Distributed image motion compensation mechanism and method

Abstract

The invention discloses a distributed image motion compensation mechanism and method, and belongs to the technical field of optical remote sensing and photographic optics. The mechanism comprises a plurality of spliced detector sub-modules, and each spliced detector sub-module corresponds to one optical plain film. Each two-dimensional angle deflection mechanism is fixedly connected with one optical plain film and is used for driving the optical plain film to deflect in a two-dimensional plane; the optical plain film is located between the splicing detector and the optical lens, and the two-dimensional angle deflection mechanism drives the optical plain film to deflect so as to generate preset image point displacement and speed; the optical plain film is a transmission element or a reflection element, and the deflection angle and the thickness of the optical plain film determine the size and the compensation capability of image point displacement. According to the invention, the image motion compensation precision is improved, the control difficulty is reduced, the optical plain film carries out relatively independent image motion compensation on the spliced detector sub-module by adopting a divide-and-conquer method, and the imaging quality of the whole image surface is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of optical remote sensing and photographic optics, and in particular relates to a distributed image motion compensation mechanism and method. Background Art

[0002] In the field of optical remote sensing and photographic optics, in order for an optical camera to achieve clear imaging of the object being photographed, it is necessary to ensure that the image of the object or scene falling on the optical camera detector remains relatively stable during the exposure time. That is, during the exposure time, the image point of the object or scene falls on the corresponding detector pixel, and the two remain relatively still.

[0003] However, due to various factors, the image point moves on the detector during the exposure imaging time of the optical camera, which is called image motion. If the image motion is not compensated, it will cause image blur and reduce image quality. At the same time, it will limit the exposure time and lose the signal-to-noise ratio and sensitivity. For example, in the wide coverage and high-resolution optical remote sensing cameras in the aerospace field, due to the increase in imaging width, the speed difference of ground objects at different positions becomes larger, resulting in more obvious image motion distribution. Therefore, wide-area and high-resolution optical remote sensing cameras must consider the problem of image motion compensation.

[0004] Existing methods for image motion compensation include optical, mechanical and electronic methods.

[0005] Image motion compensation in electronics mainly relies on image processing methods to estimate the image motion and restore the image blurred by image motion. This is a post-processing method and it is difficult to guarantee the original image quality.

[0006] The mechanical image motion compensation method is relatively intuitive. It directly moves the relative position relationship between the detector and the optical image plane according to the size and direction of the image motion speed. That is, the detector and the image plane of the optical system are driven by a precise displacement mechanism to produce a large opposite motion equal to the image motion, thereby achieving the relative stillness of the detector and the image point. However, this method is time-consuming and labor-intensive to operate.

[0007] The optical image motion compensation method mainly sets optical elements in the optical path to control the speed and position of the image point of the image motion. The usual practice is to rely on the rotation of the reflector to pull the image point of the ground object back to the predetermined pixel, so as to achieve the relative stillness of the image. For example, a rotatable reflector is installed in the object or image optical path of the optical remote sensing camera. The image motion during the exposure time is compensated by the swing of the reflector through the pre-calculated image motion, but the compensation accuracy is still not fine enough.

[0008] In order to expand the coverage and resolution of optical remote sensing instruments and improve the temporal and spatial resolution of photoelectric information acquisition, large-field-of-view high-resolution photoelectric systems have gained more and more attention and applications. By staggered splicing of short lines or small arrays, ultra-long lines and ultra-large array detectors are obtained, thereby expanding the scale of detectors and achieving higher resolution and larger observation range coverage.

[0009] The ultra-long linear detector is a large-scale long linear detector. The short linear detectors are connected end to end and arranged alternately in a herringbone pattern. The sampling is done on the entire image plane, which is equivalent to a large-scale long linear detector. A similar method can be used for ultra-large area array detectors. Small area array detectors can be arranged in a herringbone or field shape to achieve a large-scale area array detector.

[0010] like Figure 1 As shown, through multiple detector submodules ( … … , ) are staggered and stitched together to form a large detector array, that is, the stitched detector divides the entire image plane A of the optical remote sensing camera, and each stitched detector submodule is only responsible for the exposure imaging of a small field of view area. However, the image motion speed and direction corresponding to the different stitched detector submodules in the central field of view and the edge field of view are different. The conventional overall image motion compensation method has the problem of under-compensation or over-compensation. The final result is the residual of image motion matching, which directly limits the increase of integration time, and at the same time limits the performance of signal-to-noise ratio and transfer function. Summary of the invention

[0011] In order to solve the above technical problems, the present invention provides a distributed image shift compensation mechanism and method, wherein each discrete optical plate is installed in a relatively independent two-dimensional angle deflection frame, and each optical plate is optically coated according to the working band. The thickness of the transmission plate can be designed according to the size of the image shift compensation amount. According to the size and direction of the image shift, each optical plate is driven by the corresponding two-dimensional deflection mechanism to achieve quantitative angle deflection, change the position and speed of the image point, thereby achieving fine compensation for the image shift of the spliced ​​detector submodule, and ensuring the imaging quality of each spliced ​​detector submodule on the entire focal plane.

[0012] To achieve the above object, the present invention adopts the following technical solutions:

[0013] A distributed image motion compensation mechanism, suitable for a spliced ​​detector, comprising:

[0014] A plurality of spliced ​​detector submodules, each spliced ​​detector submodule corresponding to an optical flat sheet;

[0015] A plurality of two-dimensional angle deflection mechanisms, each of which is fixedly connected to an optical plate and is used to drive the optical plate to deflect in a two-dimensional plane;

[0016] The optical plate is located between the spliced ​​detector and the optical lens, and the optical plate is driven to deflect by the two-dimensional angle deflection mechanism to generate a predetermined image point displacement and speed to compensate for image shift and achieve image stabilization;

[0017] The optical plate is a transmission element or a reflection element. The size and compensation capability of the image point displacement of the transmission element are determined by the deflection angle and thickness. The size and compensation capability of the image point displacement of the reflection element are determined by the deflection angle and the distance from the rotation center of the reflection element to the center of the corresponding spliced ​​detector submodule.

[0018] Furthermore, the optical plate is a transmission element, and its thickness is designed to be uniform or non-uniform, wherein the thickness of the optical plate is a function of the aperture, for example, the thickness of the optical plate increases from the center to the edge as the radius increases.

[0019] Furthermore, the optical plate is a reflective element, and the image shift compensation amount thereof is approximately linearly related to the distance from the rotation center to the center of the spliced ​​detector submodule and the deflection angle.

[0020] Furthermore, the two-dimensional angle deflection mechanism is an XY two-axis angle deflection structure, which is driven by a series or parallel shaft system mechanism or a flexible hinge mechanism.

[0021] Furthermore, the two-dimensional angle deflection mechanism determines the deflection angle and stroke according to the magnitude and speed of the image shift, so as to generate a specified image point displacement and speed within a specified time.

[0022] Furthermore, a plurality of spliced ​​detector submodules may share an optical flat plate and be driven by a two-dimensional angle deflection mechanism.

[0023] Furthermore, the optical plate is optically coated and fixed on a two-dimensional angle deflection mechanism to achieve XY two-dimensional light beam translation control and change the speed and position of the image point on the image plane.

[0024] On the other hand, the present invention provides a distributed image motion compensation method, which is applied to the aforementioned distributed image motion compensation mechanism, comprising:

[0025] Step 1: Separate the two-dimensional angle deflection mechanism and send a reset command. Each two-dimensional angle deflection mechanism is reset and ready to be in the starting position.

[0026] Step 2: Before starting imaging, the imaging control unit sets imaging parameters such as exposure time according to current imaging conditions.

[0027] Step 3: According to the imaging parameters, the two-dimensional angle deflection mechanism calculates the image motion velocity vector, and generates the deflection angle and deflection angular velocity control amount of the two-dimensional angle deflection mechanism;

[0028] Step 4, start imaging. During the exposure time, the two-dimensional angle deflection mechanism generates a predetermined angle deflection according to the deflection angle and deflection angular velocity control amount of the two-dimensional angle deflection mechanism control unit, and completes the image shift compensation of the corresponding splicing detector submodule under the current imaging parameters.

[0029] Step 5: The two-dimensional angle deflection mechanism control unit sends a reset command, the optical plate array resets, deflects at a predetermined angle and speed, and returns to the initial position; and prepares for the next imaging.

[0030] In a third aspect, the present invention provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned distributed image motion compensation method.

[0031] In a fourth aspect, the present invention provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the aforementioned distributed image motion compensation method.

[0032] The beneficial effects of the present invention are:

[0033] The present invention proposes a distributed reflection or transmission galvanometer array to form a distributed image motion compensation mechanism, which realizes block and partition image motion compensation of ultra-large arrays or ultra-long linear arrays through the idea of ​​divide and conquer. Compared with traditional reflection galvanometers, the deflection angle of the transmission optical plate and the deflection angle of the flat plate are close to linear changes, which improves the accuracy and response speed of wide-width and high-resolution imaging image motion compensation and reduces the control difficulty. It has a wide range of application scenarios, such as optoelectronic remote sensing instruments, photographic optics, and light beam scanning control on large-scale target surfaces. The transmission discrete flat plate can be placed in the rear-end optical path of a large aperture and small F number, and the volume structure is compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the spliced ​​detector;

[0035] FIG. 2 (a) is a schematic diagram of an array mode structure of a distributed image motion compensation mechanism of the present invention;

[0036] FIG2( b ) is a schematic diagram of a single module of a distributed image motion compensation mechanism of the present invention;

[0037] FIG3 (a) is a schematic diagram of the principle of image point movement for image motion correction using a transmission flat plate;

[0038] FIG3( b ) is a schematic diagram of the principle of image point movement for image motion correction using a reflective flat plate;

[0039] Figure 4 Schematic diagram of generation and compensation of image motion velocity vector;

[0040] Figure 5 It is a schematic diagram of the integrated focal plane adjustment mechanism;

[0041] FIG6 (a) is a schematic diagram of the distributed image motion compensation mechanism in the optical path;

[0042] FIG6 (b) is a partial enlarged view of the distributed image motion compensation mechanism in the optical path;

[0043] FIG6 (c) is a schematic diagram of a single submodule of the distributed image motion compensation mechanism;

[0044] Figure 7 The present invention is a flow chart of a distributed image motion compensation method. DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0046] As shown in FIG. 2 (a) and FIG. 2 (b), the present invention discloses a distributed image shift compensation mechanism, which is suitable for a spliced ​​detector. The core feature of the mechanism is that a discrete optical plate with a deflectable angle is installed between the spliced ​​detector and the optical lens. The corresponding optical plate is driven to rotate by a discrete two-dimensional angle deflection mechanism (i.e., a discrete galvanometer control unit) to generate a predetermined image point displacement and speed, thereby compensating for the image shift and achieving image stability. The deflection angle and the thickness of the optical plate determine the size of the image point displacement and the compensation capability.

[0047] Based on the staggered splicing of short lines or small arrays, each spliced ​​detector submodule Add a relatively independent optical flat plate , the corresponding optical plate Fixed in a two-dimensional angle deflection mechanism Without loss of generality, the most sophisticated processing method is to correspond one optical (transmission or reflection) flat plate to one spliced ​​detector submodule. In fact, the image shift is not abrupt, but approximately changes continuously. At this time, one optical (transmission or reflection) flat plate can correspond to two or more adjacent spliced ​​detector submodules. When multiple spliced ​​detector submodules share one optical flat plate, it is equivalent to that the image shift compensation of multiple spliced ​​detector submodules is controlled by a two-dimensional deflection mechanism.

[0048] The two-dimensional angle deflection mechanism is an XY two-axis angle deflection structure. It can adopt a traditional axis system mechanism, such as a classic two-axis angle deflection table, or a parallel multi-dimensional table, flexible hinge and other mechanisms, such as a micro-displacement mechanism driven by piezoelectric ceramics, ultrasonic motors, etc., to generate a two-dimensional rotation angle.

[0049] The stroke and kinematic characteristics of the two-dimensional angle deflection mechanism are important parameters that affect the image motion compensation effect. On the one hand, the formation of the deflection mechanism is determined according to the size of the image motion, and the parameter design and model selection of the deflection mechanism are also carried out according to the image motion speed. That is, the two-dimensional angle deflection mechanism must generate a specified deflection angle within a specified time, so as to obtain a specified image point displacement and speed.

[0050] The discrete two-dimensional angle deflection mechanism independently drives each optical plate to generate a corresponding precise angle, thereby achieving fine image shift compensation for each spliced ​​detector submodule. Since the spliced ​​detector has multiple spliced ​​detector submodules, corresponding to multiple two-dimensional angle deflection mechanisms, multiple constraints such as power consumption, heat dissipation, volume, and compactness of the mechanism need to be considered.

[0051] Preferably, the optical plate can be a transmission element or a reflection element.

[0052] If the optical plate is a reflective element, a reflective discrete two-dimensional deflection mirror array is formed, and the discrete two-dimensional deflection mirrors correspond to the spliced ​​detector submodules one by one, and the image shift of each spliced ​​detector submodule is finely compensated.

[0053] If the optical plate is a transmission element, a transmission-type discrete two-dimensional deflection mirror array is formed, in which the thickness of the transmission-type optical plate is also a design variable. The thickness of each discrete optical plate can be the same or different. The thicker the optical plate, the greater the image point movement at the same deflection angle. For example, for the spliced ​​detector submodules at both ends, a relatively thick optical plate is set, and for the optical plate in the middle, a relatively thin optical plate is set. This problem does not need to be considered for reflective optical plates.

[0054] Figure 3 (a) shows the displacement of the image point at a certain deflection angle θ for a single discrete transmissive optical plate of thickness d:

[0055] (1)

[0056] Where d is the thickness of the transmissive optical plate, n is the refractive index of the transmissive optical plate, is the rotation angle of the transmission optical plate. As shown in Figure 3(a), when the transmission optical plate is in a horizontal position, the rotation angle is 0, which is recorded as , when it is generated upward or downward respectively or When the corner (i.e. At this time, the value is or ), compensated according to the displacement of the image point or .

[0057] As shown in Figure 3(b), when the optical plate is a reflective element, at a certain deflection angle The displacement of the lower image point is:

[0058] (2)

[0059] Where E is the distance from the rotation center of the reflective optical plate to the center of the corresponding spliced ​​detector submodule, is the relative rotation angle of the reflective optical plate.

[0060] Without loss of generality, when the reflective optical plate is at the starting position, the rotation angle is 0, which is recorded as , when it is generated in the forward or reverse direction or When the corner (i.e. At this time, the value is or ), compensated according to the displacement of the image point or .

[0061] At a small rotation angle, the image shift compensation of the reflective optical plate is related to E and the rotation angle. It is approximately linearly related and has nothing to do with the thickness d of the reflection plate.

[0062] Preferably, the aforementioned transmissive and reflective optical plates are of uniform thickness. A transmissive optical plate of non-uniform thickness may also be used, for example, thinner in the center and gradually thicker at the edge. The thickness of the transmissive optical plate increases with the radius, that is, the thickness of the transmissive optical plate is a function of the aperture. In this way, the compensation capability of the image shift can be further adjusted.

[0063] The structural changes of the camera and telescope optoelectronic system caused by thermal deformation, stress, and gravity lead to changes in the relative position of the image plane and the detector submodule, which can be considered as a relatively constant or slowly changing image shift in time. Combined with formulas (1)-(2), the present invention can also correct this item, that is, compensate for the changes in the image point position caused by the temperature drift and deformation of the remote sensing camera itself.

[0064] Considering the thickness of the discrete transmission optical plate when designing the optical path can reduce the aberration of the optical plate. When designing the reflective optical plate, it is necessary to consider that the optical path should reserve enough back intercept, that is, E.

[0065] Based on the above principle, a distributed image motion compensation mechanism as shown in FIG2 (a) and FIG2 (b) is formed, that is, each optical plate is installed in an independent two-dimensional angle deflection mechanism. The two-dimensional angle deflection mechanism frame follows the change in size and direction of the image motion velocity vector to generate a two-dimensional angle deflection angle, drive the optical plate to rotate, and generate a corresponding opposite image point movement, so that the image point and the image plane maintain a relatively fixed position relationship, thereby realizing image motion compensation.

[0066] According to the calculated image shift, the image shift is the relative motion of the ground object or imaging detector based on the lens. Apply an equal and opposite velocity vector to the image point, so that it is opposite in magnitude and direction to the image shift velocity, then the image point and the corresponding detector remain relatively still, achieving image shift compensation, thereby obtaining a clear image. When the optical remote sensing camera has only one detector chip, it is a special case of the above analysis, that is, there is only one optical flat plate and corresponding two-dimensional deflection mechanism.

[0067] like Figure 4 As shown, due to the projection speed V of the aerospace carrier or flight platform on the ground carrier It is relatively large and has a wide width. Under different attitude maneuvers, the platform flight speed in the wingspan direction on both sides, the speed of the scenery or target V target , and the mirror scanning or attitude maneuvering speed V of some cameras attitude or V scan , the three vector synthesis, under complex motion, the image velocity vector V image The relative position to the area array or linear array detector changes with time.

[0068] In particular, detectors of TDI or area array staring exposure require that the image point and the corresponding pixel remain relatively still during the exposure time. Therefore, it is necessary to calculate the image motion velocity vector V for the image motion problem. compensation Through the method of image motion compensation, the image point generates a velocity vector that is opposite to the image motion speed, so that it remains relatively still with the image element on the image plane. After completing the exposure of one frame of image, the image motion compensation mechanism is reset to continue the image motion compensation for the next frame of image.

[0069] For focal adjustment, such as Figure 5 As shown in the figure, some scholars have realized an integrated focal plane adjustment mechanism, where the entire long strip focal plane is divided into multiple sub-areas, each of which has an independent focal plane adjustment mechanism. The focal plane adjustment mechanism includes displacement adjustment along the optical axis in the focal depth direction and angle adjustment of rotation around the optical axis, but its essence is to directly rotate the spliced ​​detector submodule to adjust the platform flight speed, the speed of the scene or target, and the attitude maneuvering speed, so that the synthetic speed direction is as consistent as possible with the direction of TDI transfer, thereby reducing the deviation angle error.

[0070] The present invention can not only independently calibrate a single module, but also combine multiple modules to perform unified correction in a larger local area. Through a discrete two-dimensional adjustment mechanism, the optical plate is rotated to achieve image point image shift compensation. There is no need to directly move the detector chip. Therefore, the present invention has more advantages in decoupling design.

[0071] The submodules of short-wave, medium-wave and long-wave infrared detectors generally work in low temperature (typical value 77K) and vacuum Dewar containers (below 1E-2Pa). Short-wave, medium-wave and long-wave infrared detectors have active or passive refrigeration components. The refrigerator is connected to the detector chip through necessary pipelines or mechanical hard connections, which are not suitable for reciprocating rotation. The distributed optical flat plate is arranged outside the detector, and there is no need to specifically consider the work inside the Dewar container. The decoupling design reduces the difficulty of designing the image motion compensation mechanism.

[0072] The present invention can be used for image motion compensation of a flat image plane, and can also be used for image motion compensation of a curved image plane or a curved spliced ​​detector, such as the curved image plane of a Kepler telescope.

[0073] As shown in Figure 6 (a), Figure 6 (b), and Figure 6 (c), the spliced ​​focal plane matches an independent optical plate for each spliced ​​detector. Each optical plate is processed with corresponding optical coating and fixed on a two-dimensional angle deflection mechanism. The two-dimensional angle deflection mechanism consists of a rotation mechanism around the X and Y axes, and can also have more degrees of freedom or motion dimensions. The XY two-dimensional beam translation control is realized to change the speed and position of the image point on the image plane. The control unit of the two-dimensional angle deflection mechanism generates the control parameters of the galvanometer and image shift compensation according to the imaging and image shift parameters.

[0074] In particular, Figure 1 In Figure 6(c), the coordinate axes XY represent the entire image plane, and Z represents the visual axis. A represents the image plane, and D i It is a splicing detector submodule that divides the image plane.

[0075] like Figure 7 FIG. 1 is a flow chart of a distributed image motion compensation method of the present invention, and the method is applied to the aforementioned compensation mechanism, and specifically includes:

[0076] Step 1: Separate the two-dimensional angle deflection mechanism, send a reset command, and each two-dimensional angle deflection mechanism is reset and ready to be in the starting position;

[0077] Step 2: Before starting imaging, the imaging control unit sets imaging parameters such as exposure time according to current imaging conditions;

[0078] Step 3: According to the imaging parameters, the two-dimensional angle deflection mechanism calculates the image motion velocity vector, and generates the deflection angle and deflection angular velocity control amount of the two-dimensional angle deflection mechanism;

[0079] Step 4, imaging starts. During the exposure time, the two-dimensional angle deflection mechanism generates a predetermined angle deflection according to the deflection angle and deflection angular velocity control amount of the two-dimensional angle deflection mechanism control unit, and completes the image motion compensation of the corresponding spliced ​​detector submodule under the current imaging parameters;

[0080] Step 5, the imaging control unit controls the end of imaging of the current frame image; the two-dimensional angle deflection mechanism control unit sends a reset instruction, the optical flat plate array resets, deflects at a predetermined angle and speed, and returns to the initial position; and prepares for the next imaging.

[0081] The present invention can be used in the fields of remote sensing optical instruments, photographic optics, etc., using distributed optical flat sheets to stabilize each chip of the spliced ​​detector. For example, for a traditional SLR camera, when there is only one detector chip, it can be considered as a special case of the method and mechanism in this article. It can also be used for beam scanning control on a large-scale target surface. First, the area of ​​the large-scale target surface is divided into multiple sub-areas, and the beams of the sub-areas are finely controlled respectively, so as to achieve fine control of the beam on the entire target surface.

[0082] In addition, the present invention can use a reflective optical plate and a transmissive discrete plate. Based on the double angle relationship of the reflective galvanometer, the deflection angle of the galvanometer has a high control accuracy requirement. At the same time, the folding of the reflective galvanometer requires that the optical path has enough space to arrange the reflector. In the optical path with a small F number, it is difficult to have enough back intercept for arranging the reflective galvanometer. The transmissive discrete plate can be placed in the rear optical path with a large aperture and a small F number, and has the advantage of a compact volume structure. The image shift compensator mechanism based on the discrete plate drives the change of the rotation angle and image shift of the optical plate to be more linear, reduces the motion control requirements of the two-dimensional deflection mechanism, and can achieve high-frequency compensation of image shift in two directions.

[0083] In a third aspect, the present invention provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned distributed image motion compensation method.

[0084] In a fourth aspect, the present invention provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the aforementioned distributed image motion compensation method.

[0085] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A distributed image motion compensation mechanism, suitable for splicing detectors, characterized in that: include: Each spliced ​​detector submodule corresponds to an optical flat sheet; A plurality of two-dimensional angle deflection mechanisms, each of which is fixedly connected to an optical plate and is used to drive the optical plate to deflect in a two-dimensional plane; The optical plate is located between the spliced ​​detector and the optical lens, and the optical plate is driven to deflect by the two-dimensional angle deflection mechanism to generate a predetermined image point displacement and speed to compensate for image shift and achieve image stabilization; The optical plate is a transmission element or a reflection element. The size and compensation capability of the image point displacement of the transmission element are determined by the deflection angle and thickness. The size and compensation capability of the image point displacement of the reflection element are determined by the deflection angle and the distance from the rotation center of the reflection element to the center of the corresponding spliced ​​detector submodule.

2. A distributed image motion compensation mechanism according to claim 1, characterized in that: The optical plate is a transmissive element, the thickness of which is a function of the aperture and can be of uniform or non-uniform design.

3. The distributed image motion compensation mechanism according to claim 1, characterized in that: The optical flat plate is a reflective element, and the image shift compensation amount thereof is related to the distance from the rotation center to the center of the spliced ​​detector submodule and the deflection angle.

4. The distributed image motion compensation mechanism according to claim 1, characterized in that: The two-dimensional angle deflection mechanism is an XY two-axis angle deflection structure, and is driven by a series or parallel shaft system mechanism or a flexible hinge mechanism.

5. The distributed image motion compensation mechanism according to claim 1, characterized in that: The two-dimensional angle deflection mechanism determines the deflection angle and stroke according to the size and speed of the image shift amount, so as to generate a specified image point displacement and speed within a specified time.

6. The distributed image motion compensation mechanism according to claim 1, characterized in that: Multiple spliced ​​detector submodules can also share an optical plate and be driven by a two-dimensional angle deflection mechanism.

7. The distributed image motion compensation mechanism according to claim 1, characterized in that: The optical flat plate is optically coated and fixed on a two-dimensional angle deflection mechanism to realize XY two-dimensional light beam translation control and change the speed and position of the image point on the image plane.

8. A distributed image motion compensation method, applied to a distributed image motion compensation mechanism according to any one of claims 1 to 7, characterized in that: include: Step 1: Separate the two-dimensional angle deflection mechanism, send a reset command, and each two-dimensional angle deflection mechanism is reset and ready to be in the starting position; Step 2: Before starting imaging, the imaging control unit sets the exposure time imaging parameters according to the current imaging conditions; Step 3: According to the imaging parameters, the two-dimensional angle deflection mechanism calculates the image motion velocity vector, and generates the deflection angle and deflection angular velocity control amount of the two-dimensional angle deflection mechanism; Step 4, imaging starts. During the exposure time, the two-dimensional angle deflection mechanism generates a predetermined angle deflection according to the deflection angle and deflection angular velocity control amount of the two-dimensional angle deflection mechanism control unit, and completes the image motion compensation of the corresponding spliced ​​detector submodule under the current imaging parameters; Step 5: The two-dimensional angle deflection mechanism control unit sends a reset command, and the optical flat sheet array is reset, deflected at a predetermined angle and speed, and returns to the initial position; Prepare for next imaging.

9. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs; Wherein, when one or more programs are executed by the one or more processors, the one or more processors implement a distributed image motion compensation method as described in claim 8.

10. A computer-readable storage medium, characterized in that: Executable instructions are stored thereon, and when the instructions are executed by the processor, the processor can implement the distributed image motion compensation method described in claim 8.

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