Two-dimensional turntable motion visualization system based on cubic interpolation

Abstract

The invention provides a cubic interpolation-based two-dimensional turntable motion visualization system. The cubic interpolation-based two-dimensional turntable motion visualization system comprises a two-dimensional turntable, an FPGA (Field Programmable Gate Array) data processing module, a laser module, a COMS (Complementary Metal Oxide Semiconductor) acquisition module, a motor module and a power supply module. According to the system, real-time visual monitoring of the motion of the high-precision two-dimensional turntable is realized, the stability of the system is ensured, and potential adverse effects are avoided. The FPGA data processing module is used for efficiently processing data collected by laser and COMS, and it is ensured that motion information is accurately and rapidly captured and analyzed. The reliability of the movement process is guaranteed through the motor and the power module. The system displays the motion state of the two-dimensional rotary table in real time through a cubic interpolation technology, and the smoothness and the positioning precision are improved. The innovative visualization system provides visual and real-time support for the fields of satellite measurement, test, experiment and the like.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical motion visualization, and in particular, relates to a two-dimensional turntable motion visualization system based on cubic interpolation, and more particularly, relates to a high-precision two-dimensional turntable motion visualization system based on cubic interpolation. Background Art

[0002] The on-orbit operation of satellites requires precise direction adjustment and angle measurement. The high-precision two-dimensional turntable, as a basic equipment, provides important information on the satellite's on-orbit angular displacement and acceleration for real-time monitoring and alarm.

[0003] However, in practical applications, due to the limitations of mechanical structure and control system, high-precision two-dimensional turntables often face the problem of insufficient positioning accuracy. To solve these problems, existing two-dimensional turntable systems usually adopt motion control methods based on quadratic interpolation. However, in some scenarios with large changes in angular velocity, quadratic interpolation is prone to cause problems such as motion discontinuity and oscillation, thus affecting the performance of the satellite system.

[0004] Patent document CN114706584A (application number: CN202210369216.X) discloses a data visualization display and production system. This method realizes the construction and debugging of data visualization front-end works by utilizing a component model in the form of semi-structured data, but it only parses and displays the data, and is not a real-time display processing system.

[0005] Patent document CN114338430A (application number: CN202111326101.4) discloses a data visualization display method and system, which achieves visualization display by matching and obtaining a target visualization model. This method has a high degree of automation and improves the efficiency of data visualization display, but it does not collect data in real time for visualization, but only processes the data packets.

[0006] Patent document CN117311707A (application number: CN202311176602.8) discloses a data visualization display system and method, which improves the reusability of data source access through data source access configuration and can update data in real time. However, it does not collect and process the front-end data, which is not complete enough. There is no more consideration when displaying the data, and the effect needs to be improved.

[0007] Patent document CN117785990A (application number: CN202311828792.0) discloses a data dynamic visualization system based on EDA. By layering objects and base maps, the problem of overall data update is avoided. However, there are limitations in the operation and practical application of visualization. It is necessary to update the display status and the data acquisition capability is insufficient. In contrast, the visualization method proposed in the present invention uses a high-precision interpolation method, which can accurately obtain the motion state of the turntable, has more stable performance and higher measurement accuracy, and can provide reliable support for precision measurement.

[0008] Patent document CN108257137A discloses an angle measurement method and system based on automatic interpretation of visual light spots: collecting light spot images continuously emitted by a laser transmitter on a turntable and hitting a target plane, which are photographed by a calibrated high-speed camera; processing the collected image by a binarization method; edge detection is performed on the binarized image, the light spot outline is circled, and a connected area is searched, and the average of the pixels in the connected area is calculated; the average pixel is converted into a physical coordinate on the target plane, and the rotation angle of the turntable is calculated according to a trigonometric formula.

[0009] However, the shortcomings of the patent document CN108257137A are: the method based on high-speed cameras and binarization processing cannot meet the real-time monitoring needs of high-frequency motion, resulting in delays. Under different lighting conditions or background complexity, the fixed binarization threshold may cause the light spot to fail to be correctly segmented, affecting the detection accuracy. When the environment changes, the fixed processing strategy cannot be adjusted automatically, resulting in unstable light spot detection effect, affecting the accuracy of light spot extraction, and failing to provide a dynamic adjustment mechanism based on real-time data, which may not be able to effectively adapt to different environments or changing conditions.

[0010] In this regard, the present invention is improved as follows: using FPGA data processing module, faster real-time data processing and response can be achieved, which is suitable for high-frequency motion monitoring. Through the adaptive threshold processing method, the threshold is automatically adjusted according to the specific environment, thereby enhancing the light spot detection capability under different lighting and background conditions.

[0011] In addition, the patent document CN108257137A superimposes the horizontal and vertical pixel coordinates within the spot contour and takes the average value to determine the pixel coordinates of the center of the spot. However, since the state of the laser on the surface of the object is not an ideal circle, this method may cause the center coordinate to shift.

[0012] In this regard, the present invention is improved as follows: an ellipse fitting method is used to more accurately fit the light spot shape, thereby improving the accuracy of centroid calculation, and a relatively stable result can be obtained even when the light spot shape is irregular or disturbed. Summary of the invention

[0013] In view of the defects in the prior art, the object of the present invention is to provide a two-dimensional turntable motion visualization system based on cubic interpolation.

[0014] A two-dimensional turntable motion visualization system based on cubic interpolation provided by the present invention includes: an FPGA data processing module, a laser module, a COMS acquisition module, a motor module, and a host computer;

[0015] The host computer controls the motor module to drive the two-dimensional turntable to rotate;

[0016] The FPGA data processing module sends a laser emission signal to a laser module fixed on a two-dimensional turntable;

[0017] The laser module emits laser according to the laser emission signal, and the laser reaches the whiteboard to generate a laser spot;

[0018] The CMOS acquisition module collects the laser spot on the whiteboard and transmits the collected analog signal to the FPGA data processing module. After analog-to-digital conversion, data processing is performed to obtain the two-dimensional turntable motion state.

[0019] Preferably, the motor module generates corresponding movement signals by cubic interpolation to control the movement of the two-dimensional turntable;

[0020] The FPGA data processing module pre-processes the obtained spot image and extracts it using the ellipse fitting method to obtain the two-dimensional turntable motion state and send it to the host computer.

[0021] Preferably, the FPGA data processing module performs digital signal processing on the collected analog signal and converts it into a digital signal to obtain each frame of data processed by the FPGA data; based on each frame of data, the light spot position information on the whiteboard is obtained; based on the light spot position information on the whiteboard, the motion state of the two-dimensional turntable is obtained.

[0022] Preferably, the FPGA data processing module obtains the light spot position signal obtained by the image processing algorithm for each frame in the N frames of data; based on the light spot position signal obtained for each frame in the N frames of data.

[0023] Preferably, the light spot position is obtained for each frame in the N frames of data through an image processing algorithm, including: performing adaptive threshold processing based on the obtained image filtering processing to obtain the area where the light spot is located; and processing the area where the light spot is located based on the ellipse fitting method to obtain the position of the light spot on the whiteboard.

[0024] Preferably, the host computer sends an instruction to the motor module. After receiving the instruction, the motor module controls the two motors to drive the two-dimensional turntable to move at the same time. At the same time, the FPGA data processing module outputs a driving signal to drive the laser module and the CMOS acquisition module. The CMOS acquisition module collects the laser spot on the surface of the whiteboard, converts the collected analog signal into a digital signal, filters the obtained image, and then performs adaptive thresholding to segment the spot and the background. The center of mass of the spot is obtained by the ellipse fitting method, and the change of the position of the laser spot on the surface of the object over time is obtained, and the corresponding two-dimensional turntable motion state is obtained.

[0025] A two-dimensional turntable motion visualization method based on cubic interpolation provided by the present invention includes:

[0026] The host computer controls the motor module to drive the two-dimensional turntable to rotate;

[0027] Instruct the FPGA data processing module to send a laser emission signal to the laser module fixed on the two-dimensional turntable;

[0028] Instructing the laser module to emit laser according to the laser emission signal, so that the laser reaches the whiteboard to generate a laser spot;

[0029] The CMOS acquisition module is used to collect the laser spot on the whiteboard, and the collected analog signal is transmitted to the FPGA data processing module. After analog-to-digital conversion, data processing is performed to obtain the motion state of the two-dimensional turntable.

[0030] Preferably, the motor module generates corresponding movement signals by cubic interpolation to control the movement of the two-dimensional turntable;

[0031] The FPGA data processing module pre-processes the obtained spot image and extracts it using the ellipse fitting method to obtain the two-dimensional turntable motion state and send it to the host computer.

[0032] Preferably, the FPGA data processing module performs digital signal processing on the collected analog signal and converts it into a digital signal to obtain each frame of data processed by the FPGA data; based on each frame of data, obtain the light spot position information on the whiteboard; based on the light spot position information on the whiteboard, obtain the motion state of the two-dimensional turntable;

[0033] The FPGA data processing module obtains the light spot position signal obtained by the image processing algorithm for each frame of N frames of data; based on the light spot position signal obtained for each frame of the N frames of data;

[0034] The light spot position of each frame in the N frames of data is obtained by an image processing algorithm, including: performing adaptive threshold processing based on the obtained image filtering processing to obtain the area where the light spot is located; processing the area where the light spot is located based on the ellipse fitting method to obtain the position of the light spot on the whiteboard.

[0035] Preferably, the host computer sends an instruction to the motor module. After receiving the instruction, the motor module controls the two motors to drive the two-dimensional turntable to move at the same time. At the same time, the FPGA data processing module outputs a driving signal to drive the laser module and the CMOS acquisition module. The CMOS acquisition module collects the laser spot on the surface of the whiteboard, converts the collected analog signal into a digital signal, filters the obtained image, and then performs adaptive thresholding to segment the spot and the background. The center of mass of the spot is obtained by the ellipse fitting method, and the change of the position of the laser spot on the surface of the object over time is obtained, and the corresponding two-dimensional turntable motion state is obtained.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] 1. The present invention realizes real-time visual monitoring of high-precision two-dimensional turntable motion, ensuring system stability and avoiding potential adverse effects.

[0038] 2. The present invention utilizes FPGA data processing module to efficiently process data collected by laser and COMS, ensuring accurate and rapid capture and analysis of motion information, and guarantees the reliability of the motion process through motor and power supply modules.

[0039] 3. The present invention uses cubic interpolation technology to display the motion state of the two-dimensional turntable in real time. Cubic interpolation has a higher polynomial degree and can more accurately fit and describe the satellite motion trajectory, effectively improving the system's motion smoothness and positioning accuracy in satellite measurement, and providing reliable motion state support for satellite missions. This innovative visualization system provides intuitive and real-time support for satellite measurement, testing, and experiments.

[0040] 4. The present invention uses an adaptive threshold processing method to automatically adjust the threshold according to the specific environment, thereby enhancing the light spot detection capability under different lighting and background conditions.

[0041] 5. The present invention uses an ellipse fitting method to more accurately fit the spot shape, thereby improving the accuracy of the center of mass calculation. Even when the spot shape is irregular or disturbed, a relatively stable result can be obtained, thereby solving the technical problem that the state of the laser on the surface of the object is not an ideal circle and may cause the center coordinate to shift. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0043] Figure 1 A schematic diagram showing the module composition of a high-precision two-dimensional turntable motion visualization system according to an embodiment of the present invention is shown;

[0044] Figure 2 It shows a schematic structural diagram of a high-precision two-dimensional turntable motion visualization method and system according to the present invention;

[0045] Figure 3 A schematic diagram showing the construction process of a high-precision two-dimensional turntable motion visualization system acquisition process according to an embodiment of the present invention is shown;

[0046] Figure 4 A schematic diagram of the process of a high-precision two-dimensional turntable motion visualization method according to the present invention is shown;

[0047] Figure 5 A schematic diagram showing the principle of a high-precision two-dimensional turntable motion visualization method according to the present invention is shown. DETAILED DESCRIPTION

[0048] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0049] The present invention discloses a high-precision two-dimensional turntable motion visualization system based on cubic interpolation, which has the function of obtaining the motion state of the two-dimensional turntable in real time with high precision; the high-precision two-dimensional turntable motion visualization system is integrated and manufactured, and the signal and data processing are controlled by the FPGA data processing module, which not only observes the motion trajectory of the turntable in real time, but also can measure the accuracy of the movement of the two-dimensional turntable, so that the rotation of the turntable is more accurate and effective; the motion state of the high-precision two-dimensional turntable can be adjusted in real time and continuously, so that the detection work effect is optimal.

[0050] Figure 1 A schematic diagram of the module composition of the high-precision two-dimensional turntable motion visualization system according to the present invention is shown.

[0051] like Figure 1As shown, a high-precision two-dimensional turntable motion visualization system based on cubic interpolation provided by the present invention includes: an FPGA data processing module, a laser module, a COMS acquisition module, a CMOS drive module, a motor module, a power module and a host computer. The FPGA data processing module is connected to the laser module, the COMS acquisition module is connected to the CMOS drive module, the CMOS drive module is connected to the FPGA data processing module, the FPGA data processing module is connected to the host computer, the motor module is connected to the two-dimensional turntable, the power module is connected to the FPGA data processing module, and the motor module is connected to the CMOS drive module. The laser module includes a laser diode and a laser drive circuit; the laser diode is connected to the laser drive circuit, and the laser drive circuit is connected to the FPGA data processing module; the laser diode is used to generate a detection laser; the laser drive circuit is used to receive a signal transmitted from the FPGAs data processing module to excite the laser diode.

[0052] The power module supplies power to the CMOS acquisition module, the laser diode of the laser module, the motor module and the FPGA data processing module. The motor module receives the instruction of the host computer and drives the two-dimensional turntable to rotate. The FPGA data processing module sends a laser emission signal to the laser module. The laser module receives the laser emission signal and emits laser. After passing through the optical system, the CMOS acquisition module acquires the laser spot on the whiteboard and transmits the analog signal to the FPGA data processing module. After analog-to-digital conversion, data processing is performed to obtain the motion state of the two-dimensional turntable. Among them, the FPGA data processing module realizes the data processing function, which is used to output the modulation signal and obtain the motion state of the two-dimensional turntable after image processing; the laser module is used to receive the signal transmitted by the FPGA data processing module to drive the laser diode and generate a beam of laser and focus it on the whiteboard object; the COMS acquisition module is used to receive the signal received by the CMOS; the CMOS drive module is used to drive the CMOS acquisition module; the motor module generates the corresponding movement signal through cubic interpolation to control the movement of the translation stage; the power module is used to generate the voltage required by each module and supply power. The FPGA data processing module pre-processes the obtained spot image and extracts it by ellipse fitting method to obtain the motion state of the two-dimensional turntable. It plays a key role in the field of satellite precision measurement and provides reliable motion status support for satellite missions.

[0053] Figure 2 A structural schematic diagram of a high-precision two-dimensional turntable motion visualization method and system according to the present invention is shown.

[0054] like Figure 2As shown, in the whole system, the host computer sends motion instructions to the first stepper motor 1 and the second stepper motor 2, driving the two-dimensional turntable as a translation table to rotate, and the data collected by the CMOS acquisition module is sent to the FPGA data processing module, and the FPGA data processing module transmits the final two-dimensional turntable motion state to the host computer through the bus.

[0055] Specifically, based on the modulation signal, controlling the laser module to emit laser to the whiteboard includes: based on the modulation signal, controlling the laser module to output the ranging laser; based on the ranging laser, controlling the laser to be emitted to the whiteboard. The collected analog signal is converted into a digital signal by digital signal processing to obtain each frame of data processed by FPGA data; based on each frame of data, the whiteboard position information is obtained; based on the whiteboard position information, the motion state of the two-dimensional turntable is obtained.

[0056] More specifically, the light spot position signal obtained by the image processing algorithm in each of the N frames is obtained; based on the light spot position signal obtained in each of the N frames, the light spot coordinates corresponding to the two-dimensional turntable output by the FPGA data processing module are obtained; based on the light spot coordinates corresponding to the two-dimensional turntable, the motion state of the two-dimensional turntable output by the FPGA data processing module is obtained. The light spot position obtained by the image processing algorithm in each of the N frames includes: performing adaptive threshold processing based on the obtained image after filtering processing to obtain the area where the light spot is located; processing the area where the light spot is located based on the ellipse fitting method to obtain the position of the light spot.

[0057] Figure 3 The schematic diagram of the acquisition process of the high-precision two-dimensional turntable motion visualization system according to one embodiment of the present invention is shown. Before acquisition, a filter is added to filter out the stray light of the environment to a certain extent.

[0058] Figure 4 A flow chart of a high-precision two-dimensional turntable motion visualization method according to the present invention is shown. Figure 5 A schematic diagram showing the principle of a high-precision two-dimensional turntable motion visualization method according to the present invention is shown.

[0059] like Figure 4 and Figure 5As shown in the figure, at the beginning of the high-precision two-dimensional turntable motion visualization system, the host computer sends a command to the motor module. After the motor module receives the command, the two motors drive the two-dimensional turntable to move at the same time. At the same time, the driving signal is output from the FPGA data processing module to drive the laser and CMOS acquisition modules. The CMOS acquisition module collects the laser spot on the surface of the whiteboard, converts the collected analog signal into a digital signal, and then filters the obtained image. The spot and the background are segmented by an adaptive threshold, and the center of mass of the spot is obtained by the ellipse fitting method. The change of the position of the laser on the surface of the object over time is obtained, that is, the motion state of the high-precision two-dimensional turntable is obtained.

[0060] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A two-dimensional turntable motion visualization system based on cubic interpolation, characterized in that: include: FPGA data processing module, laser module, COMS acquisition module, motor module, host computer; The host computer controls the motor module to drive the two-dimensional turntable to rotate; The FPGA data processing module sends a laser emission signal to a laser module fixed on a two-dimensional turntable; The laser module emits laser according to the laser emission signal, and the laser reaches the whiteboard to generate a laser spot; The CMOS acquisition module collects the laser spot on the whiteboard and transmits the collected analog signal to the FPGA data processing module. After analog-to-digital conversion, data processing is performed to obtain the two-dimensional turntable motion state.

2. The two-dimensional turntable motion visualization system based on cubic interpolation according to claim 1 is characterized in that: The motor module generates corresponding movement signals through cubic interpolation to control the movement of the two-dimensional turntable; The FPGA data processing module pre-processes the obtained spot image and extracts it using the ellipse fitting method to obtain the two-dimensional turntable motion state and send it to the host computer.

3. The two-dimensional turntable motion visualization system based on cubic interpolation according to claim 2 is characterized in that: The FPGA data processing module performs digital signal processing on the collected analog signal and converts it into a digital signal to obtain each frame of data processed by the FPGA data; based on each frame of data, the light spot position information on the whiteboard is obtained; based on the light spot position information on the whiteboard, the motion state of the two-dimensional turntable is obtained.

4. The two-dimensional turntable motion visualization system based on cubic interpolation according to claim 3 is characterized in that: The FPGA data processing module obtains the light spot position signal obtained by the image processing algorithm for each frame in the N frames of data; based on the light spot position signal obtained for each frame in the N frames of data.

5. The two-dimensional turntable motion visualization system based on cubic interpolation according to claim 4 is characterized in that: The light spot position of each frame in the N frames of data is obtained by an image processing algorithm, including: performing adaptive threshold processing based on the obtained image filtering processing to obtain the area where the light spot is located; processing the area where the light spot is located based on the ellipse fitting method to obtain the position of the light spot on the whiteboard.

6. The two-dimensional turntable motion visualization system based on cubic interpolation according to claim 1, characterized in that: The host computer sends instructions to the motor module. After receiving the instructions, the motor module controls the two motors to drive the two-dimensional turntable to move at the same time. At the same time, the FPGA data processing module outputs a driving signal to drive the laser module and the CMOS acquisition module. The CMOS acquisition module collects the laser spot on the surface of the whiteboard, converts the collected analog signal into a digital signal, and then filters the obtained image. The spot and the background are segmented by an adaptive threshold, and the center of mass of the spot is obtained by the ellipse fitting method. The change of the position of the laser spot on the surface of the object over time is obtained, and the corresponding two-dimensional turntable motion state is obtained.

7. A two-dimensional turntable motion visualization method based on cubic interpolation, characterized in that: include: The host computer controls the motor module to drive the two-dimensional turntable to rotate; Instruct the FPGA data processing module to send a laser emission signal to the laser module fixed on the two-dimensional turntable; Instructing the laser module to emit laser according to the laser emission signal, so that the laser reaches the whiteboard to generate a laser spot; The CMOS acquisition module is used to collect the laser spot on the whiteboard, and the collected analog signal is transmitted to the FPGA data processing module. After analog-to-digital conversion, data processing is performed to obtain the motion state of the two-dimensional turntable.

8. The method for visualizing the motion of a two-dimensional turntable based on cubic interpolation according to claim 7, characterized in that: The motor module generates corresponding movement signals through cubic interpolation to control the movement of the two-dimensional turntable; The FPGA data processing module pre-processes the obtained spot image and extracts it using the ellipse fitting method to obtain the two-dimensional turntable motion state and send it to the host computer.

9. The method for visualizing the motion of a two-dimensional turntable based on cubic interpolation according to claim 7, characterized in that: The FPGA data processing module performs digital signal processing on the collected analog signal and converts it into a digital signal to obtain each frame of data processed by the FPGA data; based on each frame of data, the light spot position information on the whiteboard is obtained; based on the light spot position information on the whiteboard, the motion state of the two-dimensional turntable is obtained; The FPGA data processing module obtains the spot position signal obtained by the image processing algorithm for each frame of N frames of data; A light spot position signal obtained based on each frame of the N frames of data; Obtaining the light spot position of each frame in the N frames of data by an image processing algorithm, including: performing adaptive threshold processing based on the obtained image after filtering processing to obtain the area where the light spot is located; Based on the ellipse fitting method, the area where the light spot is located is processed to obtain the position of the light spot on the white board.

10. The method for visualizing the motion of a two-dimensional turntable based on cubic interpolation according to claim 9, characterized in that: The host computer sends instructions to the motor module. After receiving the instructions, the motor module controls the two motors to drive the two-dimensional turntable to move at the same time. At the same time, the FPGA data processing module outputs a driving signal to drive the laser module and the CMOS acquisition module. The CMOS acquisition module collects the laser spot on the surface of the whiteboard, converts the collected analog signal into a digital signal, and then filters the obtained image. The spot and the background are segmented by an adaptive threshold, and the center of mass of the spot is obtained by the ellipse fitting method. The change of the position of the laser spot on the surface of the object over time is obtained, and the corresponding two-dimensional turntable motion state is obtained.

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