Scanning control method, device and system and computer readable storage medium

Abstract

The invention relates to a scanning control method, device and system and a computer readable storage medium. The zero angle position of the scanning mirror is calibrated through the Hall sensor, the position of the stepping motor at the zero angle position of the scanning mirror is determined as the reference zero position of the stepping motor, and a non-uniform scanning curve of the scanning mirror is obtained based on the motion mode and the imaging position of the scanning mirror. And generating a motion trail of the stepping motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepping motor, and controlling the stepping motor based on the motion trail of the stepping motor to drive the scanning mirror to perform non-uniform scanning. According to the embodiment of the invention, the non-uniform scanning curve of the scanning mirror is obtained based on the motion mode and the imaging position of the scanning mirror, the motion trail of the stepping motor is further generated, and then the stepping motor is controlled based on the motion trail of the stepping motor, so that the scanning mirror performs non-uniform scanning without changing the optical structure of a camera or additionally increasing the cost. And stable and clear imaging can be realized.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite remote sensing technology, and in particular to a scanning control method, device, system and computer-readable storage medium. Background Art

[0002] The scanning device is the main structure of the satellite space infrared camera which mainly uses optical mechanical scanning, and is also one of the key factors for infrared satellites to obtain wide-area and high-resolution remote sensing images.

[0003] Uncooled infrared detectors use thermoelectric effect detection, which has a long response time. Traditional spatial optical scanning mechanisms mainly use uniform scanning. For high-temperature targets such as wildfires, the thermoelectric conversion time is long, so the uniform scanning method is likely to cause the infrared imaging system to have a short imaging time, which in turn leads to image tailing. The use of compensation mirrors will complicate the camera's optical structure, increase the camera's unreliability, weight and cost. Therefore, it is necessary to provide a scanning control method so that the uncooled infrared detector can achieve stable and clear imaging. Summary of the invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a scanning control method, device, system and computer-readable storage medium.

[0005] In a first aspect, an embodiment of the present disclosure provides a scanning control method, the method comprising:

[0006] The zero angle position of the scanning mirror is calibrated by the Hall sensor, and the position of the stepper motor when the scanning mirror is at the zero angle position is determined as the reference zero position of the stepper motor;

[0007] Based on the motion mode and imaging position of the scanning mirror, a non-uniform scanning curve of the scanning mirror is obtained, wherein the motion mode of the scanning mirror includes a stay, uniform acceleration, uniform speed and uniform deceleration motion mode;

[0008] Generate a motion trajectory of the stepper motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor;

[0009] The stepper motor is controlled based on the motion trajectory of the stepper motor to drive the scanning mirror to perform non-uniform scanning.

[0010] In some embodiments, obtaining the non-uniform scanning curve of the scanning mirror based on the motion mode and imaging position of the scanning mirror includes:

[0011] Based on the imaging requirement information, the motion patterns of the scanning mirror are combined to form a non-uniform scanning imaging mode;

[0012] Based on the non-uniform scanning imaging mode and the imaging position, a non-uniform scanning curve of the scanning mirror is obtained.

[0013] In some embodiments, the non-uniform scanning imaging mode includes:

[0014] Dwell imaging mode: a preset number of dwell imaging is performed in one scanning cycle, the interval between adjacent angular positions where the scanning mirror stays is a preset angle, and the dwell time at each angular position is a preset time;

[0015] Uniform acceleration mode: The scanning mirror has two uniform acceleration conditions with different accelerations. The first condition is the uniform acceleration during the imaging interval, with the acceleration being the first acceleration and the time being the first target time; the second condition is the uniform acceleration during the non-imaging period, with the acceleration being the second acceleration and the time being the second target time;

[0016] Uniform deceleration mode: The scanning mirror has two uniform deceleration conditions with different accelerations. The first condition is the uniform deceleration during the imaging interval, with the acceleration being the first acceleration in the opposite direction and the time being the first target time; the second condition is the uniform deceleration during the non-imaging period, with the acceleration being the second acceleration in the opposite direction and the time being the second target time;

[0017] Uniform speed mode: During the non-imaging period, the angular velocity of the scanning mirror is the preset angular velocity, and the time is the third target time.

[0018] In some embodiments, generating the motion trajectory of the stepper motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor includes:

[0019] Based on the non-uniform scanning curve of the scanning mirror, the scanning process of one scanning cycle is decomposed into multiple sections;

[0020] Calculating kinematic parameters of each segment, wherein the kinematic parameters of each segment include target position, velocity, acceleration and duration;

[0021] A motion trajectory of the stepper motor is generated based on the kinematic parameters of each section and the reference zero position of the stepper motor.

[0022] In some embodiments, controlling the stepper motor based on the motion trajectory of the stepper motor includes:

[0023] Acquiring the current position of the stepper motor, and calculating the position deviation between the current position of the stepper motor and the target position of the current section;

[0024] Based on the position deviation, a corresponding control output value is calculated through a proportional-integral-derivative control model;

[0025] Converting the control output value into a control signal, and sending the control signal to a stepper motor driver;

[0026] The stepper motor is controlled by the stepper motor driver based on a control signal.

[0027] In some embodiments, the proportional integral derivative control model is expressed as follows:

[0028] u i =Kp i *e i +Ki i *∫e i dt+Kd i *de i / dt

[0029] Among them, u i represents the control output value of the ith section; Kp i 、Ki i , Kd i They represent the proportional coefficient, integral coefficient and differential coefficient of the proportional-integral-differential control model of the i-th section respectively; e i represents the position deviation of the i-th segment; ∫e i dt represents the cumulative value of position deviation of the i-th segment; de i / dt represents the position deviation change rate of the i-th segment.

[0030] In some embodiments, after controlling the stepper motor based on the motion trajectory of the stepper motor, the method further includes:

[0031] Obtaining the angular position of the scanning mirror, and determining whether the angular position of the scanning mirror is a stop angular position;

[0032] If it is a stop angle position, the stepper motor will be stopped and a pulse signal will be sent to trigger the detector to take a picture.

[0033] In a second aspect, an embodiment of the present disclosure provides a scanning control device, the device comprising:

[0034] A determination unit, used for calibrating the zero angle position of the scanning mirror through a Hall sensor, and determining the position of the stepper motor when the scanning mirror is at the zero angle position as the reference zero position of the stepper motor;

[0035] An obtaining unit, for obtaining a non-uniform scanning curve of the scanning mirror based on a motion mode and an imaging position of the scanning mirror, wherein the motion mode of the scanning mirror includes a stay, uniform acceleration, uniform speed, and uniform deceleration motion mode;

[0036] A generating unit, configured to generate a motion trajectory of the stepper motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor;

[0037] A control unit is used to control the stepper motor based on the motion trajectory of the stepper motor to drive the scanning mirror to perform non-uniform scanning.

[0038] In the third aspect, an embodiment of the present disclosure provides a scanning control system, which includes a scanning mirror, a stepper motor, a bearing, a harmonic reducer, a Hall sensor and an angle measuring sensor; a stepper motor and a harmonic reducer are installed on the left side, an angle measuring sensor and a Hall sensor are installed on the right side, the middle side is a scanning mirror, and the bearings are solid lubricated; the start and stop and high-speed rotation of the stepper motor are controlled by a control signal, and the angular velocity is transmitted to the scanning mirror through the harmonic reducer and the bearing, thereby driving the scanning mirror to rotate.

[0039] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the method as described in the first aspect.

[0040] In a fifth aspect, an embodiment of the present disclosure further provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the method described in the first aspect is implemented.

[0041] The scanning control method, device, system and computer-readable storage medium provided by the embodiments of the present disclosure calibrate the zero angle position of the scanning mirror through the Hall sensor, determine the position of the stepper motor when the scanning mirror is at the zero angle position as the reference zero position of the stepper motor, obtain the non-uniform scanning curve of the scanning mirror based on the motion mode and imaging position of the scanning mirror, the motion mode of the scanning mirror includes the motion mode of stay, uniform acceleration, uniform speed and uniform deceleration, generate the motion trajectory of the stepper motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor, and control the stepper motor based on the motion trajectory of the stepper motor to drive the scanning mirror to perform non-uniform scanning. Compared with the prior art, the embodiments of the present disclosure obtain the non-uniform scanning curve of the scanning mirror based on the motion mode and imaging position of the scanning mirror, further generate the motion trajectory of the stepper motor, and then control the stepper motor based on the motion trajectory of the stepper motor, so as to realize the non-uniform scanning of the scanning mirror, without changing the optical structure of the camera, without additionally increasing the cost, so that the uncooled infrared detector can image stably and clearly. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 A flow chart of a scanning control method provided by an embodiment of the present disclosure;

[0045] Figure 2 A flow chart of a scanning control method provided by another embodiment of the present disclosure;

[0046] Figure 3 A schematic diagram of a non-uniform scanning curve of a scanning mirror provided in an embodiment of the present disclosure;

[0047] Figure 4 A block diagram of a scanning control computer program design provided for an embodiment of the present disclosure;

[0048] Figure 5 A schematic diagram of the structure of a scanning control device provided in an embodiment of the present disclosure;

[0049] Figure 6 A schematic diagram of the scanning control system architecture of the scanning mirror provided in an embodiment of the present disclosure;

[0050] Figure 7 A schematic diagram of the structure of a scanning control system provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0051] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0052] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0053] The scanning device is the main structure of the satellite space infrared camera which mainly uses optical mechanical scanning, and is also one of the key factors for infrared satellites to obtain wide-area and high-resolution remote sensing images.

[0054] Uncooled infrared detectors use thermoelectric effect detection, which has a long response time. Traditional spatial optical scanning mechanisms mainly use uniform scanning. For high-temperature targets such as wildfires, the thermoelectric conversion time is long, so the uniform scanning method is likely to cause the infrared imaging system to have a short imaging time, which in turn leads to image tailing. The use of compensation mirrors will complicate the camera's optical structure, increase the camera's unreliability, weight and cost. Therefore, it is necessary to provide a scanning control method so that the uncooled infrared detector can achieve stable and clear imaging.

[0055] To address this problem, an embodiment of the present disclosure provides a scanning control method, which is described below in conjunction with a specific embodiment.

[0056] Figure 1 A flow chart of the scanning control method provided in the embodiment of the present disclosure. The execution subject of the method is an electronic device, which can be a scanning control device, specifically a tablet computer, a laptop computer; it can also be a personal computer and other devices. The method can be applied to the scene of scanning control of the scanning mirror, and can realize non-uniform scanning of the scanning mirror without changing the optical structure of the camera and adding no extra cost, so that the uncooled infrared detector can achieve stable and clear imaging. It can be understood that the scanning control method provided in the embodiment of the present disclosure can also be applied in other scenarios.

[0057] Below Figure 1 The scanning control method shown in the figure is introduced, and the specific steps of the method are as follows:

[0058] S101, calibrating the zero angle position of the scanning mirror by using a Hall sensor, and determining the position of the stepper motor when the scanning mirror is at the zero angle position as the reference zero position of the stepper motor.

[0059] In this step, by rotating the scanning mirror, find the position where the Hall sensor senses the change in magnetic field, calibrate it as the zero angle position of the scanning mirror, and record the pulse number or angle value of the stepper motor at this time as the reference zero position of the stepper motor.

[0060] S102, obtaining a non-uniform scanning curve of the scanning mirror based on a motion mode and an imaging position of the scanning mirror, wherein the motion mode of the scanning mirror includes a stay, uniform acceleration, uniform speed, and uniform deceleration motion mode.

[0061] In this step, according to different motion modes of the scanning mirror and the imaging position, a non-uniform scanning curve of the scanning mirror can be constructed, such as Figure 3As shown, the non-uniform scanning curve of the scanning mirror represents the relationship curve between the angular velocity of the scanning mirror and time, wherein the horizontal axis is time and the vertical axis is the angular velocity of the scanning mirror. Optionally, the imaging position is a plurality of angular positions of the imaging pre-set by the user. Optionally, the motion mode of the scanning mirror includes a stay, uniform acceleration, uniform speed and uniform deceleration motion modes, and may also include other motion modes, without specific limitation.

[0062] S103, generating a motion trajectory of the stepper motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor.

[0063] In this step, after the non-uniform scanning curve of the scanning mirror is obtained, the motion trajectory of the stepper motor is generated according to the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor. Specifically, the motion trajectory of the stepper motor can be obtained according to the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor, combined with the kinematic relationship between the stepper motor and the scanning mirror. In some embodiments, the kinematic relationship between the stepper motor and the scanning mirror is: the angular velocity ratio of the stepper motor and the scanning mirror is 64:1, which is not limited.

[0064] In some embodiments, S103 may include but is not limited to S1031, S1032, S1033:

[0065] S1031, based on the non-uniform scanning curve of the scanning mirror, decomposing a scanning process of a scanning cycle into multiple sections;

[0066] S1032, calculating the kinematic parameters of each section, wherein the kinematic parameters of each section include target position, speed, acceleration and duration;

[0067] S1033, generating a motion trajectory of the stepper motor based on the kinematic parameters of each section and the reference zero position of the stepper motor.

[0068] In this embodiment, the scanning process of a scanning cycle (180°) can be decomposed into multiple segments according to the non-uniform scanning curve of the scanning mirror and the imaging requirement information. Furthermore, the kinematic parameters such as the target position, speed, acceleration and duration of each segment are calculated, and then the motion trajectory of the stepper motor is generated according to the kinematic parameters of each segment and the reference zero position of the stepper motor.

[0069] S104, controlling the stepper motor based on the motion trajectory of the stepper motor to drive the scanning mirror to perform non-uniform speed scanning.

[0070] In this step, after the motion trajectory of the stepper motor is obtained, the stepper motor is controlled according to the motion trajectory of the stepper motor to keep the stepper motor synchronized with the scanning curve, thereby driving the scanning mirror to perform non-uniform scanning. Specifically, the control signal of the stepper motor can be obtained according to the motion trajectory of the stepper motor, and the speed and position of the stepper motor can be further adjusted according to the control signal of the stepper motor to keep the stepper motor synchronized with the scanning curve.

[0071] In some embodiments, the position of the stepper motor can be monitored in real time by an angle sensor, and the scanning process can be controlled and adjusted in real time in combination with the imaging duration to achieve accurate positioning of the scanning mirror and the required time control.

[0072] In some embodiments, after controlling the stepper motor based on the motion trajectory of the stepper motor, the method further includes: acquiring the angular position of the scanning mirror, and determining whether the angular position of the scanning mirror is a stay angle position; if it is a stay angle position, stopping the stepper motor and sending a pulse signal to trigger the detector to take a picture.

[0073] In this embodiment, the angular position information of the scanning mirror can be obtained, and then it is determined whether the angular position of the scanning mirror is a stop angle position: if it is a stop angle position, the motor will be stopped and a pulse signal will be sent to trigger the detector to take a picture. At the same time, the timer will work and start timing. After the time is up, the motor will continue to work and the scanning mirror will continue to scan. In some embodiments, if it is not a stop angle position, the stepper motor is continued to be controlled by a control signal to change the scanning speed of the scanning mirror. It can be ensured that the scanning mirror moves in a set order within the motion cycle and continues to rotate after stably staying at each imaging position for a certain period of time, so as to avoid the target tailing effect caused by fast speed during imaging.

[0074] The disclosed embodiment calibrates the zero angle position of the scanning mirror through the Hall sensor, determines the position of the stepper motor when the scanning mirror is at the zero angle position as the reference zero position of the stepper motor, obtains the non-uniform scanning curve of the scanning mirror based on the motion mode and imaging position of the scanning mirror, and the motion mode of the scanning mirror includes the motion modes of stay, uniform acceleration, uniform speed and uniform deceleration, generates the motion trajectory of the stepper motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor, and controls the stepper motor based on the motion trajectory of the stepper motor to drive the scanning mirror to perform non-uniform scanning. Compared with the prior art, the disclosed embodiment obtains the non-uniform scanning curve of the scanning mirror based on the motion mode and imaging position of the scanning mirror, further generates the motion trajectory of the stepper motor, and then controls the stepper motor based on the motion trajectory of the stepper motor, so as to realize the non-uniform scanning of the scanning mirror, without changing the optical structure of the camera, and without adding extra cost, so that the non-cooled infrared detector can image stably and clearly.

[0075] Figure 2 A flow chart of a scanning control method provided by another embodiment of the present disclosure is shown in FIG. Figure 2 As shown, the method includes the following steps:

[0076] S201, calibrating the zero angle position of the scanning mirror through the Hall sensor, and determining the position of the stepper motor when the scanning mirror is at the zero angle position as the reference zero position of the stepper motor.

[0077] Specifically, the implementation process and principle of S201 and S101 are the same, and will not be repeated here.

[0078] S202: Based on the imaging requirement information, the motion modes of the scanning mirror are combined to form a non-uniform scanning imaging mode.

[0079] Optionally, the imaging requirement information is used to characterize the number of imaging times, and can also be used to characterize the time of each imaging, and the angle position of each imaging, without limitation. In this step, the scanning control device can combine the stop, uniform acceleration, uniform speed, and uniform deceleration motion modes of the scanning mirror according to the imaging requirement information to form a non-uniform scanning imaging mode.

[0080] In some embodiments, the non-uniform scanning imaging mode includes:

[0081] Dwell imaging mode: a preset number of dwell imaging is performed in a scanning cycle, the interval between adjacent angular positions where the scanning mirror stops is a preset angle, and the dwell time at each angular position is a preset time. For example, a total of 12 dwell imagings are performed, the interval between adjacent angular positions where the scanning mirror stops is a preset angle of 3.6°, the angular positions where the scanning mirror stops are 25.2°, 28.8°, 32.4°, 36°, 39.6°, 43.2°, 46.8°, 50.4°, 54°, 57.6°, 61.2°, 64.8°, respectively, and the preset time is 40ms. This embodiment is only an example, and does not specifically limit the preset number, preset angle, and preset time.

[0082] Uniform acceleration mode: The scanning mirror has two different uniform acceleration conditions. The first condition is uniform acceleration during the imaging interval, with the acceleration being the first acceleration and the time being the first target time; the second condition is uniform acceleration during the non-imaging period, with the acceleration being the second acceleration and the time being the second target time. For example, the first acceleration is 111.11° / s 2 , the first target time is 180ms, the second acceleration is 480° / s 2 , the first target time is 100ms. This embodiment is only an example, and does not specifically limit the first acceleration, the second acceleration, the first target time, and the second target time.

[0083] Decelerated uniform motion mode: There are two cases of decelerated uniform motion with different accelerations for the scanning mirror. The first case is the decelerated uniform motion during the imaging interval, with the acceleration being the first acceleration in the reverse direction and the time being the first target time. The second case is the decelerated uniform motion during the non-imaging period, with the acceleration being the second acceleration in the reverse direction and the time being the second target time. For example, the first acceleration in the reverse direction is -111.11° / s², the first target time is 180 ms, the second acceleration in the reverse direction is -480° / s², and the first target time is 100 ms. This embodiment is only an example and does not specifically limit the first acceleration in the reverse direction, the second acceleration in the reverse direction, the first target time, and the second target time.

[0084] Uniform motion mode: During the non-imaging period, the angular velocity of the scanning mirror is the preset angular velocity and the time is the third target time. For example, the preset angular velocity is 48° / s and the third target time is 2750 ms. This embodiment is only an example and does not specifically limit the preset angular velocity and the third target time.

[0085] S203. Obtain the non-uniform scanning curve of the scanning mirror based on the non-uniform scanning imaging mode and the imaging position.

[0086] In this step, the scanning control device can draw the non-uniform scanning curve of the scanning mirror as shown in Figure 3 The non-uniform scanning curve of the scanning mirror represents the relationship curve between the angular velocity of the scanning mirror and time. Among them, the abscissa is time and the ordinate is the angular velocity of the scanning mirror. As shown in Figure 3 In one cycle, a total of 13 start-stop operations are required. Among them, there are 12 start-stop operations during the imaging stage, and the rotation angle for each start-stop operation is 3.6°. The time for each uniform acceleration or deceleration is 180 ms. There is 1 start-stop operation during the non-imaging stage, the rotation angle is 136.8°, and the time for uniform acceleration or deceleration is 100 ms.

[0087] S204. Generate the motion trajectory of the stepping motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepping motor.

[0088] Specifically, the implementation processes and principles of S204 and S103 are the same and will not be elaborated here.

[0089] S205. Obtain the current position of the stepping motor and calculate the position deviation between the current position of the stepping motor and the target position of the current section.

[0090] In this step, the scanning control device can obtain the current position of the stepper motor by reading the current position monitored by the angle measuring sensor, the angle measuring sensor is, for example, an absolute angle sensor, or other sensors, without limitation. Further, the scanning control device calculates the position deviation between the current position of the stepper motor and the target position of the current section.

[0091] S206. Based on the position deviation, a corresponding control output value is calculated through a proportional-integral-differential control model.

[0092] In this step, the scanning control device can calculate the corresponding control output value using a proportional integral differential (PID) control model according to the position deviation between the current position of the stepper motor and the target position of the current section. Optionally, the control output value can be an output voltage.

[0093] In some embodiments, the proportional integral derivative control model is expressed as follows:

[0094] u i =Kp i *e i +Ki i *∫e i dt+Kd i *de i / dt

[0095] Among them, u i represents the control output value of the ith section; Kp i 、Ki i , Kd i They represent the proportional coefficient, integral coefficient and differential coefficient of the proportional-integral-differential control model of the i-th section respectively; e i represents the position deviation of the i-th segment; ∫e i dt represents the cumulative value of position deviation of the i-th segment; de i / dt represents the position deviation change rate of the i-th segment.

[0096] In some embodiments, the PID control model parameters can be adjusted according to actual conditions to obtain the best control effect; the scanning speed, acceleration, dwell time and other parameters can be changed to meet different imaging requirements.

[0097] S207: Convert the control output value into a control signal, and send the control signal to the stepper motor driver.

[0098] After calculating the corresponding control output value through the proportional integral differential control model, the scanning control device converts the control output value into a control signal and sends the control signal to the stepper motor driver. Optionally, the control signal can be a pulse width modulation (PWM) signal or other control signal, without specific limitation.

[0099] In some embodiments, the stepper motor drive is an inner loop through position closed-loop control, and the control method is a PID control method, that is, the Hall sensor obtains the reference zero position of the stepper motor, and on this basis calculates the number of rotation steps of the stepper motor, and obtains the rotation position of the stepper motor through the angle encoder, and performs position closed-loop control. When the stop angle is reached, the stepper motor oscillates back and forth. At this time, the stepper motor needs to be controlled by time to enter the next stop angle position.

[0100] S208 : Controlling the stepper motor based on the control signal through the stepper motor driver.

[0101] In this step, the stepper motor driver controls the stepper motor based on the control signal to drive the stepper motor to rotate. In some embodiments, the position of the stepper motor is monitored in real time by an angle sensor. When the stepper motor moves to the set uniform acceleration, uniform speed, and uniform acceleration position, the control signal causes the stepper motor to move in a corresponding manner and record the time; when the motor moves to the set stop position, the motor is stopped, imaging and timing are started, and after a period of time, the stepper motor continues to work, iterating in a cycle until the scanning mirror turns to angle position 0 and restarts scanning, which can ensure that the scanning mirror moves in the set order in each cycle, and can stay stably for a certain period of time at each imaging position before continuing to rotate, avoiding the target tailing effect caused by fast speed during imaging.

[0102] The disclosed embodiment calibrates the zero angle position of the scanning mirror through the Hall sensor, determines the position of the stepper motor at the zero angle position of the scanning mirror as the reference zero position of the stepper motor, combines the motion mode of the scanning mirror based on the imaging requirement information, forms a non-uniform scanning imaging mode, and obtains the non-uniform scanning curve of the scanning mirror based on the non-uniform scanning imaging mode and the imaging position. Further, the motion trajectory of the stepper motor is generated based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor, the current position of the stepper motor is obtained, and the position deviation between the current position of the stepper motor and the target position of the current section is calculated. Then, based on the position deviation, the corresponding control output value is calculated through the proportional integral differential control model, the control output value is converted into a control signal, and the control signal is sent to the stepper motor driver. Then, the stepper motor is controlled based on the control signal by the stepper motor driver. Through this method, the non-uniform scanning of the scanning mirror can be realized without changing the optical structure of the camera and without additional cost, so that the uncooled infrared detector can be stably and clearly imaged.

[0103] Figure 5 Schematic diagram of the structure of the scanning control device provided in the embodiment of the present disclosure. The scanning control device may be the scanning control device as described in the above embodiment, or the scanning control device may be a component or assembly in the scanning control device. The scanning control device provided in the embodiment of the present disclosure may execute the processing flow provided in the scanning control method embodiment, such as Figure 5 As shown, the scanning control device 40 includes: a determining unit 41, a obtaining unit 42, a generating unit 43, and a control unit 44; wherein the determining unit 41 is used to calibrate the zero angle position of the scanning mirror through a Hall sensor, and determine the position of the stepper motor when the scanning mirror is at the zero angle position as the reference zero position of the stepper motor; the obtaining unit 42 is used to obtain a non-uniform scanning curve of the scanning mirror based on the motion mode and imaging position of the scanning mirror, and the motion mode of the scanning mirror includes a stay, uniform acceleration, uniform speed, and uniform deceleration motion mode; the generating unit 43 is used to generate a motion trajectory of the stepper motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor; the control unit 44 is used to control the stepper motor based on the motion trajectory of the stepper motor to drive the scanning mirror to perform non-uniform scanning.

[0104] Optionally, when the obtaining unit 42 obtains the non-uniform scanning curve of the scanning mirror based on the motion mode and imaging position of the scanning mirror, it is specifically used to: combine the motion mode of the scanning mirror based on imaging requirement information to form a non-uniform scanning imaging mode; and obtain the non-uniform scanning curve of the scanning mirror based on the non-uniform scanning imaging mode and the imaging position.

[0105] Optionally, the non-uniform scanning imaging mode includes: a stop imaging mode: a preset number of stop imagings are performed in one scanning cycle, the adjacent angular positions of the scanning mirror are spaced at a preset angle, and the dwell time at each angular position is a preset time; a uniform acceleration mode: the scanning mirror has two uniform acceleration conditions with different accelerations, the first condition is the uniform acceleration between imaging intervals, the acceleration is the first acceleration, and the time is the first target time; the second condition is the uniform acceleration during the non-imaging period, the acceleration is the second acceleration, and the time is the second target time; a uniform deceleration mode: the scanning mirror has two uniform deceleration conditions with different accelerations, the first condition is the uniform deceleration between imaging intervals, the acceleration is the first acceleration in the opposite direction, and the time is the first target time; the second condition is the uniform deceleration during the non-imaging period, the acceleration is the second acceleration in the opposite direction, and the time is the second target time; a uniform speed mode: during the non-imaging period, the angular velocity of the scanning mirror is a preset angular velocity, and the time is a third target time.

[0106] Optionally, when the generation unit 43 generates the motion trajectory of the stepper motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor, it is specifically used to: decompose the scanning process of a scanning cycle into multiple segments based on the non-uniform scanning curve of the scanning mirror; calculate the kinematic parameters of each segment, and the kinematic parameters of each segment include target position, speed, acceleration and duration; generate the motion trajectory of the stepper motor based on the kinematic parameters of each segment and the reference zero position of the stepper motor.

[0107] Optionally, when the control unit 44 controls the stepper motor based on the motion trajectory of the stepper motor, it is specifically used to: obtain the current position of the stepper motor, and calculate the position deviation between the current position of the stepper motor and the target position of the current section; based on the position deviation, calculate the corresponding control output value through a proportional-integral-differential control model; convert the control output value into a control signal, and send the control signal to the stepper motor driver; and control the stepper motor based on the control signal through the stepper motor driver.

[0108] Optionally, the proportional-integral-derivative control model is expressed as follows:

[0109] u i =Kp i *e i +Ki i *∫e i dt+Kd i *de i / dt

[0110] Among them, u i represents the control output value of the ith section; Kp i、Ki i , Kd i They represent the proportional coefficient, integral coefficient and differential coefficient of the proportional-integral-differential control model of the i-th section respectively; e i represents the position deviation of the i-th segment; ∫e i dt represents the cumulative value of position deviation of the i-th segment; de i / dt represents the position deviation change rate of the i-th segment.

[0111] Optionally, after controlling the stepper motor based on the motion trajectory of the stepper motor, the device 40 also includes: a judgment unit 45; the judgment unit 45 is used to obtain the angular position of the scanning mirror and judge whether the angular position of the scanning mirror is a stay angle position; if it is a stay angle position, the stepper motor is stopped and a pulse signal is sent to trigger the detector to take pictures.

[0112] Figure 5 The scanning control device of the illustrated embodiment can be used to execute the technical solution of the above-mentioned method embodiment, and its implementation principle and technical effect are similar, which will not be described in detail here.

[0113] Figure 6 FIG. 1 is a schematic diagram of a scanning control system architecture in an embodiment of the present disclosure. Figure 6 As shown, the scanning control system includes a scanning mirror, a stepper motor, a bearing, a harmonic reducer, a Hall sensor and an angle sensor; a stepper motor and a harmonic reducer are installed on the left, an angle sensor and a Hall sensor are installed on the right, a scanning mirror is in the middle, and the bearings are solid lubricated; the stepper motor is started and stopped and rotated at high speed by a control signal, and the angular velocity is transmitted to the scanning mirror through the harmonic reducer and the bearing to drive the scanning mirror to rotate. The specific implementation steps are: the scanning mirror, stepper motor, Hall sensor, angle sensor, infrared camera and other devices are formed into a rotating mechanism, and then connected to the drive board, and connected to the host computer through the drive board. Ensure that all devices are powered normally and connected to the corresponding control signal and data acquisition interface.

[0114] Optionally, the scanning control system can be experimentally verified, including: ① Power on the system and start the program execution; ② Observe whether the movement of the scanning mirror conforms to the expected trajectory, and check whether the infrared camera is imaging at the set position; ③ Use an oscilloscope or other instruments to observe the control signal and sensor signal for debugging and optimization.

[0115] Optionally, a two-phase dual four-beat mode is used to control the start and stop and high-speed rotation of the stepper motor, and the angular velocity ratio of the stepper motor and the scanning mirror is 64:1.

[0116] Specifically, Figure 7 Schematic diagram of the structure of the scanning control system provided by the embodiment of the present disclosure. Figure 7As shown, the scanning control system mainly includes a serial port module, an encoder data acquisition module, a start-stop position judgment module, a motor stop module, a timing module, and a motion module. The motion module includes a uniform motion module, a uniform acceleration module, and a uniform deceleration module. The functions are as follows: the stop position of 12 images is formed into an instruction set according to the rotation direction, the position information of the scanning mirror is obtained through the encoder data acquisition module, and the position information is sent to the serial port module, and then the start-stop position judgment module determines whether the position of the scanning mirror is the stop angle position: if it is the stop position, the motor stop module controls the motor to stop and sends a pulse signal to trigger the detector to take a photo. At the same time, the timing module works, the timing is 40ms, and the instruction sequence number is recorded. After the time is up, the stepper motor continues to work and the scanning mirror continues to scan; if it is not the stop position, the motion mode of the stepper motor is judged according to the instruction sequence number of the position. The scanning speed of the scanning mirror is changed by changing the working frequency of the stepper motor.

[0117] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart, thereby implementing the scanning control method as described above. In an embodiment of the present disclosure, Figure 4 A block diagram of a scanning control computer program design provided by an embodiment of the present disclosure, such as Figure 4 As shown in the figure, first write the 12 fixed dwell positions and the corresponding dwell times into the program in sequence, then read the information of the current angle sensor through the encoder angle reading component to obtain the current position; ② calculate the position deviation based on the current position and the target position; ③ get the coefficient Kp of the PID control model according to the user setting i 、Ki i , Kd i , then according to the position deviation, use the segmented PID control model to calculate the corresponding control output value, and convert the control output into a PWM signal or other control signal through an analog-to-digital converter, and send it to the stepper motor driver; ④ Continuously monitor the position of the motor, and when the motor moves to the set uniform acceleration, uniform speed, and uniform deceleration position, switch to the corresponding motion mode and record the time; ⑤ When the motor moves to the set stop position, stop the motor, trigger the infrared camera for imaging, and record the imaging start time; ⑥ After completing the movement and imaging of a section, switch to the next section and repeat the above steps until the scanning mirror turns to the 0° position; ⑦ Restart a new scanning cycle. When the computer program is executed, the above functions defined in the method of the embodiment of the present disclosure are executed.

[0118] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0119] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0120] The computer-readable medium may be included in the scanning control device; or may exist independently without being assembled into the scanning control device.

[0121] The computer-readable medium carries one or more programs. When the one or more programs are executed by the scanning control device, the scanning control device:

[0122] The zero angle position of the scanning mirror is calibrated by the Hall sensor, and the position of the stepper motor when the scanning mirror is at the zero angle position is determined as the reference zero position of the stepper motor;

[0123] Based on the motion mode and imaging position of the scanning mirror, a non-uniform scanning curve of the scanning mirror is obtained, wherein the motion mode of the scanning mirror includes a stay, uniform acceleration, uniform speed and uniform deceleration motion mode;

[0124] Generate a motion trajectory of the stepper motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor;

[0125] The stepper motor is controlled based on the motion trajectory of the stepper motor to drive the scanning mirror to perform non-uniform scanning.

[0126] Optionally, when the above one or more programs are executed by the scanning control device, the scanning control device may also execute other steps described in the above embodiments.

[0127] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0128] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0129] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0130] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0131] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0132] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0133] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0134] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A scanning control method, characterized in that: The method comprises: The zero angle position of the scanning mirror is calibrated by the Hall sensor, and the position of the stepper motor when the scanning mirror is at the zero angle position is determined as the reference zero position of the stepper motor; Based on the motion mode and imaging position of the scanning mirror, a non-uniform scanning curve of the scanning mirror is obtained, wherein the motion mode of the scanning mirror includes a stay, uniform acceleration, uniform speed and uniform deceleration motion mode; Generate a motion trajectory of the stepper motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor; The stepper motor is controlled based on the motion trajectory of the stepper motor to drive the scanning mirror to perform non-uniform scanning.

2. The method according to claim 1, characterized in that The non-uniform scanning curve of the scanning mirror is obtained based on the motion mode and imaging position of the scanning mirror, including: Based on the imaging requirement information, the motion patterns of the scanning mirror are combined to form a non-uniform scanning imaging mode; Based on the non-uniform scanning imaging mode and the imaging position, a non-uniform scanning curve of the scanning mirror is obtained.

3. The method according to claim 2, characterized in that The non-uniform scanning imaging mode includes: Dwell imaging mode: a preset number of dwell imaging is performed in one scanning cycle, the interval between adjacent angular positions where the scanning mirror stays is a preset angle, and the dwell time at each angular position is a preset time; Uniform acceleration mode: The scanning mirror has two uniform acceleration conditions with different accelerations. The first condition is the uniform acceleration during the imaging interval, with the acceleration being the first acceleration and the time being the first target time; the second condition is the uniform acceleration during the non-imaging period, with the acceleration being the second acceleration and the time being the second target time; Uniform deceleration mode: The scanning mirror has two uniform deceleration conditions with different accelerations. The first condition is the uniform deceleration during the imaging interval, with the acceleration being the first acceleration in the opposite direction and the time being the first target time; the second condition is the uniform deceleration during the non-imaging period, with the acceleration being the second acceleration in the opposite direction and the time being the second target time; Uniform speed mode: During the non-imaging period, the angular velocity of the scanning mirror is the preset angular velocity, and the time is the third target time.

4. The method according to claim 1, characterized in that: The stepping motor motion trajectory is generated based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepping motor, including: Based on the non-uniform scanning curve of the scanning mirror, the scanning process of one scanning cycle is decomposed into multiple sections; Calculating kinematic parameters of each segment, wherein the kinematic parameters of each segment include target position, velocity, acceleration and duration; A motion trajectory of the stepper motor is generated based on the kinematic parameters of each section and the reference zero position of the stepper motor.

5. The method according to claim 1, characterized in that The controlling the stepper motor based on the motion trajectory of the stepper motor includes: Acquiring the current position of the stepper motor, and calculating the position deviation between the current position of the stepper motor and the target position of the current section; Based on the position deviation, a corresponding control output value is calculated through a proportional-integral-derivative control model; Converting the control output value into a control signal, and sending the control signal to a stepper motor driver; The stepper motor is controlled by the stepper motor driver based on a control signal.

6. The method according to claim 5, characterized in that The proportional integral derivative control model is expressed as follows: u i =Kp i *have been i +Key i *e i dt+Kd i *de i / dt Among them, u i represents the control output value of the ith section; Kp i 、Ki i , Kd i They represent the proportional coefficient, integral coefficient and differential coefficient of the proportional-integral-differential control model of the i-th section respectively; e i represents the position deviation of the i-th segment; ∫e i dt represents the cumulative value of position deviation of the i-th segment; de i / dt represents the position deviation change rate of the i-th segment.

7. The method according to claim 1, characterized in that After controlling the stepper motor based on the motion trajectory of the stepper motor, the method further includes: Obtaining the angular position of the scanning mirror, and determining whether the angular position of the scanning mirror is a stop angular position; If it is a stop angle position, the stepper motor will be stopped and a pulse signal will be sent to trigger the detector to take a picture.

8. A scanning control device, characterized in that: include: A determination unit, used for calibrating the zero angle position of the scanning mirror through a Hall sensor, and determining the position of the stepper motor when the scanning mirror is at the zero angle position as the reference zero position of the stepper motor; An obtaining unit, for obtaining a non-uniform scanning curve of the scanning mirror based on a motion mode and an imaging position of the scanning mirror, wherein the motion mode of the scanning mirror includes a stay, uniform acceleration, uniform speed, and uniform deceleration motion mode; A generating unit, configured to generate a motion trajectory of the stepper motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor; A control unit is used to control the stepper motor based on the motion trajectory of the stepper motor to drive the scanning mirror to perform non-uniform scanning.

9. The device according to claim 8, characterized in that When the obtaining unit obtains the non-uniform scanning curve of the scanning mirror based on the motion mode and imaging position of the scanning mirror, it is specifically used to: Based on the imaging requirement information, the motion patterns of the scanning mirror are combined to form a non-uniform scanning imaging mode; Based on the non-uniform scanning imaging mode and the imaging position, a non-uniform scanning curve of the scanning mirror is obtained.

10. The device according to claim 9, characterized in that The non-uniform scanning imaging mode includes: Dwell imaging mode: a preset number of dwell imaging is performed in one scanning cycle, the interval between adjacent angular positions where the scanning mirror stays is a preset angle, and the dwell time at each angular position is a preset time; Uniform acceleration mode: The scanning mirror has two uniform acceleration conditions with different accelerations. The first condition is the uniform acceleration during the imaging interval, with the acceleration being the first acceleration and the time being the first target time; the second condition is the uniform acceleration during the non-imaging period, with the acceleration being the second acceleration and the time being the second target time; Uniform deceleration mode: The scanning mirror has two uniform deceleration conditions with different accelerations. The first condition is the uniform deceleration during the imaging interval, with the acceleration being the first acceleration in the opposite direction and the time being the first target time; the second condition is the uniform deceleration during the non-imaging period, with the acceleration being the second acceleration in the opposite direction and the time being the second target time; Uniform speed mode: During the non-imaging period, the angular velocity of the scanning mirror is the preset angular velocity, and the time is the third target time.

11. The device according to claim 8, characterized in that When the generating unit generates the motion trajectory of the stepper motor based on the non-uniform scanning curve of the scanning mirror and the reference zero position of the stepper motor, it is specifically used to: Based on the non-uniform scanning curve of the scanning mirror, the scanning process of one scanning cycle is decomposed into multiple sections; Calculating kinematic parameters of each segment, wherein the kinematic parameters of each segment include target position, velocity, acceleration and duration; A motion trajectory of the stepper motor is generated based on the kinematic parameters of each section and the reference zero position of the stepper motor.

12. The device according to claim 8, characterized in that When the control unit controls the stepper motor based on the motion trajectory of the stepper motor, it is specifically used to: Acquiring the current position of the stepper motor, and calculating the position deviation between the current position of the stepper motor and the target position of the current section; Based on the position deviation, a corresponding control output value is calculated through a proportional-integral-derivative control model; Converting the control output value into a control signal, and sending the control signal to a stepper motor driver; The stepper motor is controlled by the stepper motor driver based on a control signal.

13. The device according to claim 12, characterized in that The proportional integral derivative control model is expressed as follows: u i =Kp i *have been i +Key i *e i dt+Kd i *de i / dt Among them, u i represents the control output value of the ith section; Kp i 、Ki i , Kd i They represent the proportional coefficient, integral coefficient and differential coefficient of the proportional-integral-differential control model of the i-th section respectively; e i represents the position deviation of the i-th segment; ∫e i dt represents the cumulative value of position deviation of the i-th segment; de i / dt represents the position deviation change rate of the i-th segment.

14. The device according to claim 8, characterized in that After the stepper motor is controlled based on the motion trajectory of the stepper motor, the scanning control device further includes: a judgment unit; The judging unit is used to obtain the angular position of the scanning mirror and judge whether the angular position of the scanning mirror is a stop angular position; if it is a stop angular position, the stepping motor is stopped and a pulse signal is sent to trigger the detector to take a picture.

15. A scanning control system, characterized in that: The scanning control system is used to execute the scanning control method described in any one of claims 1 to 7, and the scanning control system includes a scanning mirror, a stepper motor, a bearing, a harmonic reducer, a Hall sensor and an angle measuring sensor; a stepper motor and a harmonic reducer are installed on the left side, an angle measuring sensor and a Hall sensor are installed on the right side, the middle side is a scanning mirror, and the bearings are solid lubricated; the stepper motor is started and stopped and rotated at high speed by a control signal, and the angular velocity is transmitted to the scanning mirror through the harmonic reducer and the bearing, thereby driving the scanning mirror to rotate.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images