Automatic axis calibration method, device and equipment for photoelectric tracking aiming system

Abstract

The invention relates to an automatic axis calibration method, device and equipment for a photoelectric tracking and aiming system, and the method comprises the steps: controlling an imaging load to be locked, carrying out the offset tracking and scanning of a target, starting laser ranging, carrying out the real-time statistics of a laser echo rate corresponding to each offset value, and carrying out the calculation of an offset value; determining a corresponding offset value when the laser echo rate reaches the highest; wherein the corresponding offset value when the laser echo rate reaches the highest value is the parallelism deviation value of the optical axis of the imaging load and the optical axis of the laser; the optical axis of the imaging load is corrected on the basis of the offset value when the laser echo rate reaches the highest, so that the optical axis of the imaging load is parallel to the optical axis of the laser. According to the method, specific precise axis calibration equipment does not need to be additionally arranged outside the photoelectric tracking and aiming system, an axis calibration device does not need to be designed in the photoelectric tracking and aiming system, the existing hardware structure of the photoelectric tracking and aiming system is directly controlled through software, and the technical problem of high cost in related technologies is solved.

Description

Technical Field

[0001] The present application relates to the technical field of optoelectronic tracking, and particularly relates to an automatic optical axis alignment method, device and equipment for an optoelectronic tracking and aiming system. Background Art

[0002] At present, multi-band optoelectronic tracking and aiming systems are generally used for reconnaissance and monitoring, and usually include multiple working bands such as infrared 1, television 2, laser 3, etc. Infrared can include near-infrared, short-wave, medium-wave, and long-wave; television can include color television and black-and-white television; laser can include a laser rangefinder and a laser ranging and illuminating integrated machine. The installation method can be vertical installation or hoisting installation.

[0003] Infrared and television payloads are usually used for imaging reconnaissance, and laser payloads are usually used for obtaining target distance information. Each optical payload has an independent optical axis. The pointing of the optical axis of the imaging payload represents the position point aimed at by the center point of the image; the pointing of the optical axis of the laser payload represents the position point of the target information obtained by the laser. In use, usually, the image tracking is first used to aim at the target, then the laser is used to obtain the target distance information, and finally the target is located. From the analysis of application requirements, it is necessary to ensure the parallelism of the optical axis of the imaging payload and the optical axis of the laser, so as to ensure that the target point of laser ranging is consistent with the target point locked by image tracking, and the laser can point accurately at the target to obtain the target information, and the ranging and positioning accuracy of the system is high enough; however, due to various factors such as the deformation of the opto-mechanical structure during long-term use, the aging of laser devices, and the influence of use shock and vibration, the parallelism of the optical axis may also change, and secondary calibration is required.

[0004] In the related art, the current conventional means for automatic optical axis alignment of optoelectronic tracking and aiming systems include adding specific precision optical axis alignment equipment externally, such as a collimator, a target simulator, etc.; or designing a set of optical axis alignment devices internally during system design, and using some reflection prisms, laser detectors, etc. to achieve internal optical axis alignment.

[0005] However, adding specific precision optical axis alignment equipment externally generally has relatively complex equipment erection and operation, and high costs; designing an optical axis alignment device internally will bring design redundancy, occupy the internal space of the equipment, and increase the system cost.

[0006] Therefore, it is necessary to design a new automatic optical axis alignment method for an optoelectronic tracking and aiming system to overcome the above problems. Summary of the Invention

[0007] The present application provides an automatic optical axis alignment method, device and equipment for an optoelectronic tracking and aiming system, which can solve the technical problem of high cost in the related art.

[0008] In a first aspect, an embodiment of the present application provides an automatic optical axis alignment method for an optoelectronic tracking and aiming system, which includes the following steps:

[0009] Control the imaging payload to lock and perform offset tracking to scan the target, turn on the laser ranging, statistically calculate the laser echo rate corresponding to each offset value in real time, and determine the offset value corresponding to the highest laser echo rate; wherein, the offset value corresponding to the highest laser echo rate is the parallelism deviation value between the optical axis of the imaging payload and the optical axis of the laser.

[0010] Based on the offset value when the laser echo rate reaches the highest, correct the optical axis of the imaging payload to make the optical axis of the imaging payload parallel to the optical axis of the laser.

[0011] Combined with the first aspect, in one implementation, the control of the imaging payload to lock and perform offset tracking to scan the target, turn on the laser ranging, statistically calculate the laser echo rate corresponding to each offset value in real time, and determine the offset value corresponding to the highest laser echo rate includes:

[0012] Judge whether the laser echo rate is greater than 0 after turning on the laser ranging.

[0013] If so, control the imaging payload to perform tracking scanning with the offset scanning angle range being one times the laser beam divergence angle value.

[0014] If the laser echo rate is 0, control the imaging payload to perform the first offset tracking scan until the laser echo rate is greater than 0, then set the scanning angle when the laser echo rate is greater than 0 as the starting angle of the second offset tracking scan, and control the imaging payload to perform tracking scanning with the offset scanning angle range being one times the laser beam divergence angle value.

[0015] Combined with the first aspect, in one implementation, the control of the imaging payload to perform the first offset tracking scan until the laser echo rate is greater than 0 includes:

[0016] Control the imaging payload to increase the scanning angle in a spiral manner within the laser beam divergence angle range at a preset magnification until the laser echo rate is greater than 0.

[0017] Combined with the first aspect, in one implementation, the preset magnification is greater than 0 and less than or equal to 0.5 times.

[0018] Combined with the first aspect, in one implementation, during the process of controlling the imaging payload to perform tracking scanning with the offset scanning angle range being one times the laser beam divergence angle value, gradually converge the offset range in the direction of increasing laser echo rate until the highest laser echo rate is reached. At this time, the offset value corresponding to the highest laser echo rate is the parallelism deviation value between the optical axis of the imaging payload and the optical axis of the laser.

[0019] Combined with the first aspect, in one implementation, the correction of the optical axis of the imaging payload based on the offset value when the laser echo rate reaches the highest to make the optical axis of the imaging payload parallel to the optical axis of the laser includes:

[0020] Convert the deviation angle value of the bias value when the laser echo rate reaches the maximum into the number of pixel values in the azimuth / pitch direction as the zero-bias correction value;

[0021] Based on the zero-bias correction value, correct the optical axis of the imaging payload so that the optical axis of the imaging payload is parallel to the optical axis of the laser.

[0022] Combined with the first aspect, in an embodiment, the imaging payload is an infrared payload or a television payload.

[0023] In a second aspect, an embodiment of the present application provides an automatic optical axis alignment device, which includes:

[0024] A control unit for controlling the imaging payload to lock and perform bias tracking to scan a target, and turn on laser ranging, statistically count the laser echo rate corresponding to each bias value in real time, and determine the bias value corresponding to the maximum laser echo rate; wherein, the bias value corresponding to the maximum laser echo rate is the parallelism deviation value between the optical axis of the imaging payload and the optical axis of the laser;

[0025] A correction module for correcting the optical axis of the imaging payload based on the bias value when the laser echo rate reaches the maximum, so that the optical axis of the imaging payload is parallel to the optical axis of the laser.

[0026] Combined with the second aspect, in an embodiment, the control unit is further configured to determine whether the laser echo rate is greater than 0 after turning on laser ranging; if so, control the imaging payload to perform tracking scanning with a bias scanning angle range equal to one laser beam divergence angle value; if the laser echo rate is 0, control the imaging payload to perform the first bias tracking scan until the laser echo rate is greater than 0, then set the scanning angle when the laser echo rate is greater than 0 as the starting angle of the second bias tracking scan, and control the imaging payload to perform tracking scanning with a bias scanning angle range equal to one laser beam divergence angle value.

[0027] In a third aspect, an embodiment of the present application provides an automatic optical axis alignment device. The automatic optical axis alignment device includes a processor, a memory, and an automatic optical axis alignment program stored on the memory and executable by the processor. When the automatic optical axis alignment program is executed by the processor, the steps of the automatic optical axis alignment method of the above-mentioned optoelectronic tracking and aiming system are implemented.

[0028] The beneficial effects brought by the technical solutions provided by the embodiments of the present application include:

[0029] By controlling the imaging payload to lock and perform offset tracking to scan the target, and statistically calculating the laser echo rate corresponding to each offset value in real time, the offset value corresponding to the highest laser echo rate can be determined. Based on the offset value when the laser echo rate reaches the highest, the optical axis of the imaging payload can be corrected to make the optical axis of the imaging payload parallel to the optical axis of the laser. This application does not require adding specific precision alignment equipment outside the optoelectronic tracking and aiming system, nor does it need to design an alignment device inside. It can directly control the existing hardware structure of the optoelectronic tracking and aiming system through software, solving the technical problem of high cost in the related technology. Description of the Drawings

[0030] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1 Flowchart of an automatic alignment method for an optoelectronic tracking and aiming system provided by an embodiment of the present application;

[0032] Figure 2 Vertical installation schematic diagram of the optoelectronic tracking and aiming system provided by an embodiment of the present application;

[0033] Figure 3 Hoisting schematic diagram of the optoelectronic tracking and aiming system provided by an embodiment of the present application;

[0034] Figure 4 Schematic diagram of the offset tracking effect provided by an embodiment of the present application;

[0035] Figure 5 Schematic diagram of the alignment process provided by an embodiment of the present application;

[0036] Figure 6 Schematic diagram of the implementation process of spiral scanning provided by an embodiment of the present application;

[0037] Figure 7 Schematic diagram of the aiming crosshair correction provided by an embodiment of the present application. Detailed Embodiments

[0038] In order to enable those skilled in the art to better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0039] The embodiments of the present application provide an automatic optical axis alignment method, device and equipment for an optoelectronic tracking and aiming system, which can solve the technical problem of high cost in the related art.

[0040] See Figure 1 As shown, an automatic optical axis alignment method for an optoelectronic tracking and aiming system provided by an embodiment of the present application may include the following steps:

[0041] S1: Control the imaging payload to lock and perform offset tracking to scan the target, and turn on the laser ranging. Real-time statistics of the laser echo rate corresponding to each offset value are carried out, and the offset value corresponding to the highest laser echo rate is determined; among them, the offset value corresponding to the highest laser echo rate is the parallelism deviation value between the optical axis of the imaging payload and the optical axis of the laser.

[0042] S2: Based on the offset value when the laser echo rate reaches the highest, correct the optical axis of the imaging payload to make the optical axis of the imaging payload parallel to the optical axis of the laser.

[0043] The automatic optical axis alignment method in this embodiment is mainly applicable to the field of multi-band optoelectronic tracking and aiming systems with laser ranging functions, such as various application scenarios such as vehicle-mounted, ship-mounted, and shore-based. It can quickly and automatically calibrate the multi-band optical axes of optoelectronic systems under natural field conditions. The multi-band optoelectronic tracking and aiming system is generally used for reconnaissance and monitoring, and usually includes multiple working bands such as infrared 1, television 2, and laser 3. Infrared can include near-infrared, short-wave, mid-wave, and long-wave; television can include color television and black-and-white television; laser can include laser rangefinder and laser illumination integrated machine. The installation method can be vertical installation or hoisting installation. Figure 2 As shown in the figure, it is a vertical rotation. In the figure, a is the azimuth axis, b is the elevation axis, and c is the installation base surface; Figure 3 As shown in the figure, it is a hoisting installation.

[0044] In the above technical solution, before step S1, a small rotor unmanned aircraft or other equivalent aerial target can be used as a calibration auxiliary device, which has the characteristics of low cost and convenient operation. According to the system imaging and the effective measurement range of the laser, select the hovering distance and height of the rotor aircraft; the distance selection principle is within the system imaging and laser measurement range, as far as possible; the hovering height is higher than the height of the ground scene objects near the site. The target in step S1 of this embodiment is preferably a rotor aircraft. In step S1, use the imaging payload (any one of infrared / television can be selected, or it can also be other imaging payloads, which is not limited here) to lock and track the target, and the automatic optical axis alignment function can be turned on. After the automatic optical axis alignment starts, the optoelectronic tracking and aiming system will automatically turn on the laser ranging, and the image tracking algorithm in the optoelectronic tracking and aiming system will perform offset tracking scanning internally in a loop. The offset scanning is to add a preset offset value to the image center point coordinates obtained by the target detection algorithm as the miss distance and send it to the servo for tracking. The tracking effect is asFigure 4 As shown, the laser echo rate of each bias point is statistically calculated in real time. For example, if the laser does not hit the target at all, the laser echo rate is 0. If an echo can be received every time the laser is emitted, the laser echo rate is 100%.

[0045] In this embodiment, by controlling the imaging payload to lock and perform bias tracking to scan the target, and statistically calculating the laser echo rate corresponding to each bias value in real time, the bias value corresponding to the highest laser echo rate can be determined. Based on the bias value when the laser echo rate reaches the highest, the optical axis of the imaging payload can be corrected to make the optical axis of the imaging payload parallel to the optical axis of the laser. This application does not require adding specific precision alignment equipment outside the optoelectronic tracking and aiming system, nor does it need to design an alignment device inside. It can directly control the existing hardware structure of the optoelectronic tracking and aiming system through software, solving the technical problem of high cost in the related art.

[0046] Further, in one embodiment, in step S1, the controlling the imaging payload to lock and perform bias tracking to scan the target, and turning on the laser rangefinder, statistically calculating the laser echo rate corresponding to each bias value in real time, and determining the bias value corresponding to the highest laser echo rate may include:

[0047] S11: Determine whether the laser echo rate is greater than 0 after turning on the laser rangefinder.

[0048] S12: If so, control the imaging payload to perform tracking scans with a bias scan angle range equal to one times the laser beam divergence angle value.

[0049] S13: If the laser echo rate is 0, control the imaging payload to perform the first bias tracking scan until the laser echo rate is greater than 0. Then set the scan angle when the laser echo rate is greater than 0 as the starting angle of the second bias tracking scan, and control the imaging payload to perform tracking scans with a bias scan angle range equal to one times the laser beam divergence angle value.

[0050] In this embodiment, if there is a certain echo rate (echo rate greater than 0) after turning on the laser, then it is only necessary to set the bias scan angle range to one times the laser beam divergence angle value, that is, move plus or minus 0.5 times the laser beam divergence angle in the azimuth and elevation directions, and the scan step angle can be executed according to the imaging spatial resolution of the system (pixel size / optical focal length) or the requirements of the system optical axis parallelism constraint; the scanned coverage area is as Figure 5As shown in the figure, the dashed circular ring represents the coverage range of the laser beam divergence angle. If there is no echo rate after the laser is turned on, the imaging payload is controlled to perform the first offset tracking scan. After obtaining the laser echo, the angle when the laser echo is obtained can be initialized as the starting angle of the second offset tracking scan, and then the second offset tracking scan can be completed in the same manner as in step S12. In this way, the deviation value of the parallelism between the optical axis of the imaging payload and the optical axis of the laser can be found both in the presence and absence of the laser echo rate.

[0051] Further, in some embodiments, in step S13, the control for the imaging payload to perform the first offset tracking scan until the laser echo rate is greater than 0 may include: controlling the imaging payload to increase the scanning angle spirally within the laser beam divergence angle range at a preset magnification until the laser echo rate is greater than 0. In this embodiment, during the first offset tracking scan, the scanning angle can be increased spirally within the laser beam divergence angle range at a preset magnification, that is, after scanning one circle, the laser beam divergence angle at the preset magnification is increased until the laser echo is obtained. In this embodiment, the scanning is performed by gradually increasing the scanning angle in a spiral manner, which can gradually increase the scanning range from small to large to obtain the laser echo rate.

[0052] Preferably, in the above technical solution, the preset magnification is greater than 0 and less than or equal to 0.5 times. That is, in this embodiment, the preset magnification can be selected to be less than 0.5 times or equal to 0.5 times. 0.5 times is the optimal choice. Of course, in other embodiments, a value greater than 0.5 times can also be selected, but a value greater than 0.5 times may cause missed scans in space, and a value less than 0.5 times will result in a relatively low scanning efficiency. Therefore, a preset magnification of 0.5 times is the most suitable. Taking the preset magnification of 0.5 times as an example, in the first offset tracking scan of this embodiment, the scanning angle is increased spirally by 0.5 times the laser beam divergence angle, that is, after scanning one circle, the laser beam divergence angle is increased by 0.5 times until the laser echo is obtained; the process of determining the acquisition of the laser echo is a single scanning process, and the scanning method is as Figure 6 shown; after completion, this angle can be initialized as the starting angle of the second scan and the second scan can continue.

[0053] Furthermore, in one embodiment, in the process of controlling the imaging load to track and scan with the laser beam divergence angle value of one times the offset scanning angle range, the offset range is gradually converged in the direction of increasing laser echo rate until the maximum laser echo rate is reached. At this time, the offset value corresponding to the maximum laser echo rate is the deviation value of the parallelism between the optical axis of the imaging load and the optical axis of the laser. That is, in the scanning process of the above step S12, the offset range will be gradually converged in the direction of increasing laser echo rate according to the statistical laser echo rate until the point of the maximum laser echo rate is reached. The offset value corresponding to the maximum laser echo rate is the deviation value of the parallelism between the optical axis of the imaging load and the optical axis of the laser. The second offset tracking scan of step S13 is the same and will not be repeated here.

[0054] Further, in one embodiment, the step of correcting the optical axis of the imaging payload based on the bias value when the laser echo rate reaches the maximum so that the optical axis of the imaging payload is parallel to the optical axis of the laser may include:

[0055] S21: converting the deviation angle value in the azimuth / elevation direction of the offset value when the laser echo rate reaches the maximum into a pixel value as a zero offset correction value.

[0056] S22: Correcting the optical axis of the imaging payload based on the zero bias correction value so that the optical axis of the imaging payload is parallel to the optical axis of the laser.

[0057] In this embodiment, the bias value obtained by scanning when the laser echo rate reaches the highest can be converted into a pixel value in the azimuth / pitch direction as a zero bias correction value and stored in the image processing software for correcting the aiming cross cursor position (that is, the position of the optical axis of the imaging payload) to ensure the stability of subsequent tracking and ranging; the schematic diagram of aiming cross cursor correction is shown in FIG. Figure 7 As shown, "+" represents the aiming cross cursor, "o" represents the optical axis position of the laser, wherein 4 in the figure is the original aiming cross cursor, and 5 is the calibrated aiming cross cursor; the number of pixels is calculated as follows: n = tan (deviation angle value) * optical focal length / pixel size, and n represents the number of pixels.

[0058] In the present application, for the problem of optical axis parallelism between multiple imaging payloads, after completing the operations of the above steps S1 and S2, the deviation of the target center point in different images can be obtained through the small target / surface target detection algorithm, and it can be directly converted.

[0059] Specifically: The small target / area target detection algorithm processes are similar in overall architecture, but there are differences in target characteristics. The small target detection algorithm execution process: Perform data preprocessing on the input image (generally including super-resolution enhancement, local area magnification, and oversampling of small targets to improve the visibility of small targets) and feature extraction and enhancement (retaining high-resolution features and enhancing shallow features), detect small targets on the shallow feature map through multi-scale prediction, perform confidence calibration, and output the position coordinate deviation data of the target relative to the center point of the image, with the unit being pixel values.

[0060] The area target detection algorithm execution process: Perform data preprocessing on the input image (generally including multi-scale scaling and boundary optimization to adapt to targets of different sizes) and feature extraction and enhancement (designing a large receptive field and global context modeling), achieve joint detection and segmentation through the detection network, perform boundary smoothing, fuse detection results of different scales, and output the position coordinate deviation data of the target relative to the center point of the image, with the unit being pixel values.

[0061] In the above embodiments, the imaging payload is preferably an infrared payload or a television payload.

[0062] This application makes full use of the existing hardware components of the optoelectronic tracking and aiming system, combines with the daily use conditions and environment of the multi-band optoelectronic system, and provides an efficient, convenient, and low-cost automatic collimation method. Utilize basic functions such as image target detection, servo platform tracking, laser ranging and echo detection, and automatic logic scanning to achieve automatic calibration of the optical axis.

[0063] In a second aspect, the embodiments of this application also provide an automatic collimation device.

[0064] The automatic collimation device includes: a control unit, which is used to control the imaging payload to lock and perform offset tracking to scan the target, and turn on the laser ranging, and statistically calculate the laser echo rate corresponding to each offset value in real time, and determine the offset value corresponding to when the laser echo rate reaches the highest; wherein, the offset value corresponding to when the laser echo rate reaches the highest is the parallelism deviation value between the optical axis of the imaging payload and the optical axis of the laser; a correction module, which is used to correct the optical axis of the imaging payload based on the offset value when the laser echo rate reaches the highest, so that the optical axis of the imaging payload is parallel to the optical axis of the laser.

[0065] Further, in one embodiment, the control unit is further configured to determine whether the laser echo rate is greater than 0 after the laser ranging is turned on; if so, control the imaging payload to perform tracking scanning with a bias scanning angle range equal to one times the laser beam divergence angle value; if the laser echo rate is 0, control the imaging payload to perform the first bias tracking scanning until the laser echo rate is greater than 0, then set the scanning angle when the laser echo rate is greater than 0 as the starting angle of the second bias tracking scanning, and control the imaging payload to perform tracking scanning with a bias scanning angle range equal to one times the laser beam divergence angle value.

[0066] Further, in one embodiment, the controlling the imaging payload to perform the first bias tracking scanning until the laser echo rate is greater than 0 includes: controlling the imaging payload to spiral increase the scanning angle within a laser beam divergence angle range at a preset magnification until the laser echo rate is greater than 0.

[0067] Further, in one embodiment, the preset magnification is greater than 0 and less than or equal to 0.5 times.

[0068] Further, in one embodiment, during the process of controlling the imaging payload to perform tracking scanning with a bias scanning angle range equal to one times the laser beam divergence angle value, the control unit is configured to gradually converge the bias range in the direction of increasing laser echo rate until the highest laser echo rate is reached. At this time, the bias value corresponding to the highest laser echo rate is the parallelism deviation value between the optical axis of the imaging payload and the optical axis of the laser.

[0069] Further, in one embodiment, the correction module is configured to convert the bias value when the laser echo rate reaches the highest into the number of pixel values in the azimuth / pitch direction deviation angle value as the zero-bias correction value; and correct the optical axis of the imaging payload based on the zero-bias correction value to make the optical axis of the imaging payload parallel to the optical axis of the laser.

[0070] Further, in one embodiment, the imaging payload is an infrared payload or a television payload.

[0071] Wherein, the functions of each module in the above automatic optical axis alignment device correspond to the steps in the embodiment of the automatic optical axis alignment method of the above optoelectronic tracking and aiming system, and their functions and implementation processes will not be elaborated here one by one.

[0072] In a third aspect, an embodiment of the present application provides an automatic optical axis alignment device, which can be a device with data processing functions such as a personal computer (PC), a laptop computer, a server, etc.

[0073] In the embodiment of the present application, the automatic optical axis alignment device may include a processor, a memory, a communication interface, and a communication bus.

[0074] Among them, the communication bus can be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0075] The communication interface includes interfaces such as input / output (I / O) interfaces, physical interfaces, and logical interfaces for interconnecting components inside the automatic shaft alignment device, as well as interfaces for interconnecting the automatic shaft alignment device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, a CAN interface, a serial port, etc.; the user device can be a display, a keyboard, etc.

[0076] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0077] The processor can be a general-purpose processor, which can call the automatic shaft alignment program stored in the memory and execute the automatic shaft alignment method of the optoelectronic tracking and aiming system provided in the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, the method executed when the automatic shaft alignment program is called can refer to the various embodiments of the automatic shaft alignment method of the optoelectronic tracking and aiming system of the present application, which will not be elaborated here.

[0078] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0079] It should be noted that in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0080] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. An automatic axis calibration method for an optoelectronic tracking and aiming system, characterized in that: It includes the following steps: Control the imaging payload to lock and perform offset tracking and scanning of the target, and start laser ranging, count the laser echo rate corresponding to each offset value in real time, and determine the offset value corresponding to the maximum laser echo rate; wherein, the offset value corresponding to the maximum laser echo rate is the parallelism deviation value between the optical axis of the imaging payload and the optical axis of the laser; The optical axis of the imaging payload is corrected based on the offset value when the laser echo rate reaches the maximum, so that the optical axis of the imaging payload is parallel to the optical axis of the laser.

2. The automatic axis calibration method of the optoelectronic tracking and aiming system according to claim 1, characterized in that: The control imaging payload locks and performs bias tracking scanning target, and starts laser ranging, real-time statistics of laser echo rate corresponding to each bias value, and determines the bias value corresponding to the maximum laser echo rate, including: Determine whether the laser echo rate is greater than 0 after the laser ranging is turned on; If so, the imaging load is controlled to perform tracking scanning with a laser beam divergence angle value that is one times the offset scanning angle range; If the laser echo rate is 0, the imaging load is controlled to perform the first offset tracking scan until the laser echo rate is greater than 0, and then the scanning angle when the laser echo rate is greater than 0 is set as the starting angle of the second offset tracking scan, and the imaging load is controlled to perform tracking scanning with a laser beam divergence angle value that is twice the offset scanning angle range.

3. The automatic axis calibration method of the photoelectric tracking and aiming system according to claim 2, characterized in that: The controlling the imaging payload to perform a first offset tracking scan until the laser echo rate is greater than 0 includes: The imaging load is controlled to increase the scanning angle in a spiral manner within a laser beam divergence angle range of a preset magnification until the laser echo rate is greater than 0.

4. The automatic axis calibration method of the optoelectronic tracking and aiming system as claimed in claim 3, characterized in that: The preset magnification is greater than 0 and less than or equal to 0.5 times.

5. The automatic axis calibration method of the optoelectronic tracking and aiming system according to claim 2, characterized in that: In the process of controlling the imaging load to track and scan with a laser beam divergence angle value that is twice the offset scanning angle range, the offset range is gradually converged in the direction of increasing the laser echo rate until the maximum laser echo rate is reached. At this time, the offset value corresponding to the maximum laser echo rate is the parallelism deviation value between the optical axis of the imaging load and the optical axis of the laser.

6. The automatic axis calibration method of the optoelectronic tracking and aiming system according to claim 1, characterized in that: The method of correcting the optical axis of the imaging payload based on the bias value when the laser echo rate reaches the maximum, so that the optical axis of the imaging payload is parallel to the optical axis of the laser, includes: The deviation angle value of the offset value in the azimuth / elevation direction when the laser echo rate reaches the highest is converted into a pixel value as the zero offset correction value; The optical axis of the imaging payload is corrected based on the zero bias correction value so that the optical axis of the imaging payload is parallel to the optical axis of the laser.

7. The automatic axis calibration method of the optoelectronic tracking and aiming system according to claim 1, characterized in that: The imaging payload is an infrared payload or a television payload.

8. An automatic shaft alignment device, characterized in that: It includes: A control unit, which is used to control the imaging payload to lock and perform offset tracking and scanning of the target, and to start laser ranging, to count the laser echo rate corresponding to each offset value in real time, and to determine the offset value corresponding to the maximum laser echo rate; wherein the offset value corresponding to the maximum laser echo rate is the parallelism deviation value between the optical axis of the imaging payload and the optical axis of the laser; The correction module is used to correct the optical axis of the imaging payload based on the bias value when the laser echo rate reaches the maximum, so that the optical axis of the imaging payload is parallel to the optical axis of the laser.

9. The automatic shaft alignment device according to claim 8, characterized in that: The control unit is also used to determine whether the laser echo rate is greater than 0 after the laser ranging is turned on; if so, the imaging load is controlled to perform tracking scanning with a laser beam divergence angle value that is one times the offset scanning angle range; If the laser echo rate is 0, the imaging load is controlled to perform the first offset tracking scan until the laser echo rate is greater than 0, and then the scanning angle when the laser echo rate is greater than 0 is set as the starting angle of the second offset tracking scan, and the imaging load is controlled to perform tracking scanning with a laser beam divergence angle value that is twice the offset scanning angle range.

10. An automatic shaft alignment device, characterized in that: The automatic axis alignment device includes a processor, a memory, and an automatic axis alignment program stored in the memory and executable by the processor, wherein when the automatic axis alignment program is executed by the processor, the steps of the automatic axis alignment method for the optoelectronic tracking and aiming system as described in any one of claims 1 to 7 are implemented.

Images