A laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control

Abstract

This invention discloses a laser 3D 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. The control circuit controls the transmitting light control module to emit a transmitted light beam according to real-time control commands. The emitted light beam passes through the transmitting optical system and illuminates the surface of the target. The reflected light beam is transmitted through the receiving optical system to the receiving detector. 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. The control circuit acquires the two-dimensional point matrix distance information of the target surface from the electrical signal and processes this information to obtain accurate two-dimensional point matrix distance information of the target surface. The electrical signal includes a first electrical signal and a second electrical signal. This invention significantly optimizes the control method and imaging efficiency of multi-functional modes during laser 3D imaging.

Description

Technical Field

[0001] This invention belongs to the field of space target laser three-dimensional imaging, real-time control circuit parameter adjustment and multi-mode image acquisition and transmission technology, and particularly relates to a laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control. Background Technology

[0002] On-orbit servicing technologies for space targets enable tasks such as on-orbit maintenance of target spacecraft, space debris removal, and the capture or destruction of enemy military satellites. Laser 3D imaging technology plays a crucial role in the acquisition, tracking, approach, and capture of targets by spacecraft. During laser 3D imaging, real-time adjustment of imaging parameters based on target characteristics and continuous imaging facilitate target identification and analysis. Therefore, real-time laser 3D imaging technologies and methods for space targets are a hot research area in the field of space technology.

[0003] Conventional laser 3D imaging methods are designed for specific targets or small-scale scenes, and it is difficult to adjust the functional modes and control parameters in real time. Summary of the Invention

[0004] The technical problem solved by this 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 control. The system adjusts the multi-functional parameters of the imaging process in real time by setting parameters through FPGA and DSP interaction, which greatly optimizes the control method and imaging efficiency of multi-functional modes in the laser three-dimensional imaging process.

[0005] The objective of this invention is achieved through the following technical solution: 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 real-time control command words input from the outside, and controls the transmitting light control module to emit a transmitting beam according to the real-time control command words, the transmitting beam illuminates the surface of the target through the transmitting optical system, the reflected beam is transmitted to the receiving detector through the receiving optical system, the receiving detector converts the optical signal of the reflected beam into an electrical signal and transmits the electrical signal to the control circuit, the control circuit acquires the two-dimensional point array distance information of the target surface from the electrical signal, and processes the two-dimensional point array distance information of the target surface to obtain accurate two-dimensional point array distance information of the target surface; wherein, the electrical signal includes a first electrical signal and a second electrical signal.

[0006] In the aforementioned laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control, the emission light control module includes a MEMS scanning mirror, a MEMS scanning driver, and a fiber laser. The control circuit adjusts the emission characteristics of the fiber laser according to real-time control commands, causing the fiber laser to emit an emission beam that illuminates the MEMS scanning mirror. The control circuit outputs a control voltage to the MEMS scanning driver according to the real-time control commands, and the MEMS scanning driver drives the MEMS scanning mirror to swing at different angles according to the control voltage.

[0007] In the aforementioned laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control, 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 supply board, a MEMS mirror driving module, a communication interface, a high-speed image transmission interface, and a primary power supply port. The communication interface receives externally input real-time control command words and transmits them to the FPGA in the FPGA and peripheral circuit module. The FPGA in the FPGA and peripheral circuit module receives the real-time control command words and transmits them to the DSP in the DSP and peripheral circuit board and the MEMS mirror driving module. The FPGA in the FPGA and peripheral circuit module controls the emitted light control module according to the real-time control command words. 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 data from the DSP... The precise two-dimensional dot matrix distance information of the target surface obtained by the peripheral circuit board is transmitted to the communication interface; the DSP in the peripheral circuit board receives the detected target surface two-dimensional dot matrix distance information, processes it to obtain precise target surface two-dimensional dot matrix distance information, and transmits it to the FPGA and peripheral circuit module; the power board is used to power the echo signal full waveform sampling module, FPGA and peripheral circuit module, DSP and peripheral circuit board, and MEMS mirror driving module; the MEMS mirror driving module obtains the regulating voltage according to the real-time control command word and outputs the regulating 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 electrical signals, acquires the detected target surface two-dimensional dot matrix distance information from the electrical signals, and transmits it to the FPGA and peripheral circuit module.

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

[0009] In the aforementioned laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control, the real-time control command words include standby mode and imaging working mode selection, single imaging start, ground detection control switch, whether fiber laser parameters are settable, fiber laser switch, fiber laser frequency setting, fiber laser main amplifier power setting, fiber laser pre-amplifier power setting, fiber laser maximum power setting, MEMS mirror drive module X-axis and Y-axis control values ​​and scaling and translation values ​​setting, APD detector temperature control switch, waveform sampling threshold setting in the 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 distance gate setting, FPGA and peripheral circuit module high voltage switch, high-speed AD working mode setting of the 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 programming setting, and FPGA and peripheral circuit module high-speed clock register configuration.

[0010] In the aforementioned laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control, the echo signal full waveform sampling module filters, rectifies, samples, and converts the electrical signal to analog-to-digital. The time phase relationship of the feature signal is obtained through the time measurement module of the echo signal full waveform sampling module, and the distance information of the two-dimensional dot matrix on the surface of the target is obtained according to the full waveform algorithm and the time phase relationship of the feature signal.

[0011] In the aforementioned laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control, 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 aforementioned laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control, the communication interface is an RS422 serial port.

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

[0014] In the aforementioned laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control, the telemetry status includes the selection of standby mode and imaging working mode, the status of the ground detection control switch, whether the fiber laser parameters are settable, the fiber laser switch status, the fiber laser frequency, the fiber laser main amplifier power setting value, the fiber laser preamplifier power setting value, the fiber laser maximum power setting value, the fiber laser main amplifier and seed light working status, the fiber laser seed light temperature value, the fiber laser frequency doubling temperature value, the fiber laser main amplifier temperature value, the fiber laser main amplifier energy value, the fiber laser main amplifier current value, the fiber laser preamplifier 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 scaling and translation values, the APD detector temperature control switch status, and the APD detector... The following parameters are listed: detector temperature value, waveform sampling threshold in the echo signal full waveform sampling module, pulse width parameter, high-speed image transmission mode, APD detector gain value, FPGA and peripheral circuit module distance 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, FPGA and peripheral circuit module NORFLASH address writing status, FPGA and peripheral circuit module high-speed clock register configuration value, number of laser imaging times, FPGA Flash status information in the FPGA and peripheral circuit module, FPGA module voltage value in the FPGA and peripheral circuit module, FPGA and peripheral circuit module high-speed clock current limiting protection status, current satellite 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 advantages:

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

[0017] (2) The present invention has target acquisition and tracking functions. This function is realized through real-time adjustment of key parameters. In the multi-target model scenario, the imaging target can be switched by command control, and the target can be photographed and analyzed. The target position information and multi-degree-of-freedom information are output. Using the communication interface, image data and target information can be output to the control end. The parameter adjustment command of the control end can also be transmitted to the control system in real time, realizing real-time adjustment and switching of multi-functional modes. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

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

[0020] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a structural block diagram of a laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control, provided in 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: a transmitting optical system 2, a receiving optical system 10, a receiving detector 9, a control circuit 23, and a transmitting light control module. The control circuit 23 receives real-time control commands from external input and controls the transmitting light control module to emit a transmitted beam according to the commands. The emitted beam passes through the transmitting optical system 2 and illuminates the surface of the target 1. The reflected beam from the target 1 is transmitted through the receiving optical system 10 to the receiving detector 9. The receiving detector 9 converts the optical signal of the reflected beam into an electrical signal and transmits the electrical signal to the control circuit 23. The control circuit 23 acquires the two-dimensional point array distance information of the target surface from the electrical signal and processes this information to obtain accurate two-dimensional point array distance information of the target surface. 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. The control circuit 23 adjusts the emission characteristics of the fiber laser 5 according to the real-time control command word, so that the fiber laser 5 emits an emission beam, which illuminates 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 command word, and the MEMS scanning driver 4 drives the MEMS scanning mirror 3 to swing at 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 supply 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,

[0024] The communication interface 20 receives real-time control command words from external input and transmits the real-time control command words to the FPGA in the FPGA and peripheral circuit module 16;

[0025] The FPGA in the FPGA and peripheral circuit module 16 receives real-time control command words and transmits them to the DSP and MEMS mirror driver module 19 in the DSP and peripheral circuit board 17. The FPGA in the FPGA and peripheral circuit module 16 controls the emitted light control module according to the real-time control command words. 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 accurate two-dimensional dot matrix distance information of the target surface obtained by the DSP and peripheral circuit board 17 and transmits the accurate 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 target surface, processes the two-dimensional dot matrix distance information of the 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, FPGA and peripheral circuit module 16, DSP and peripheral circuit board 17 and MEMS mirror driving module 19.

[0028] MEMS mirror driving module 19 obtains the control voltage according to the real-time control command word and outputs the control voltage to MEMS scan 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, acquires the two-dimensional dot matrix distance information of the target surface from the electrical signal, and transmits the two-dimensional dot matrix distance information of the 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 optical signal emitted by the 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 beam into a second electrical signal, and transmits the second electrical signal to the control circuit 23.

[0032] The emitted beam 11 is sent through the emitting optical system 2 and illuminates the target surface 1. The reflected 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 controls the emitted light control module during the laser three-dimensional imaging process, processes the signal from the receiving detector 9, and performs imaging.

[0033] The emission light control module includes a MEMS scanning mirror 3, a MEMS scanning driver 4, and a fiber laser 5. The FPGA and peripheral circuit module 16 adjust the light emission characteristics of the fiber laser 5 according to the real-time control command word, so that it emits light for detecting different target surfaces 1. The emitted light shines on the MEMS scanning mirror 3, is reflected by the MEMS scanning mirror 3, and is emitted through the emission optical system 2 and shines 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 on 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 robotic arms. Different deformations of the four corner robotic arms cause the MEMS scanning mirror 3 to swing at different angles. The MEMS scanning driver 4 controls the deformation of the robotic arm through voltage-robotic arm deformation conversion. The voltage controlled by the MEMS scanning driver 4 is converted by the MEMS mirror driving module (19) into the analog voltage value controlled by the MEMS scanning driver 4 by converting the digital control quantity output by the FPGA and peripheral circuit module 16.In addition to generating emitted light, the fiber laser also splits the light beam through its internal structure to generate a reference beam 6 for detection. The receiving detector 9 includes a PIN detector 7 and an APD detector 8. The PIN detector 7 converts the reference beam 6 signal into an electrical signal, and the APD detector 8 converts the light signal of the reflected beam 12 after passing through the receiving optical system 10 into an electrical signal. The electrical signals converted by the PIN detector 7 and the APD detector 8 are 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 using 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 driver module 19, communication interface 20, high-speed image transmission interface 21, primary power supply port 22. Real-time control command words are stored in the instruction buffer register of the DSP in the DSP and peripheral circuit board 17. The control commands are determined by the system user, constructing a real-time control command word that corresponds one-to-one with the control command. The real-time control command word is the input of the laser three-dimensional imaging control system. During the laser three-dimensional imaging process, the imaging system is adjusted in real time according to the real-time control command word. It is transmitted to the FPGA of the FPGA and peripheral circuit module 16 through the communication interface 20, and the FPGA and DSP interactive registers of the DSP in the DSP and peripheral circuit board 17 are updated. The FPGA and peripheral circuit module 16 adjusts the real-time control command word according to the command. The control command word performs real-time regulation of the fiber laser 5, MEMS mirror driving module 19, echo signal full waveform sampling module 13, DSP and peripheral circuit board 17. After updating the regulation parameters, the laser three-dimensional imaging system images the target. Light from the target surface is converted by photoelectric conversion through APD detector 8 and sent to echo signal full waveform sampling module 13. Reference light 6 from fiber laser 5 is converted by photoelectric conversion through PIN detector 7 and sent to echo signal full waveform sampling module 13. Echo signal full waveform sampling module 13 processes the two electrical signals. The preliminary processing result is transmitted to the FPGA of FPGA and peripheral circuit module 16 and updates the image data register of DSP in DSP and peripheral circuit board 17. 7. The data transmitted from the FPGA and peripheral circuit module 16 by the FPGA is further processed, and the processing result is returned to the FPGA and peripheral circuit module 16. The FPGA and peripheral circuit module 16 uses the preliminary processing result 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 it 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 to manage the power input, generate the voltage required by the control circuit 23, and provide it to the echo signal full waveform sampling module 13, FPGA and peripheral circuit module 16, DSP and peripheral circuit board 17, and MEMS mirror driving module 19 respectively.

[0034] Real-time control commands include: standby mode and imaging mode selection (in standby mode, the laser 3D imaging system consumes less power and cannot perform imaging; in imaging mode, all laser 3D imaging-related circuit modules are in normal working condition), single imaging start (in imaging mode, a beam is emitted towards the target surface detection position, and reflected light and reference light are collected and processed by the circuit system for imaging), ground detection control switch (whether to collect voltage values ​​of key modules of the control circuit), whether fiber laser parameters are settable (whether frequency, main amplifier power, pre-amplifier power, and maximum power can be adjusted via control commands), and fiber laser switch (whether to turn on the fiber laser in imaging mode). The settings include: fiber laser frequency setting (changing the required frequency of the emitted light pulse for detection of different target surfaces), fiber laser main amplifier power setting (changing the amplification factor of the main operational amplifier for the required emitted light pulse, adjusting the emission intensity for detection of targets at different distances), fiber laser preamplifier power setting (changing the amplification factor of the pre operational amplifier for the emitted light pulse, adjusting the emission intensity for detection of targets at different distances), fiber laser maximum power setting (preventing damage caused by over-power operation of the fiber laser), and MEMS mirror drive module X-axis and Y-axis control values ​​and scaling / translation values ​​(adjusting the voltage at the four corners through X-axis and Y-axis control values, and adjusting the effective range through scaling / translation values ​​to achieve...). The following controls are implemented: control of the four-corner robotic arm deformation; APD detector temperature control switch (whether the echo signal full waveform sampling module collects the APD detector temperature); waveform sampling threshold setting in the echo signal full waveform sampling module (preliminary filtering of noise at a certain amplitude and below by setting the sampling threshold); fiber laser beam pulse width parameter setting (adjusting the emitted beam and system detection accuracy by setting the pulse width); high-speed image transmission mode setting for FPGA and peripheral circuit modules (adjusting the image transmission type of the high-speed image transmission interface according to target characteristics and updating the image to achieve efficient processing during different target image acquisition processes); and APD detector gain value setting. By changing the gain value of the APD detector, detection of different light intensities can be achieved, suitable for collecting reflected beams from various target surfaces; FPGA and peripheral circuit module distance gate settings (for targeted imaging of targets at different distances); high-speed AD working mode settings for the echo signal full waveform sampling module (allowing the high-speed AD to work in acquisition mode or test mode, respectively applied to actual acquisition or system testing); high-speed image transmission interface transmission enable settings (whether to perform high-speed image transmission); telemetry status acquisition settings (acquiring telemetry statuses involved in real-time control command words); and resolution mode settings for the echo signal full waveform sampling module acquisition (setting the imaging resolution).(Used for imaging targets at different distances or different positions of targets), NORFLASH address programming settings for FPGA and peripheral circuit modules (setting the NORFLASH programming address), and high-speed clock register configuration for FPGA and peripheral circuit modules (high-speed clock registers are highly sensitive; configuring the high-speed clock register refreshes its contents to ensure it operates normally).

[0035] The echo signal full waveform sampling module 13 includes a time measurement module. The electrical signals received and converted by the PIN detector 7 and the APD detector 8 are transmitted to the echo signal full waveform sampling module 13. After filtering, rectification, sampling and analog-to-digital conversion, the time measurement module performs accurate analysis of the time phase relationship of the characteristic signals. The distance information of the target surface is calculated from the time phase relationship of the characteristic signals 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, the 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 buffering and transmission, after FPGA completes the buffering of one image, it sends an interrupt signal to DSP. After receiving the interrupt, DSP reads the buffered 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 sampling threshold from the fiber laser 5.

[0038] Communication interface 20 is an RS422 serial port. High-speed image transmission interface 21 is an LVDS image download interface. The high-speed image transmission interface 21 has two transmission modes: full-image transmission mode and window-image transmission mode. The FPGA's Flash status information is reflected through Flash area checksums.

[0039] Telemetry status includes the selection of standby mode and imaging working mode, ground detection control switch status, whether fiber laser parameters are settable, fiber laser switch status, fiber laser frequency, fiber laser main amplifier power setting, fiber laser preamplifier power setting, fiber laser maximum power setting, fiber laser main amplifier and seed light working status, fiber laser seed light temperature, fiber laser frequency doubling temperature, fiber laser main amplifier temperature, fiber laser main amplifier energy, fiber laser main amplifier current, fiber laser preamplifier current, fiber laser software version and abnormal status flags, 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, and echo signal full waveform sampling module. The parameters include: waveform sampling threshold, pulse width parameter, high-speed image transmission mode, APD detector gain value, FPGA and peripheral circuit module distance 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, FPGA and peripheral circuit module NORFLASH address writing status, FPGA and peripheral circuit module high-speed clock register configuration value, number of laser imaging, FPGA Flash status information in FPGA and peripheral circuit module, FPGA module voltage value in FPGA and peripheral circuit module, FPGA and peripheral circuit module high-speed clock current limiting protection status, current satellite time, and high-speed AD calibration result of echo signal full waveform sampling module.

[0040] This embodiment uses FPGA and DSP to interactively set parameters to adjust multi-functional parameters in real time during the imaging process. Real-time parameter control via FPGA-DSP interaction facilitates the expansion of specific functional applications and enhances the robustness of real-time parameter adjustment. This embodiment features target acquisition and tracking functions, which are achieved through real-time control of key parameters. In multi-target model scenarios, the imaging target can be switched via command control, and the target can be photographed and analyzed, outputting target position information and multi-degree-of-freedom information. Using the communication interface, image data and target information can be output to the control terminal, and parameter control commands from the control terminal can also be transmitted to the control system in real time, realizing real-time adjustment and switching of multi-functional modes.

[0041] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions 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: The system comprises a transmitting optical system (2), a receiving optical system (10), a receiving detector (9), a control circuit (23), and a transmitting light control module; among which, The control circuit (23) receives real-time control command words from external input. The control circuit (23) controls the emission light control module to emit an emission beam according to the real-time control command words. The emission beam passes through the emission optical system (2) and illuminates the surface of the target (1). The reflected beam reflected by the target (1) is transmitted to the receiving detector (9) through the receiving optical system (10). The receiving detector (9) converts the light signal of the reflected beam into an electrical signal and transmits the electrical signal to the control circuit (23). The control circuit (23) collects the two-dimensional dot matrix distance information of the target surface from the electrical signal and processes the two-dimensional dot matrix distance information of the 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. The emitted light control module includes a MEMS scanning mirror (3), a MEMS scanning driver (4), and a fiber laser (5); wherein, The control circuit (23) adjusts the light emission characteristics of the fiber laser (5) according to the real-time control command word, so that the fiber laser (5) emits a beam of light, which illuminates the MEMS scanning mirror (3). The control circuit (23) outputs a regulating voltage to the MEMS scanning driver (4) according to the real-time control command word, and the MEMS scanning driver (4) drives the MEMS scanning mirror (3) to swing at different angles according to the regulating voltage; 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 supply 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 command words from external input and transmits the real-time control command words to the FPGA in the FPGA and peripheral circuit module (16); The FPGA in the FPGA and peripheral circuit module (16) receives the real-time control command word and transmits it 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 command word. The FPGA in the FPGA and peripheral circuit module (16) transmits the two-dimensional dot matrix distance information of the target surface to the DSP and peripheral circuit board (17). The FPGA in the FPGA and peripheral circuit module (16) receives the accurate two-dimensional dot matrix distance information of the target surface processed by the DSP and peripheral circuit board (17) and transmits the accurate two-dimensional dot matrix distance information of the target surface to the communication interface (20). The DSP in the DSP and peripheral circuit board (17) receives the two-dimensional dot matrix distance information of the target surface, processes the two-dimensional dot matrix distance information of the 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). The power board (18) is used to supply power to the echo signal full waveform sampling module (13), FPGA and peripheral circuit module (16), DSP and peripheral circuit board (17) and MEMS mirror driving module (19); The MEMS mirror driving module (19) obtains the control voltage according to the real-time control command 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, acquires the two-dimensional dot matrix distance information of the target surface from the electrical signal, and transmits the two-dimensional dot matrix distance information of the target surface to the FPGA and peripheral circuit module (16).

2. 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) includes a PIN detector (7) and an APD detector (8); wherein, The PIN detector (7) receives the reference optical signal emitted by the 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 beam into a second electrical signal and transmits the second electrical signal to the control circuit (23).

3. 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 command words include standby mode and imaging working mode selection, single imaging start, ground detection control switch, whether fiber laser parameters are settable, fiber laser switch, fiber laser frequency setting, fiber laser main amplifier power setting, fiber laser pre-amplifier power setting, fiber laser maximum power setting, MEMS mirror drive module X-axis and Y-axis control values ​​and scaling and translation values ​​setting, APD detector temperature control switch, waveform sampling threshold setting in the 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 distance gate setting, FPGA and peripheral circuit module high voltage switch, high-speed AD working mode setting of the 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 programming setting, and FPGA and peripheral circuit module high-speed clock register configuration.

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 echo signal full waveform sampling module (13) filters, rectifies, samples and converts the electrical signal to analog and digital. Then, it 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 target surface according to the full waveform algorithm and the time phase relationship of the characteristic signal.

5. The laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control according to claim 3, 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.

6. The laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control according to claim 1, characterized in that: The communication interface (20) is an RS422 serial port.

7. The laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control according to claim 1, characterized in that: The high-speed image transmission interface (21) is an LVDS image downlink interface.

8. The laser three-dimensional imaging control system based on FPGA and DSP interactive multi-parameter control according to claim 3, characterized in that: The telemetry status includes the selection of standby mode and imaging working mode, the status of the ground detection control switch, whether the fiber laser parameters are settable, the fiber laser switch status, the fiber laser frequency, the fiber laser main amplifier power setting, the fiber laser preamplifier power setting, the fiber laser maximum power setting, the fiber laser main amplifier and seed light working status, the fiber laser seed light temperature, the fiber laser frequency doubling temperature, the fiber laser main amplifier temperature, the fiber laser main amplifier energy, the fiber laser main amplifier current, the fiber laser preamplifier current, the fiber laser software version and abnormal status flag, the fiber laser repetition rate, the MEMS mirror drive module X-axis and Y-axis control values ​​and scaling and translation values, the APD detector temperature control switch status, the APD detector temperature, and the echo signal full waveform sampling mode. The data includes: waveform sampling threshold, pulse width parameter, high-speed image transmission mode, APD detector gain value, FPGA and peripheral circuit module distance 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, FPGA and peripheral circuit module NORFLASH address writing status, FPGA and peripheral circuit module high-speed clock register configuration value, laser imaging count, FPGA Flash status information in FPGA and peripheral circuit module, FPGA module voltage value in FPGA and peripheral circuit module, FPGA and peripheral circuit module high-speed clock current limiting protection status, current satellite time, and high-speed AD calibration result of echo signal full waveform sampling module.

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