram of the third type of image rotation provided by an embodiment of the present invention, wherein the first angle between the first reference coordinate axis X and the first tracking coordinate axis X' is α, and the second angle between the second reference coordinate axis Y and the second tracking coordinate axis Y' is β. The angle relationship between α and β is a complementary relationship and the rotation relationship is a counterclockwise rotation, so the image rotation type is counterclockwise rotation and mirroring.

[0080] See also Figure 6 As shown, Figure 6 This is a schematic diagram of the fourth type of image rotation provided by an embodiment of the present invention, wherein the first angle between the first reference coordinate axis X and the first tracking coordinate axis X' is α, and the second angle between the second reference coordinate axis Y and the second tracking coordinate axis Y' is β. The angle relationship between α and β is a complementary relationship and the rotation relationship is a clockwise rotation, so the image rotation type is clockwise rotation and mirroring.

[0081] Based on this, the image rotation type of the laser load can be determined according to the angle relationship and the rotation relationship, including clockwise rotation, counterclockwise rotation and mirror transformation.

[0082] Furthermore, a target transfer matrix corresponding to the image rotation type is obtained based on the image rotation type, including: when the image rotation type is clockwise rotation, obtaining the clockwise transfer matrix as the target transfer matrix; when the image rotation type is counterclockwise rotation, obtaining the counterclockwise transfer matrix as the target transfer matrix; when the image rotation type is clockwise rotation and mirroring, obtaining the clockwise transfer matrix and the mirror transfer matrix, and calculating the target transfer matrix based on the clockwise transfer matrix and the mirror transfer matrix; when the image rotation type is counterclockwise rotation and mirroring, obtaining the counterclockwise transfer matrix and the mirror transfer matrix, and calculating the target transfer matrix based on the counterclockwise transfer matrix and the mirror transfer matrix.

[0083] In practical applications, when the image rotation type is clockwise rotation, the clockwise transfer matrix is ​​directly obtained as the target transfer matrix, which describes the inverse transformation compensation law of the spot position when the image rotation type is clockwise rotation. When the image rotation type is counterclockwise rotation, the counterclockwise transfer matrix is ​​obtained as the target transfer matrix, which describes the inverse transformation compensation law of the spot position when the image rotation type is counterclockwise rotation. When the image rotation type is clockwise rotation and mirroring, it is necessary to obtain the clockwise transfer matrix and the mirror transfer matrix, and calculate the target transfer matrix through matrix multiplication or other appropriate methods. The matrix describes the inverse transformation compensation law of the spot position when the image rotation type is clockwise rotation and mirroring. Similarly, when the image rotation type is counterclockwise rotation and mirroring, it is necessary to obtain the counterclockwise transfer matrix and the mirror transfer matrix, and calculate the target transfer matrix through matrix multiplication or other appropriate methods. The matrix describes the inverse transformation compensation law of the spot position when the image rotation type is counterclockwise rotation and mirroring.

[0084] Based on this, the corresponding target transfer matrix can be obtained according to different image rotation types.

[0085] An embodiment of the present invention realizes obtaining the initial position of the light spot measured by the detector, and determining the target position of the light spot after eliminating the image rotation based on the initial position and the target transfer matrix, wherein the target transfer matrix corresponds to the image rotation type of the laser load, the image rotation type is determined based on the angle relationship and rotation relationship between the reference coordinate system of the detector and the tracking coordinate system of the laser load, the target transfer matrix is ​​determined based on the angle relationship, and the tracking coordinate system is constructed based on the position relationship between the rotation position of the test light spot measured by the detector after the laser load is rotated in two preset directions perpendicular to each other and the original position of the test light spot measured by the detector. Before the image rotation is eliminated, the image rotation type is determined by the angle relationship and rotation relationship between the reference coordinate system of the detector and the tracking coordinate system constructed by the position of the test light spot after the laser load is rotated in two preset directions perpendicular to each other. By comprehensively considering the angle relationship and rotation relationship between the reference coordinate system and the tracking coordinate system, it is possible to accurately determine whether the image rotation type is an image rotation type including mirror transformation, and determine the corresponding target transfer matrix according to the image rotation type, thereby realizing accurate elimination of the image rotation through the target transfer matrix and improving the tracking accuracy of the laser load.

[0086] The following combination Figure 7-Figure 8 Taking the application of the image rotation elimination method provided by the present invention in the oscillating mirror laser communication payload as an example, the image rotation elimination method is further described. Figure 7It is a scene schematic diagram of an image rotation elimination method applied to a swing-mirror laser communication payload provided by an embodiment of the present invention, specifically including a two-dimensional servo swing mirror 702, an antenna primary mirror 704, an antenna secondary mirror 706, a reflector 708, fast reflectors 710 and 712, a beam reduction collimating lens group 714, a detector 716, a test collimator 718, and a test laser 720. The solid arrow is used to indicate the optical path of the test laser signal laser, and the dotted arrow is used to indicate the receiving field of view of the laser payload. Figure 8 It is a process flow chart of a method for eliminating image rotation applied to a swing-mirror laser communication payload provided by an embodiment of the present invention, which specifically includes the following steps.

[0087] Step 802: The servo swing mirror is reset to zero, and the position of the light spot appearing on the detector 716 is obtained, which is recorded as (X0, Y0).

[0088] Specifically, the laser communication payloads 702-716 and the test collimator 718 are placed on a stable platform, and the two-dimensional servo swing mirror 702 is reset to zero. The test laser 720 is connected to the collimator 718 through an optical fiber, and the height and direction of the collimator 718 are adjusted until the light spot of the test laser 720 appears on the detector 716. The laser communication payloads 702-716 use a centroid algorithm to solve the point position of the centroid of the light spot on the detector 716, which is recorded as (X0, Y0).

[0089] Step 804: The azimuth axis of the two-dimensional servo swing mirror 702 rotates positively by 0.01° to obtain the position of the light spot appearing on the detector 716, which is recorded as (X1, Y1).

[0090] Step 806: After the two-dimensional servo swing mirror 702 is returned to zero, the pitch axis of the two-dimensional servo swing mirror 702 rotates forward by 0.01° to obtain the position of the light spot appearing on the detector 716, which is recorded as (X2, Y2).

[0091] Step 808: Construct a tracking coordinate system according to (X0, Y0), (X1, Y1), and (X2, Y2).

[0092] Specific, vector To form a tracking coordinate system, it is necessary to solve the relationship between the tracking coordinate system and the reference coordinate system of the detector 716. The reference coordinate system of the detector 716 is denoted as for for

[0093] Step 810: Calculate the angle and the rotation direction.

[0094] Specifically, according to the angle formula vector and The angle α is calculated by the formula: and The angle β is determined by the cross product formula to determine whether the angle is clockwise or counterclockwise. Indicates that the angle is counterclockwise. If Indicates that the angle is clockwise. Similarly, determine the direction of angle β.

[0095] Step 812: Determine the image rotation type.

[0096] Specifically, if α=β, the image rotation change relationship is rotation, the angle α or β in the recording step 810 is the rotation angle, and the direction in the recording step 810 is the rotation direction. If α+β=180°, the image rotation change relationship is rotation and mirroring, the angle α in the recording step 810 is the rotation angle, and the direction in the recording step 810 is the rotation direction.

[0097] Step 814: Determine the transfer matrix.

[0098] Specifically: When the angle α is counterclockwise and α=β, the transfer matrix is:

[0099]

[0100] Among them, the transfer matrix R1 is a 2x2 rotation matrix. It is used to describe a clockwise rotation of an angle of α in a two-dimensional space. Specifically, if there is a point (x, y), multiplying it by this rotation matrix can get the coordinates of the point after rotation (x', y'). When α is counterclockwise and α = β, it means that the tracking coordinate system has rotated counterclockwise relative to the reference coordinate system. At this time, the offset can be obtained by rotating the miss amount clockwise by α to eliminate the image rotation.

[0101] When the angle is clockwise and α=β, the transfer matrix is:

[0102]

[0103] Similarly, the transfer matrix R2 is used to describe a counterclockwise rotation of an angle α in a two-dimensional space. When α is clockwise and α=β, it means that the tracking coordinate system has rotated clockwise relative to the reference coordinate system. At this time, the offset can be obtained by rotating the miss amount counterclockwise by α, eliminating the image rotation.

[0104] When the angle is counterclockwise and α+β=180°, the transfer matrix is:

[0105]

[0106] Among them, the transfer matrix R3 is the multiplication result of R1 and a y-axis symmetric matrix. The function of the y-axis symmetric matrix is ​​to perform a reflection operation about the y-axis with the origin as the center. In other words, if we multiply a point (x, y) by this matrix, the result will be (-x, y), that is, it is mirrored along the y-axis. Based on this, the transfer matrix R3 can be used to describe a process of rotating first and mirroring along the y-axis. When α is counterclockwise and α+β=180°, it means that the tracking coordinate system is rotated counterclockwise relative to the reference coordinate system and the tracking coordinate system is mirrored along the y-axis relative to the reference coordinate system. Therefore, the offset can be obtained by rotating the miss amount clockwise by α and mirroring the reference coordinate system along the y-axis, eliminating the image rotation.

[0107] When the angle is clockwise and α+β=180°, the transfer matrix is:

[0108]

[0109] Similarly, the transfer matrix R4 is the product of R2 and a y-axis symmetric matrix. When α is clockwise and α+β=180°, it means that the tracking coordinate system is rotated clockwise relative to the reference coordinate system and the tracking coordinate system is mirrored relative to the y-axis of the reference coordinate system. Therefore, the offset can be obtained by rotating the miss amount counterclockwise by α and mirroring the reference coordinate system on the y-axis, eliminating the image rotation.

[0110] After the detector 716 measures the miss distance, the deviation can be obtained by multiplying the corresponding transfer matrix on the left.

[0111] Corresponding to the above method embodiment, the present invention also provides an image rotation elimination device embodiment, Fig. 9 FIG. 1 is a schematic diagram of the structure of an image rotation elimination device provided by an embodiment of the present invention. Fig. 9 As shown, the device comprises:

[0112] An acquisition module 902 is configured to acquire an initial position of the light spot measured by the detector;

[0113] Determination module 904 is configured to determine the target position of the light spot after eliminating the image rotation based on the initial position and the target transfer matrix, wherein the target transfer matrix corresponds to the image rotation type of the laser payload, the image rotation type is determined based on the angular relationship and rotational relationship between the reference coordinate system of the detector and the tracking coordinate system of the laser payload, the target transfer matrix is ​​determined based on the angular relationship, and the tracking coordinate system is constructed based on the positional relationship between the rotational position of the test light spot measured by the detector after the laser payload is rotated in two preset directions perpendicular to each other, and the original position of the test light spot measured by the detector.

[0114] Optionally, the image rotation elimination device further includes a testing module configured to obtain an original position and a rotation position of the test light spot measured by the detector; and determine a target transfer matrix based on the original position, the rotation position and a reference coordinate system of the detector.

[0115] Optionally, the test module is further configured to, in response to an initialization instruction, schedule the moving mechanism in the laser payload to perform position initialization, and obtain the original position of the test spot measured by the detector; in response to a first scheduling instruction, schedule the moving mechanism in the laser payload to rotate in a first preset direction, and obtain the first rotational position of the test spot measured by the detector; in response to the initialization instruction, schedule the moving mechanism in the laser payload to perform position initialization; in response to a second scheduling instruction, schedule the moving mechanism in the laser payload to rotate in a second preset direction, and obtain the second rotational position of the test spot measured by the detector, wherein the first preset direction and the second preset direction are perpendicular to each other.

[0116] Optionally, the test module is further configured to construct a tracking coordinate system of the motion mechanism in the laser payload based on the positional relationship between the original position and the rotation position; determine the image rotation type of the laser payload based on the tracking coordinate system and the reference coordinate system; and obtain a target transfer matrix corresponding to the image rotation type based on the image rotation type.

[0117] Optionally, the test module is further configured to construct a tracking vector with the original position as the starting point and the rotation position as the end point; and to construct a tracking coordinate system of the motion mechanism in the laser load based on the direction of the tracking vector.

[0118] Optionally, the test module is further configured to calculate the angular relationship and the rotational relationship between the tracking coordinate system and the reference coordinate system; based on the angular relationship and the rotational relationship, determine the image rotation type of the laser payload.

[0119] Optionally, the test module is further configured to calculate a first angle between the first reference coordinate axis and the first tracking coordinate axis, wherein the first tracking coordinate axis is a coordinate axis constructed based on a first tracking vector determined with the original position as the starting point and the first rotation position as the end point; calculate a second angle between the second reference coordinate axis and the second tracking coordinate axis, wherein the second tracking coordinate axis is a coordinate axis constructed based on a second tracking vector determined with the original position as the starting point and the second rotation position as the end point; determine a rotation direction based on the first reference coordinate axis and the first tracking coordinate axis; determine an angular relationship between the tracking coordinate system and the reference coordinate system based on the first angle and the second angle, and determine a rotation relationship between the tracking coordinate system and the reference coordinate system based on the rotation direction.

[0120] Optionally, the test module is further configured to determine that the image rotation type of the laser load is clockwise rotation when the angle relationship is an equal relationship and the rotation relationship is clockwise rotation; to determine that the image rotation type of the laser load is counterclockwise rotation when the angle relationship is an equal relationship and the rotation relationship is counterclockwise rotation; to determine that the image rotation type of the laser load is clockwise rotation and mirroring when the angle relationship is a complementary relationship and the rotation relationship is clockwise rotation; and to determine that the image rotation type of the laser load is counterclockwise rotation and mirroring when the angle relationship is a complementary relationship and the rotation relationship is counterclockwise rotation.

[0121] Optionally, the test module is further configured to obtain a clockwise transfer matrix as a target transfer matrix when the image rotation type is clockwise rotation; to obtain a counterclockwise transfer matrix as a target transfer matrix when the image rotation type is counterclockwise rotation; to obtain a clockwise transfer matrix and a mirror transfer matrix when the image rotation type is clockwise rotation and mirroring, and to calculate the target transfer matrix based on the clockwise transfer matrix and the mirror transfer matrix; to obtain a counterclockwise transfer matrix and a mirror transfer matrix when the image rotation type is counterclockwise rotation and mirroring, and to calculate the target transfer matrix based on the counterclockwise transfer matrix and the mirror transfer matrix.

[0122] Through the image rotation elimination device, it is achieved that the initial position of the light spot measured by the detector is obtained by the acquisition module 902, and the determination module 904 determines the target position of the light spot after eliminating the image rotation based on the initial position obtained by the acquisition module 902 and the target transfer matrix, wherein the target transfer matrix corresponds to the image rotation type of the laser load, the image rotation type is determined based on the angular relationship and rotational relationship between the reference coordinate system of the detector and the tracking coordinate system of the laser load, the target transfer matrix is ​​determined based on the angular relationship, and the tracking coordinate system is constructed based on the positional relationship between the rotational position of the test light spot measured by the detector after the laser load is rotated in two preset directions perpendicular to each other, and the original position of the test light spot measured by the detector. Before image rotation is eliminated, the image rotation type is determined by the angular relationship and rotational relationship between the reference coordinate system of the detector and the tracking coordinate system constructed by the position of the test light spot after the laser payload is rotated in two preset directions perpendicular to each other. By comprehensively considering the angular relationship and rotational relationship between the reference coordinate system and the tracking coordinate system, it is possible to accurately determine whether the image rotation type is an image rotation type that includes mirror transformation, and determine the corresponding target transfer matrix based on the image rotation type, thereby achieving accurate elimination of image rotation through the target transfer matrix and improving the tracking accuracy of the laser payload.

[0123] The above is a schematic scheme of an image rotation elimination device of this embodiment. It should be noted that the technical scheme of the image rotation elimination device and the technical scheme of the above-mentioned image rotation elimination method belong to the same concept, and the details of the technical scheme of the image rotation elimination device that are not described in detail can all be referred to the description of the technical scheme of the above-mentioned image rotation elimination method.

[0124] Fig.10 The structure block diagram of a computing device 1000 provided according to an embodiment of the present invention is shown. The components of the computing device 1000 include but are not limited to a memory 1010 and a processor 1020. The processor 1020 is connected to the memory 1010 via a bus 1030, and the database 1050 is used to store data.

[0125] The computing device 1000 also includes an access device 1040, which enables the computing device 1000 to communicate via one or more networks 1060. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 1040 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, and a near field communication (NFC).

[0126] In one embodiment of the present invention, the above components of the computing device 1000 and Fig.10 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Fig.10 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present invention. Those skilled in the art may add or replace other components as needed.

[0127] The computing device 1000 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 1000 may also be a mobile or stationary server.

[0128] The processor 1020 is used to execute the following computer program / instruction, which implements the steps of the above-mentioned image rotation elimination method when executed by the processor.

[0129] Each embodiment of the present invention is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the computing device embodiment, since it is basically similar to the image rotation elimination method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the image rotation elimination method embodiment.

[0130] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program / instruction. When the computer program / instruction is executed by a processor, the steps of the above-mentioned image rotation elimination method are implemented.

[0131] Each embodiment of the present invention is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the computer-readable storage medium embodiment, since it is basically similar to the image rotation elimination method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the image rotation elimination method embodiment.

[0132] An embodiment of the present invention further provides a computer program product, including a computer program / instruction, which implements the steps of the above-mentioned image rotation elimination method when executed by a processor.

[0133] The above is a schematic solution of a computer program product of this embodiment. It should be noted that the technical solution of the computer program product and the technical solution of the above-mentioned image rotation elimination method belong to the same concept, and the details not described in detail in the technical solution of the computer program product can be referred to the description of the technical solution of the above-mentioned image rotation elimination method.

[0134] The above describes specific embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0135] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0136] It should be noted that, for the convenience of description, the aforementioned method embodiments are all described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the described action sequence, because according to the embodiments of the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of the present invention.

[0137] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0138] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The optional embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of the present invention. The present invention selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A method for eliminating image rotation, characterized in that: include: Acquire an initial position of the light spot measured by the detector, wherein the initial position is the position of the center of mass of the light spot on the reference coordinate system in the detection; Based on the initial position and the target transfer matrix, the target position of the light spot after eliminating the image rotation is determined, wherein the target transfer matrix is ​​determined by querying in a relational database based on the image rotation type of the laser load, the image rotation type is determined based on calculating the angle required for the reference coordinate system to rotate to coincide with the tracking coordinate system and the rotation direction of the reference coordinate system when it rotates, and the tracking coordinate system is constructed based on the positional relationship between the rotation position of the test light spot measured by the detector after the laser load is rotated in two preset directions perpendicular to each other and the original position of the test light spot measured by the detector.

2. The method according to claim 1, characterized in that Before obtaining the initial position of the light spot measured by the detector, the method further includes: Obtaining the original position and rotation position of the test light spot measured by the detector; A target transfer matrix is ​​determined based on the original position, the rotated position, and a reference coordinate system of the detector.

3. The method according to claim 2, characterized in that The obtaining of the original position and the rotational position of the test light spot measured by the detector comprises: In response to the initialization instruction, the motion mechanism in the laser payload is scheduled to perform position initialization, and the original position of the test light spot measured by the detector is obtained; In response to a first scheduling instruction, scheduling the motion mechanism in the laser payload to rotate in a first preset direction, and acquiring a first rotation position of the test light spot measured by the detector; In response to the initialization instruction, scheduling the motion mechanism in the laser payload to perform position initialization; In response to a second scheduling instruction, the motion mechanism in the laser load is scheduled to rotate in a second preset direction, and a second rotation position of the test light spot measured by the detector is obtained, wherein the first preset direction is perpendicular to the second preset direction.

4. The method according to claim 2, characterized in that: The determining of the target transfer matrix based on the original position, the rotation position and the reference coordinate system of the detector comprises: Constructing a tracking coordinate system of the motion mechanism in the laser load based on the positional relationship between the original position and the rotational position; Determining the image rotation type of the laser payload based on the tracking coordinate system and the reference coordinate system; A target transfer matrix corresponding to the image rotation type is acquired based on the image rotation type.

5. The method according to claim 4, characterized in that The method of constructing a tracking coordinate system of a motion mechanism in a laser load based on the positional relationship between the original position and the rotational position includes: Constructing a tracking vector with the original position as a starting point and the rotation position as an end point; A tracking coordinate system of the motion mechanism in the laser payload is constructed based on the direction of the tracking vector.

6. The method according to claim 4, characterized in that The determining the image rotation type of the laser payload based on the tracking coordinate system and the reference coordinate system includes: Calculating the angular relationship and the rotational relationship between the tracking coordinate system and the reference coordinate system; Based on the angular relationship and the rotational relationship, the image rotation type of the laser payload is determined.

7. The method according to claim 6, characterized in that The rotation position includes a first rotation position and a second rotation position, the first rotation position is the position of the test light spot measured by the detector after the motion mechanism rotates in a first preset direction, and the second rotation position is the position of the test light spot measured by the detector after the motion mechanism rotates in a second preset direction, the first preset direction corresponds to a first reference coordinate axis of a reference coordinate system, and the second preset direction corresponds to a second reference coordinate axis of the reference coordinate system; The calculating the angle relationship and the rotation relationship between the tracking coordinate system and the reference coordinate system includes: Calculating a first angle between the first reference coordinate axis and a first tracking coordinate axis, wherein the first tracking coordinate axis is a coordinate axis constructed based on a first tracking vector determined with the original position as a starting point and the first rotation position as an end point; Calculating a second angle between the second reference coordinate axis and a second tracking coordinate axis, wherein the second tracking coordinate axis is a coordinate axis constructed based on a second tracking vector determined with the original position as a starting point and the second rotation position as an end point; determining a rotation direction based on the first reference coordinate axis and the first tracking coordinate axis; An angular relationship between the tracking coordinate system and the reference coordinate system is determined based on the first angle and the second angle, and a rotational relationship between the tracking coordinate system and the reference coordinate system is determined based on the rotation direction.

8. The method according to claim 6, characterized in that The angle relationship includes an equal relationship and a complementary relationship, the rotation relationship includes a clockwise rotation and a counterclockwise rotation, and determining the image rotation type of the laser load based on the angle relationship and the rotation relationship includes: In the case where the angle relationship is the equal relationship and the rotation relationship is a clockwise rotation, determining that the image rotation type of the laser load is a clockwise rotation; In the case where the angle relationship is the equal relationship and the rotation relationship is counterclockwise rotation, determining that the image rotation type of the laser load is counterclockwise rotation; In the case where the angle relationship is the complementary relationship and the rotation relationship is a clockwise rotation, determining the image rotation type of the laser payload to be clockwise rotation and mirror image; When the angular relationship is the complementary relationship and the rotation relationship is counterclockwise rotation, the image rotation type of the laser payload is determined to be counterclockwise rotation and mirror image.

9. The method according to claim 8, characterized in that The acquiring a target transfer matrix corresponding to the image rotation type based on the image rotation type includes: When the image rotation type is clockwise rotation, obtaining a clockwise transfer matrix as a target transfer matrix; When the image rotation type is counterclockwise rotation, obtaining a counterclockwise transfer matrix as a target transfer matrix; When the image rotation type is clockwise rotation and mirroring, a clockwise transfer matrix and a mirror transfer matrix are obtained, and a target transfer matrix is ​​calculated based on the clockwise transfer matrix and the mirror transfer matrix; When the image rotation type is counterclockwise rotation and mirroring, a counterclockwise transfer matrix and a mirror transfer matrix are obtained, and a target transfer matrix is ​​calculated based on the counterclockwise transfer matrix and the mirror transfer matrix.

10. An image rotation elimination device, characterized in that: include: An acquisition module is configured to acquire an initial position of the light spot measured by the detector, wherein the initial position is a position of the centroid of the light spot on a reference coordinate system in the detection; A determination module is configured to determine the target position of the light spot after eliminating the image rotation based on the initial position and the target transfer matrix, wherein the target transfer matrix is ​​determined by querying in a relational database based on the image rotation type of the laser load, the image rotation type is determined based on calculating the angle required for the reference coordinate system to rotate to coincide with the tracking coordinate system and the rotation direction of the reference coordinate system when it rotates, and the tracking coordinate system is constructed based on the positional relationship between the rotation position of the test light spot measured by the detector after the laser load is rotated in two preset directions perpendicular to each other and the original position of the test light spot measured by the detector.

11. A computing device, characterized in that: include: Memory and processor; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer programs / instructions are executed by the processor, the steps of the image rotation elimination method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium, characterized in that: It stores a computer program / instruction, which, when executed by a processor, implements the steps of the image rotation elimination method described in any one of claims 1 to 9.

13. A computer program product, characterized in that The invention comprises a computer program / instruction, which, when executed by a processor, implements the steps of the image rotation elimination method according to any one of claims 1 to 9.

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