Laser three-dimensional imaging control system based on FPGA (Field Programmable Gate Array) and DSP (Digital Signal Processor) interactive multi-parameter regulation and control

Abstract

The invention discloses a laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter regulation and control. The laser three-dimensional imaging control system comprises a transmitting optical system, a receiving optical system, a receiving detector, a control circuit and a transmitting light control module. The control circuit controls the emission light control module to emit emission light beams according to real-time control instruction words, the emission light beams irradiate the surface of a target through the emission optical system, and reflected light beams reflected by the target are transmitted to the receiving detector through the receiving optical system. The receiving detector converts an optical signal of the reflected light beam into an electric signal and transmits the electric signal to the control circuit, and the control circuit collects the electric signal to obtain two-dimensional dot matrix distance information on the surface of the detected target and processes the two-dimensional dot matrix distance information on the surface of the detected target to obtain accurate two-dimensional dot matrix distance information on the surface of the target; wherein the electric signals comprise a first electric signal and a second electric signal. According to the invention, the regulation and control method and the imaging efficiency of the multifunctional mode in the laser three-dimensional imaging process are greatly optimized.

Description

Technical Field

[0001] The present invention belongs to the technical field of space target laser three-dimensional imaging, real-time control of control circuit parameters and multi-mode image acquisition and transmission, and in particular relates to a laser three-dimensional imaging control system based on interactive multi-parameter control of FPGA and DSP. Background Art

[0002] On-orbit service technology for space targets can achieve tasks such as on-orbit maintenance of target spacecraft, space debris cleaning, and capturing or destroying enemy military satellites. Laser 3D imaging technology plays an important role in the capture, tracking, approaching and capturing of targets by spacecraft. During the laser 3D imaging process, real-time control of imaging parameters according to target characteristics and continuous imaging are helpful for target identification and analysis. Therefore, laser 3D real-time imaging technology and methods for space targets are hot research directions in the field of space technology.

[0003] Conventional laser three-dimensional imaging methods are performed on specific targets or small-scale scenes, and it is difficult to adjust functional modes and control parameters in real time. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter regulation, which can adjust the multi-function parameters of the imaging process in real time by setting the interactive parameters of FPGA and DSP, thereby greatly optimizing the control method and imaging efficiency of the multi-function mode in the laser three-dimensional imaging process.

[0005] The object of the present invention is achieved through the following technical solutions: a laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control, comprising: a transmitting optical system, a receiving optical system, a receiving detector, a control circuit and a transmitting light control module; wherein the control circuit receives a real-time control instruction word input from the outside, and the control circuit controls the transmitting light control module to emit a transmitting light beam according to the real-time control instruction word, and the transmitting light beam is irradiated to the surface of the target through the transmitting optical system, and the reflected light beam reflected by the target is transmitted to the receiving detector via the receiving optical system, and the receiving detector converts the optical signal of the reflected light beam into an electrical signal and transmits the electrical signal to the control circuit, and the control circuit collects the electrical signal to obtain two-dimensional dot matrix distance information of the detected target surface, and processes the two-dimensional dot matrix distance information of the detected target surface to obtain accurate two-dimensional dot matrix distance information of the target surface; wherein the electrical signal includes a first electrical signal and a second electrical signal.

[0006] In the above-mentioned laser three-dimensional imaging control system based on interactive multi-parameter control of FPGA and DSP, the emission light control module includes a MEMS scanning mirror, a MEMS scanning driver and a fiber laser; wherein the control circuit controls the light-emitting characteristics of the fiber laser according to the real-time control instruction word, so that the fiber laser emits an emission light beam, and the emission light beam is irradiated on the MEMS scanning mirror; the control circuit outputs a control voltage to the MEMS scanning driver according to the real-time control instruction word, and the MEMS scanning driver drives the MEMS scanning mirror to swing to different angles according to the control voltage.

[0007] In the above-mentioned laser three-dimensional imaging control system based on interactive multi-parameter control of FPGA and DSP, the control circuit includes an echo signal full waveform sampling module, an FPGA and peripheral circuit module, a DSP and peripheral circuit board, a power board, a MEMS mirror drive module, a communication interface, a high-speed image transmission interface and a primary power supply port; wherein the communication interface receives a real-time control instruction word input from the outside, and transmits the real-time control instruction word to the FPGA in the FPGA and peripheral circuit module; the FPGA in the FPGA and peripheral circuit module receives the real-time control instruction word, and transmits the real-time control instruction word to the DSP in the DSP and peripheral circuit board and the MEMS mirror drive module; the FPGA in the FPGA and peripheral circuit module controls the emission light control module according to the real-time control instruction word; the FPGA in the FPGA and peripheral circuit module transmits the two-dimensional dot matrix distance information of the detected target surface to the DSP and peripheral circuit board; the FPGA in the FPGA and peripheral circuit module receives the DSP and the peripheral circuit board to obtain the precise two-dimensional dot matrix distance information of the target surface, and transmit the precise two-dimensional dot matrix distance information of the target surface to the communication interface; the DSP and the DSP in the peripheral circuit board receive the two-dimensional dot matrix distance information of the detected target surface, process the two-dimensional dot matrix distance information of the detected target surface to obtain the precise two-dimensional dot matrix distance information of the target surface, and transmit the precise two-dimensional dot matrix distance information of the target surface to the FPGA and the peripheral circuit module; the power board is used to power the echo signal full waveform sampling module, the FPGA and the peripheral circuit module, the DSP and the peripheral circuit board and the MEMS mirror driving module; the MEMS mirror driving module obtains the control voltage according to the real-time control instruction word, and outputs the control voltage to the MEMS scanning driver; the primary power supply port is connected to the power board; the echo signal full waveform sampling module receives the electrical signal, collects the electrical signal to obtain the two-dimensional dot matrix distance information of the detected target surface, and transmits the two-dimensional dot matrix distance information of the detected target surface to the FPGA and the peripheral circuit module.

[0008] In the above-mentioned laser three-dimensional imaging control system based on interactive multi-parameter control of FPGA and DSP, the receiving detector includes a PIN detector and an APD detector; wherein the PIN detector receives a reference light signal emitted by a fiber laser, converts the reference light signal into a first electrical signal, and transmits the first electrical signal to the control circuit; the APD detector converts the light signal of the reflected light beam into a second electrical signal, and transmits the second electrical signal to the control circuit.

[0009] In the above-mentioned laser three-dimensional imaging control system based on interactive multi-parameter control of FPGA and DSP, the real-time control instruction word includes standby mode and imaging working mode selection, single imaging start, ground detection control switch, whether fiber laser parameters can be set, fiber laser switch, fiber laser frequency setting, fiber laser main power setting, fiber laser pre-release power setting, fiber laser maximum power setting, MEMS mirror drive module X-axis and Y-axis control value and zoom translation value setting, APD detector temperature control switch, waveform sampling threshold setting in echo signal full waveform sampling module, pulse width parameter setting, high-speed image transmission mode setting, APD detector gain value setting, FPGA and peripheral circuit module range gate setting, FPGA and peripheral circuit module high-voltage switch, high-speed AD working mode setting of echo signal full waveform sampling module, high-speed image transmission interface transmission enable setting, high-speed image transmission interface image transmission mode setting, telemetry status acquisition setting, resolution mode setting, FPGA and peripheral circuit module NORFLASH address burning setting, FPGA and peripheral circuit module high-speed clock register configuration.

[0010] In the above-mentioned laser three-dimensional imaging control system based on interactive multi-parameter control of FPGA and DSP, the echo signal full waveform sampling module filters, rectifies, samples and converts the electrical signal into analog-to-digital form, and then obtains the time phase relationship of the characteristic signal through the time measurement module of the echo signal full waveform sampling module, and obtains the two-dimensional dot array distance information of the detection target surface based on the full waveform algorithm and the time phase relationship of the characteristic signal.

[0011] In the above-mentioned laser three-dimensional imaging control system based on interactive multi-parameter control of FPGA and DSP, the waveform sampling threshold in the echo signal full waveform sampling module includes the echo sampling threshold from the receiving detector and the reference light sampling threshold from the fiber laser.

[0012] In the above-mentioned laser three-dimensional imaging control system based on interactive multi-parameter regulation between FPGA and DSP, the communication interface is an RS422 serial port.

[0013] In the above-mentioned laser three-dimensional imaging control system based on interactive multi-parameter regulation between FPGA and DSP, the high-speed image transmission interface is an LVDS image download interface.

[0014] In the above-mentioned laser three-dimensional imaging control system based on interactive multi-parameter control of FPGA and DSP, the telemetry state includes the selection of standby mode and imaging working mode, the ground detection control switch state, whether the fiber laser parameters can be set, the fiber laser switch state, the fiber laser frequency, the fiber laser main power setting value, the fiber laser pre-discharge power setting value, the fiber laser maximum power setting value, the fiber laser main and seed light working state, the fiber laser seed light temperature value, the fiber laser frequency doubling temperature value, the fiber laser main temperature value, the fiber laser main energy value, the fiber laser main current value, the fiber laser pre-discharge current value, the fiber laser software version and abnormal state flag value, the fiber laser repetition rate, the MEMS mirror drive module X-axis and Y-axis control values ​​and zoom translation values, the APD detector temperature control switch state, the APD detector The detector temperature value, waveform sampling threshold in the echo signal full waveform sampling module, pulse width parameters, high-speed image transmission mode, APD detector gain value, FPGA and peripheral circuit module range gate setting value, high-speed AD working mode of the echo signal full waveform sampling module, high-speed image transmission interface transmission enable status, high-speed image transmission interface image transmission mode, telemetry acquisition status, resolution mode, NORFLASH address burning status of the FPGA and peripheral circuit module, high-speed clock register configuration value of the FPGA and peripheral circuit module, laser imaging times, FPGA Flash status information of the FPGA in the FPGA and peripheral circuit module, FPGA module voltage value of the FPGA in the FPGA and peripheral circuit module, high-speed clock current limiting protection status of the FPGA and peripheral circuit module, current star time, and high-speed AD calibration result of the echo signal full waveform sampling module.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) The present invention adjusts the multifunctional parameters of the imaging process in real time by interactive parameter setting between FPGA and DSP. The real-time parameter control by interactive parameter setting between FPGA and DSP facilitates the expansion of specific functional application space and enhances the robustness of real-time parameter adjustment.

[0017] (2) The present invention has a target capture and tracking function, which is achieved through real-time regulation of key parameters. In a multi-target model scenario, the imaging target can be switched through command control, and the target can be photographed and analyzed, and the target position information and multi-degree-of-freedom information can be output. Using the communication interface, the image data and target information can be output to the control end, and the parameter regulation instructions of the control end can also be transmitted to the control system in real time, realizing real-time adjustment and switching of multi-function modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0019] Figure 1 It is a structural block diagram of a laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter regulation provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] Figure 1 : is a block diagram of a laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control provided by an embodiment of the present invention. Figure 1 As shown, the laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control includes: an emitting optical system 2, a receiving optical system 10, a receiving detector 9, a control circuit 23 and an emitting light control module; wherein the control circuit 23 receives a real-time control instruction word input from the outside, and the control circuit 23 controls the emitting light control module to emit an emitting light beam according to the real-time control instruction word, and the emitting light beam is irradiated to the surface of the target 1 through the emitting optical system 2, and the reflected light beam reflected by the target 1 is transmitted to the receiving detector 9 via the receiving optical system 10, and the receiving detector 9 converts the optical signal of the reflected light beam into an electrical signal and transmits the electrical signal to the control circuit 23, and the control circuit 23 collects the electrical signal to obtain the two-dimensional dot matrix distance information of the detected target surface, and processes the two-dimensional dot matrix distance information of the detected target surface to obtain accurate two-dimensional dot matrix distance information of the target surface; wherein the electrical signal includes a first electrical signal and a second electrical signal.

[0022] like Figure 1As shown, the emission light control module includes a MEMS scanning mirror 3, a MEMS scanning driver 4 and a fiber laser 5; wherein the control circuit 23 regulates the light emission characteristics of the fiber laser 5 according to the real-time control instruction word, so that the fiber laser 5 emits an emission light beam, and the emission light beam is irradiated on the MEMS scanning mirror 3; the control circuit 23 outputs a control voltage to the MEMS scanning driver 4 according to the real-time control instruction word, and the MEMS scanning driver 4 drives the MEMS scanning mirror 3 to swing to different angles according to the control voltage.

[0023] like Figure 1 As shown, the control circuit 23 includes an echo signal full waveform sampling module 13, an FPGA and peripheral circuit module 16, a DSP and peripheral circuit board 17, a power board 18, a MEMS mirror drive module 19, a communication interface 20, a high-speed image transmission interface 21 and a primary power supply port 22; wherein,

[0024] The communication interface 20 receives the real-time control instruction word input from the outside, and transmits the real-time control instruction word to the FPGA and the FPGA in the peripheral circuit module 16;

[0025] The FPGA in the FPGA and peripheral circuit module 16 receives the real-time control instruction word, and transmits the real-time control instruction word to the DSP and the DSP and MEMS mirror driving module 19 in the peripheral circuit board 17; the FPGA in the FPGA and peripheral circuit module 16 controls the emission light control module according to the real-time control instruction word; the FPGA in the FPGA and peripheral circuit module 16 transmits the two-dimensional dot matrix distance information of the detected target surface to the DSP and the peripheral circuit board 17; the FPGA in the FPGA and peripheral circuit module 16 receives the precise two-dimensional dot matrix distance information of the target surface obtained by processing by the DSP and the peripheral circuit board 17, and transmits the precise two-dimensional dot matrix distance information of the target surface to the communication interface 20;

[0026] The DSP in the DSP and peripheral circuit board 17 receives the two-dimensional dot matrix distance information of the detected target surface, processes the two-dimensional dot matrix distance information of the detected target surface to obtain accurate two-dimensional dot matrix distance information of the target surface, and transmits the accurate two-dimensional dot matrix distance information of the target surface to the FPGA and peripheral circuit module 16;

[0027] The power board 18 is used to supply power to the echo signal full waveform sampling module 13, the FPGA and peripheral circuit module 16, the DSP and peripheral circuit board 17 and the MEMS mirror driving module 19;

[0028] The MEMS mirror driving module 19 obtains the control voltage according to the real-time control instruction word, and outputs the control voltage to the MEMS scanning driver 4;

[0029] The primary power supply port 22 is connected to the power board 18;

[0030] The echo signal full waveform sampling module 13 receives the electrical signal, collects the electrical signal to obtain the two-dimensional dot matrix distance information of the detection target surface, and transmits the two-dimensional dot matrix distance information of the detection target surface to the FPGA and peripheral circuit module 16.

[0031] like Figure 1 As shown, the receiving detector 9 includes a PIN detector 7 and an APD detector 8; wherein the PIN detector 7 receives the reference light signal emitted by the fiber laser 5, converts the reference light signal into a first electrical signal, and transmits the first electrical signal to the control circuit 23; the APD detector 8 converts the light signal of the reflected light beam into a second electrical signal, and transmits the second electrical signal to the control circuit 23.

[0032] The emission light beam 11 is sent through the emission optical system 2, irradiated to the target surface 1, and the reflected light beam 12 is received by the receiving optical system 10, and transmitted to the control circuit 23 through the receiving detector 9. The control circuit 23 is used to control the emission light control module during the laser three-dimensional imaging process, and the signal of the receiving detector 9 is processed and imaged.

[0033] The emission light control module comprises a MEMS scanning mirror 3, a MEMS scanning driver 4, and a fiber laser 5. The FPGA and peripheral circuit module 16 regulate the light emission characteristics of the fiber laser 5 through a program according to a real-time control instruction word, so that the fiber laser 5 emits light for detecting different target surfaces 1. The emitted light is irradiated on the MEMS scanning mirror 3, reflected by the MEMS scanning mirror 3, emitted through the emission optical system 2 and irradiated on the target surface. When the MEMS scanning mirror 3 swings at different angles, the incident angle of the light emitted from the fiber laser 5 changes, thereby changing the direction of the emitted light, detecting the distance information of the two-dimensional dot matrix of the target surface, and achieving the purpose of laser three-dimensional imaging. The swing angle of the MEMS scanning mirror 3 is controlled by its four-corner mechanical arm. Different deformations of the four-corner mechanical arm make the MEMS scanning mirror 3 swing at different angles. The MEMS scanning driver 4 regulates the deformation of the mechanical arm through voltage-mechanical arm deformation conversion. The voltage regulated by the MEMS scanning driver 4 is converted by the MEMS mirror driving module (19) from the digital control quantity output by the FPGA and peripheral circuit module 16 to the analog voltage value controlled by the MEMS scanning driver 4.In addition to generating emission light, the fiber laser will also split the light through its internal structure to generate reference light 6 for detection. The receiving detector 9 includes a PIN detector 7 and an APD detector 8. The PIN detector 7 converts the reference light 6 signal into an electrical signal. The APD detector 8 converts the optical signal of the reflected light beam 12 passing through the receiving optical system 10 into an electrical signal. The electrical signal converted by the PIN detector 7 and the APD detector 8 is transmitted to the echo signal full waveform sampling module 13 of the control circuit 23. The echo signal full waveform sampling module 13 processes the two electrical signals through a full waveform algorithm. The control circuit 23 includes the echo signal full waveform sampling module 13, an FPGA and peripheral circuit module 16, a DSP and peripheral circuit board 17, and a power supply. Board 18, MEMS mirror drive module 19, communication interface 20, high-speed image transmission interface 21, primary power supply port 22, real-time control instruction word is stored in the instruction cache register of DSP and peripheral circuit board 17, the control command is determined by the system user, and a real-time control instruction word corresponding to the control command is constructed. The real-time control instruction word is the input of the laser three-dimensional imaging control system. During the laser three-dimensional imaging process, the imaging system is controlled in real time according to the real-time control instruction word, which is transmitted to the FPGA of the FPGA and peripheral circuit module 16 through the communication interface 20, and the FPGA and DSP interaction register of the DSP in the DSP and peripheral circuit board 17 are updated. The FPGA and peripheral circuit module 16 are controlled according to the real-time control instruction word. The control instruction word performs real-time control on the fiber laser 5, MEMS mirror drive module 19, echo signal full waveform sampling module 13, DSP and peripheral circuit board 17. After the control parameters are updated, the laser three-dimensional imaging system images the target. The light from the target surface is sent to the echo signal full waveform sampling module 13 through the photoelectric conversion of the APD detector 8. The reference light 6 from the fiber laser 5 is sent to the echo signal full waveform sampling module 13 through the photoelectric conversion of the PIN detector 7. The echo signal full waveform sampling module 13 processes the two electrical signals. The preliminary processing results are transmitted to the FPGA of the FPGA and peripheral circuit module 16 and the image data register of the DSP in the DSP and peripheral circuit board 17 is updated. The DSP and peripheral circuit board 17 7 further processes the data transmitted by the FPGA of the FPGA and peripheral circuit module 16, and the processing results are returned to the FPGA and peripheral circuit module 16. The FPGA and peripheral circuit module 16 uses the preliminary processing results and the data processed by the DSP and peripheral circuit board 17 as the output of the laser three-dimensional imaging control system, and transmits them through the high-speed image transmission interface 21. The primary power supply port 22 is the power input of the laser three-dimensional imaging system. The power board 18 includes LDO and DC-DC modules, which manage the power supply of the input, generate the voltage required by the control circuit 23, and provide them to the echo signal full waveform sampling module 13, FPGA and peripheral circuit module 16, DSP and peripheral circuit board 17, and MEMS mirror drive module 19 respectively.

[0034] The real-time control instructions include the selection of standby mode and imaging working mode (in standby mode, the laser 3D imaging system has low power consumption and cannot perform imaging; in imaging working mode, the laser 3D imaging related circuit modules are in normal working state), the start of single imaging (in imaging working mode, a light beam is emitted to the detection position of the target surface, and the reflected light and reference light are collected, and the imaging is processed by the circuit system), the ground detection control switch (whether the voltage value of the key module of the control circuit is collected), whether the fiber laser parameters can be set (whether the frequency, main release power, pre-release power, and maximum power can be adjusted through control instructions), and the fiber laser switch (whether the fiber laser is turned on in the imaging working mode). ), fiber laser frequency setting (change the required frequency of the emitted light pulse for detection of different target surfaces), fiber laser main amplifier power setting (change the required amplification factor of the emitted light pulse main amplifier, adjust the luminous intensity, for detection of targets at different distances), fiber laser pre-amplifier power setting (change the amplification factor of the emitted light pulse pre-amplifier, adjust the luminous intensity, for detection of targets at different distances), fiber laser maximum power setting (to prevent damage caused by over-power operation of the fiber laser), MEMS mirror drive module X-axis and Y-axis control value and zoom translation value setting (control the four-corner voltage through the X-axis and Y-axis control values, and control the range of action through the zoom translation value to achieve The control of the deformation of the four-corner robotic arm), the temperature control switch of the APD detector (whether the echo signal full waveform sampling module collects the temperature of the APD detector), the waveform sampling threshold setting in the echo signal full waveform sampling module (by setting the sampling threshold, the noise of a certain amplitude and below is preliminarily filtered), the pulse width parameter setting of the fiber laser emission beam (by setting the pulse width, the emission beam is adjusted to adjust the system detection accuracy), the high-speed image transmission mode setting of the FPGA and peripheral circuit modules (the image transmission category of the high-speed image transmission interface is adjusted and updated according to the target characteristics, and efficient processing is achieved in the process of different target image acquisition), the gain value setting of the APD detector ( By changing the gain value of the APD detector, detection of different light intensities can be achieved, which is suitable for collecting reflected light beams from various target surfaces), FPGA and peripheral circuit module range gate setting (targeted imaging of targets at different distances), high-speed AD working mode setting of the echo signal full waveform sampling module (making the high-speed AD work in acquisition mode or test mode, which is respectively used in actual acquisition or system testing), high-speed image transmission interface transmission enable setting (whether to perform high-speed image transmission), telemetry status acquisition setting (collecting the telemetry status involved in the real-time control instruction word), echo signal full waveform sampling module acquisition resolution mode setting (setting the imaging resolution,Used to image targets at different distances or different positions of targets), NORFLASH address programming settings of FPGA and peripheral circuit modules (setting the address for NORFLASH programming), high-speed clock register configuration of FPGA and peripheral circuit modules (high-speed clock registers have high working sensitivity, and the register contents are refreshed by configuring high-speed clock registers to make them work in normal state).

[0035] The echo signal full waveform sampling module 13 includes a time measurement module. The electrical signal received and converted by the PIN detector 7 and the APD detector 8 is transmitted to the echo signal full waveform sampling module 13. After filtering, rectification, sampling and analog-to-digital conversion, the time measurement module performs an accurate analysis of the time phase relationship of the characteristic signal, and calculates the distance information of the target surface from the time phase relationship of the characteristic signal through the full waveform algorithm, thereby obtaining the distance value of the two-dimensional array of the target surface detection area.

[0036] FPGA and DSP can be in synchronous or asynchronous clock domains. When FPGA and DSP are in asynchronous clock domains, FPGA needs to perform anti-metastable processing on the input signal of DSP. When DSP performs read operation on FPGA, it controls the output of data bus to prevent bus conflict. During image caching and transmission, after FPGA completes caching of an image, it sends an interrupt signal to DSP. After receiving the interrupt, DSP reads the cached laser data from inside FPGA.

[0037] The waveform sampling threshold in the echo signal full waveform sampling module 13 includes the echo sampling threshold from the receiving detector 9 and the reference light 6 sampling threshold from the fiber laser 5 .

[0038] The communication interface 20 is an RS422 serial port. The high-speed image transmission interface 21 is an LVDS image transmission interface. The image transmission mode of the high-speed image transmission interface 21 includes a full image transmission mode and a window image transmission mode. The Flash status information of the FPGA is reflected by the Flash regional checksum.

[0039] The telemetry status includes the selection of standby mode and imaging working mode, the status of the ground inspection control switch, whether the fiber laser parameters can be set, the fiber laser switch status, the fiber laser frequency, the fiber laser main power setting value, the fiber laser pre-discharge power setting value, the fiber laser maximum power setting value, the fiber laser main and seed light working status, the fiber laser seed light temperature value, the fiber laser frequency doubling temperature value, the fiber laser main temperature value, the fiber laser main energy value, the fiber laser main current value, the fiber laser pre-discharge current value, the fiber laser software version and abnormal status flag value, the fiber laser repetition rate, the MEMS mirror drive module X-axis and Y-axis control values ​​and zoom translation values, the APD detector temperature control switch status, the APD detector temperature value, and the echo signal full waveform sampling module. Medium waveform sampling threshold, pulse width parameters, high-speed image transmission mode, APD detector gain value, FPGA and peripheral circuit module range gate setting value, high-speed AD working mode of echo signal full waveform sampling module, high-speed image transmission interface transmission enable status, high-speed image transmission interface image transmission mode, telemetry acquisition status, resolution mode, NORFLASH address burning status of FPGA and peripheral circuit module, high-speed clock register configuration value of FPGA and peripheral circuit module, laser imaging times, FPGA Flash status information of FPGA in FPGA and peripheral circuit module, module voltage value of FPGA in FPGA and peripheral circuit module, high-speed clock current limiting protection status of FPGA and peripheral circuit module, current star time, and high-speed AD calibration result of echo signal full waveform sampling module.

[0040] This embodiment adjusts the multifunctional parameters of the imaging process in real time by setting parameters through interaction between FPGA and DSP. Real-time parameter control through interaction between FPGA and DSP facilitates the expansion of the application space of specific functions and enhances the robustness of real-time parameter adjustment. This embodiment has a target capture and tracking function, which is achieved through real-time control of key parameters. In a multi-target model scenario, the imaging target can be switched through command control, and the target can be photographed and analyzed, and the target position information and multi-degree-of-freedom information can be output. Using the communication interface, the image data and target information can be output to the control end, and the parameter control command of the control end can also be transmitted to the control system in real time, so as to realize real-time adjustment and switching of multifunctional modes.

[0041] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control, characterized in that include: An emitting optical system (2), a receiving optical system (10), a receiving detector (9), a control circuit (23) and an emitting light control module; wherein: The control circuit (23) receives a real-time control instruction word input from the outside. The control circuit (23) controls the emission light control module to emit an emission light beam according to the real-time control instruction word. The emission light beam passes through the emission optical system (2) and irradiates the surface of the target (1). The reflected light beam reflected by the target (1) is transmitted to the receiving detector (9) via the receiving optical system (10). The receiving detector (9) converts the optical signal of the reflected light beam into an electrical signal and transmits the electrical signal to the control circuit (23). The control circuit (23) collects the electrical signal to obtain two-dimensional dot matrix distance information of the detected target surface, and processes the two-dimensional dot matrix distance information of the detected target surface to obtain accurate two-dimensional dot matrix distance information of the target surface. The electrical signal includes a first electrical signal and a second electrical signal.

2. The laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control according to claim 1 is characterized in that: The emission light control module comprises a MEMS scanning mirror (3), a MEMS scanning driver (4) and a fiber laser (5); wherein: The control circuit (23) controls the light emission characteristics of the optical fiber laser (5) according to the real-time control instruction word, so that the optical fiber laser (5) emits an emission light beam, and the emission light beam is irradiated on the MEMS scanning mirror (3); The control circuit (23) outputs a control voltage to the MEMS scanning driver (4) according to the real-time control instruction word, and the MEMS scanning driver (4) drives the MEMS scanning mirror (3) to swing at different angles according to the control voltage.

3. The laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control according to claim 2 is characterized in that: The control circuit (23) comprises an echo signal full waveform sampling module (13), an FPGA and peripheral circuit module (16), a DSP and peripheral circuit board (17), a power board (18), a MEMS mirror driving module (19), a communication interface (20), a high-speed image transmission interface (21) and a primary power supply port (22); wherein, The communication interface (20) receives real-time control instruction words input from the outside, and transmits the real-time control instruction words to the FPGA and the FPGA in the peripheral circuit module (16); The FPGA in the FPGA and peripheral circuit module (16) receives a real-time control instruction word, and transmits the real-time control instruction word to the DSP in the DSP and peripheral circuit board (17) and the MEMS mirror driving module (19); the FPGA in the FPGA and peripheral circuit module (16) controls the emission light control module according to the real-time control instruction word; the FPGA in the FPGA and peripheral circuit module (16) transmits the two-dimensional dot matrix distance information of the detected target surface to the DSP and peripheral circuit board (17); the FPGA in the FPGA and peripheral circuit module (16) receives the precise two-dimensional dot matrix distance information of the target surface obtained by processing the DSP and peripheral circuit board (17), and transmits the precise two-dimensional dot matrix distance information of the target surface to the communication interface (20); The DSP and the DSP in the peripheral circuit board (17) receive the two-dimensional dot matrix distance information of the detected target surface, process the two-dimensional dot matrix distance information of the detected target surface to obtain accurate two-dimensional dot matrix distance information of the target surface, and transmit the accurate two-dimensional dot matrix distance information of the target surface to the FPGA and the peripheral circuit module (16); The power board (18) is used to supply power to the echo signal full waveform sampling module (13), the FPGA and peripheral circuit module (16), the DSP and peripheral circuit board (17) and the MEMS mirror driving module (19); The MEMS mirror driving module (19) obtains a control voltage according to a real-time control instruction word, and outputs the control voltage to the MEMS scanning driver (4); The primary power supply port (22) is connected to the power board (18); The echo signal full waveform sampling module (13) receives the electrical signal, collects the electrical signal to obtain two-dimensional dot matrix distance information of the detection target surface, and transmits the two-dimensional dot matrix distance information of the detection target surface to the FPGA and peripheral circuit module (16).

4. The laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control according to claim 1, characterized in that: The receiving detector (9) comprises a PIN detector (7) and an APD detector (8); wherein: The PIN detector (7) receives a reference optical signal emitted by the optical fiber laser (5), converts the reference optical signal into a first electrical signal, and transmits the first electrical signal to the control circuit (23); The APD detector (8) converts the optical signal of the reflected light beam into a second electrical signal, and transmits the second electrical signal to the control circuit (23).

5. The laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control according to claim 1, characterized in that: The real-time control instruction word includes the selection of standby mode and imaging working mode, the start of single imaging, ground detection control switch, whether fiber laser parameters can be set, fiber laser switch, fiber laser frequency setting, fiber laser main power setting, fiber laser pre-release power setting, fiber laser maximum power setting, MEMS mirror drive module X-axis and Y-axis control value and zoom translation value setting, APD detector temperature control switch, waveform sampling threshold setting in echo signal full waveform sampling module, pulse width parameter setting, high-speed image transmission mode setting, APD detector gain value setting, FPGA and peripheral circuit module range gate setting, FPGA and peripheral circuit module high-voltage switch, high-speed AD working mode setting of echo signal full waveform sampling module, high-speed image transmission interface transmission enable setting, high-speed image transmission interface image transmission mode setting, telemetry status acquisition setting, resolution mode setting, FPGA and peripheral circuit module NORFLASH address burning setting, FPGA and peripheral circuit module high-speed clock register configuration.

6. The laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control according to claim 3 is characterized in that: The echo signal full waveform sampling module (13) filters, rectifies, samples and performs analog-to-digital conversion on the electrical signal, obtains the time phase relationship of the characteristic signal through the time measurement module of the echo signal full waveform sampling module (13), and obtains the two-dimensional dot matrix distance information of the detection target surface based on the full waveform algorithm and the time phase relationship of the characteristic signal.

7. The laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control according to claim 5, characterized in that: The waveform sampling threshold in the echo signal full waveform sampling module includes the echo sampling threshold from the receiving detector and the reference light sampling threshold from the fiber laser.

8. The laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control according to claim 3 is characterized in that: The communication interface (20) is an RS422 serial port.

9. The laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control according to claim 3, characterized in that: The high-speed image transmission interface (21) is an LVDS image downlink interface.

10. The laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control according to claim 5, characterized in that: The telemetry status includes the selection of standby mode and imaging working mode, ground detection control switch status, whether fiber laser parameters can be set, fiber laser switch status, fiber laser frequency, fiber laser main power setting value, fiber laser pre-discharge power setting value, fiber laser maximum power setting value, fiber laser main and seed light working status, fiber laser seed light temperature value, fiber laser frequency doubling temperature value, fiber laser main temperature value, fiber laser main energy value, fiber laser main current value, fiber laser pre-discharge current value, fiber laser software version and abnormal status flag value, fiber laser repetition rate, MEMS mirror drive module X-axis and Y-axis control values ​​and zoom translation values, APD detector temperature control switch status, APD detector temperature value, echo signal full waveform sampling mode, etc. The waveform sampling threshold in the block, pulse width parameters, high-speed image transmission mode, APD detector gain value, FPGA and peripheral circuit module range gate setting value, high-speed AD working mode of the echo signal full waveform sampling module, high-speed image transmission interface transmission enable status, high-speed image transmission interface image transmission mode, telemetry acquisition status, resolution mode, NORFLASH address burning status of the FPGA and peripheral circuit module, high-speed clock register configuration value of the FPGA and peripheral circuit module, laser imaging times, FPGA Flash status information of the FPGA in the FPGA and peripheral circuit module, module voltage value of the FPGA in the FPGA and peripheral circuit module, high-speed clock current limiting protection status of the FPGA and peripheral circuit module, current star time, and high-speed AD calibration result of the echo signal full waveform sampling module.

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