Fast reflector motion trajectory planning method, system, device and storage medium

Abstract

The invention relates to a method, system, device and storage medium for planning the motion trajectory of a fast reflector, which belongs to the technical field of medium-wave infrared imaging system applications. The invention solves the technical problem that the prior art lacks a method for planning the motion trajectory of a fast reflector that has a sufficiently long detector integration time and maintains a clear and stable image output when the servo turntable speed and frame rate change. The fast reflector trajectory tracking capability is tested to ensure that the time of the fast reflector retrace compensation process is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time of the retrace compensation process; a fast reflector motion trajectory model is constructed; the fast reflector motion trajectory model is updated by the real-time speed of the servo turntable, and the fast reflector motion trajectory is planned using the updated fast reflector trajectory model. The invention is used to implement a method for planning the motion trajectory of a fast reflector that outputs clear and stable images under high frame rate imaging conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of medium-wave infrared imaging system applications, and in particular to a method, system, device and storage medium for planning the motion trajectory of a fast reflector. Background Art

[0002] Medium-wave infrared imaging technology has a wide range of applications in scientific research, military reconnaissance, environmental monitoring, and other fields. It is particularly suitable for target detection and imaging in low-light and complex environments. Due to the small size, high frame rate, and long integration time of medium-wave infrared detectors, continuous scanning imaging technology is usually used to help achieve a larger field of view. To ensure the image quality of continuous scanning imaging, the imaging system requires an image motion compensation mechanism, a fast reflector. This is used to compensate for the image motion caused by the continuous scanning motion of the servo turntable during the generation of each frame of the image. By matching the fast reflector with the servo turntable speed, the detector's axis of sight remains stable during the integral imaging time, reducing the image smearing effect and the impact on image quality. However, traditional trajectory adjustment relies on a fixed preset model, making it difficult to adaptively adjust when the servo turntable speed changes, which can easily lead to image blur and smearing.

[0003] In the medium-wave infrared continuous scanning system with high frame rate imaging, the following technical challenges are faced:

[0004] 1. In high-frame-rate imaging mode, the detector integration time is limited, resulting in a decrease in the image signal-to-noise ratio. The fast mirror's retrace compensation phase leaves limited integration time for the detector, preventing the advantages of a long integration time, such as enhanced weak target detection capabilities.

[0005] 2. When the servo turntable speed changes dynamically, traditional methods make it difficult to achieve precise speed matching of the fast reflector. During high-frame-rate imaging, the servo turntable speed changes in real time, and the fast reflector needs to accurately adjust the beam angle in a very short time. Failure to quickly match the servo turntable speed will result in image distortion such as blur and tailing.

[0006] In the prior art, Chinese patent document CN113654526A discloses "an optoelectronic pod scanning method under low-altitude and fast flight conditions", which calculates the spatial geographic location represented by the image in real time, and adjusts the swing angular velocity of the servo frame according to the overlap coefficient of adjacent images to achieve rapid, large-scale and complete scanning of the target area. The optoelectronic pod scanning system includes: an optical camera, a laser rangefinder, a servo frame, an image processing module, a base and a POS module. The optical camera also includes a fast reflector. The servo frame drives the optical camera to scan and image a large area at a certain swing frequency, and the fast reflector maintains the inertial spatial stability of the optical camera's visual axis during exposure to achieve clear imaging. However, this technical solution has the technical problem of limited detector integration time, and when the servo frame rotation speed changes dynamically, it is difficult to achieve accurate speed matching of the fast reflector.

[0007] In summary, the existing technology lacks a fast mirror motion trajectory planning method that ensures that the detector has a sufficiently long integration time and maintains clear and stable image output when the servo turntable speed and frame rate change. Summary of the Invention

[0008] The present invention solves the technical problem that the prior art lacks a method for planning the trajectory of a fast reflector, which ensures that the detector has a sufficiently long integration time and maintains clarity and stability in the image output when the servo turntable speed and frame rate change.

[0009] The method for planning the motion trajectory of a fast reflector according to the present invention comprises the following steps:

[0010] Step 1: Test the tracking capability of the fast reflector to ensure that the retrace compensation process time of the fast reflector is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time of the retrace compensation process;

[0011] Step 2: Based on the fast reflection mirror described in step 1, construct a fast reflection mirror motion trajectory model;

[0012] Step 3: Update the fast reflection mirror motion trajectory model according to the real-time rotation speed of the servo turntable, and plan the fast reflection mirror motion trajectory using the updated fast reflection mirror trajectory model.

[0013] Furthermore, in an embodiment of the present invention, the test of the trajectory tracking capability of the fast reflector in step 1 includes the following steps:

[0014] Step 11, designing an isosceles triangle wave trajectory based on the maximum rotation speed of the servo turntable and the maximum integration time of the detector;

[0015] Step 12, according to the isosceles triangle trajectory, obtain the maximum frequency of the fast reflector following the isosceles triangle wave trajectory, and obtain the following trajectory curve;

[0016] Step 13: Based on the tracking trajectory curve described in step 12, the retrace compensation process time of the fast reflection mirror is obtained, and the trajectory tracking capability of the fast reflection mirror is tested using the retrace compensation process time of the fast reflection mirror.

[0017] Furthermore, in an embodiment of the present invention, the design of the isosceles triangle wave trajectory in step 11 is specifically as follows:

[0018] According to the maximum rotation speed of the servo turntable and the maximum integration time of the detector, the maximum retrace angle of the fast reflector is obtained, specifically:

[0019] ;

[0020] ;

[0021] Where, is the maximum speed of the fast mirror, is the optical system zoom ratio, is the maximum speed of the servo turntable, is the maximum retrace angle of the fast reflector, is the maximum integration time of the detector, The amount of time to accelerate or decelerate for the retrace compensation process;

[0022] According to the maximum retrace stroke angle of the fast reflector, the position sensor code value of the maximum stroke of the fast reflector is obtained, specifically:

[0023] ;

[0024] Where, is the position sensor code value of the fast reflector's maximum travel, is the proportionality coefficient;

[0025] The isosceles triangle wave trajectory is designed based on the position sensor code value of the maximum stroke of the fast reflector.

[0026] Furthermore, in the embodiment of the present invention, the time of the fast reflector retrace compensation process is obtained in step 13, specifically:

[0027] From the following trajectory curve, the minimum return time of the fast reflector, the rapid acceleration time of the fast reflector, the rapid deceleration time of the fast reflector, and the maximum slope of the return of the fast reflector are obtained respectively, specifically:

[0028] ;

[0029] ;

[0030] ;

[0031] Where, is the minimum return time of the fast reflector, is the maximum frequency of the fast mirror following the isosceles triangle wave trajectory, is the rapid acceleration time of the fast reflector, is the rapid deceleration time of the fast reflector, is the maximum slope of the fast reflector return;

[0032] Based on the maximum frequency of the fast reflector following the isosceles triangle wave trajectory, the minimum return time of the fast reflector, the rapid acceleration time of the fast reflector, and the rapid deceleration time of the fast reflector, the retrace compensation process time of the fast reflector is obtained, specifically:

[0033] ;

[0034] Where, The time for the fast mirror retrace compensation process, The maximum shooting frequency of the fast reflector.

[0035] Furthermore, in the embodiment of the present invention, the construction of the fast reflector motion trajectory model in step 2 is specifically as follows:

[0036] The fast reflector motion trajectory model moves in a sawtooth wave shape. The actual rotation speed of the servo turntable is collected in real time. According to the actual rotation speed of the servo turntable and the maximum integration time of the detector, the fast reflector position sensor code value, the fast reflector retrace slope, and the fast reflector return slope are obtained respectively. Specifically,

[0037] ;

[0038] ;

[0039] ;

[0040] Where, is the code value of the fast reflector position sensor, is the actual speed of the servo turntable, is the fast mirror retrace slope, is the return slope of the fast reflector.

[0041] Furthermore, in an embodiment of the present invention, the updating of the fast reflection mirror motion trajectory model by the real-time rotation speed of the servo turntable in step 3 is specifically as follows:

[0042] The servo turntable return gain and servo turntable retrace gain are obtained by adjusting the servo turntable return gain and servo turntable retrace gain respectively, and the fast reflector motion trajectory model is calculated. 、 and , update the fast reflector motion trajectory model, specifically:

[0043] ;

[0044] ;

[0045] Where, is the servo gain coefficient following the isosceles triangle wave trajectory, is the servo turntable retrace gain, is the return gain of the servo turntable.

[0046] The fast reflector motion trajectory planning system of the present invention includes the following modules:

[0047] The test module tests the trajectory tracking capability of the fast reflector to ensure that the retrace compensation process time of the fast reflector is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time of the retrace compensation process;

[0048] A construction module, based on the fast reflector described in the test module, constructs a fast reflector motion trajectory model;

[0049] The planning module updates the fast reflector motion trajectory model through the real-time rotation speed of the servo turntable, and plans the fast reflector motion trajectory using the updated fast reflector trajectory model.

[0050] An electronic device according to the present invention comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0051] Memory for storing computer programs;

[0052] The processor is configured to implement any of the above-mentioned methods for planning the motion trajectory of a fast reflector when executing a program stored in the memory.

[0053] The present invention provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, any of the above-mentioned methods for planning the motion trajectory of a fast reflector is implemented.

[0054] The present invention solves the technical problem of the existing technology lacking a method for planning the trajectory of a fast reflector to ensure that the detector has a sufficiently long integration time and that the image output remains clear and stable even when the servo turntable speed and frame rate change. Specific beneficial effects include:

[0055] The present invention proposes a method for planning the motion trajectory of a fast reflector. By testing the trajectory tracking capability of the fast reflector, the detector is ensured to have a sufficiently long integration time, thereby improving the signal-to-noise ratio of the image. A fast reflector motion trajectory model is simultaneously constructed and updated based on the real-time rotational speed of the servo turntable. This ensures that the fast reflector can accurately match the changes in the real-time rotational speed of the servo turntable, avoiding image distortion caused by speed mismatch, thereby improving the flexibility of the system and imaging quality. The proposed method not only maintains stable motion matching under changes in the servo turntable rotational speed but also extends the effective integration time of the detector, ensuring the output of clear and stable images under high frame rate imaging conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0057] Figure 1 is the following trajectory curve described in the first embodiment;

[0058] Figure 2 1 is a schematic diagram of a planned motion trajectory curve of a fast reflector according to the first embodiment;

[0059] Figure 3 Schematic diagram of the actual tracking trajectory curve of the fast reflection mirror described in the first embodiment. DETAILED DESCRIPTION

[0060] The following will clearly and completely describe various embodiments of the present invention in conjunction with the accompanying drawings. The embodiments described with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0061] Implementation 1. The fast mirror motion trajectory planning method described in this implementation comprises the following steps:

[0062] Step 1: Test the tracking capability of the fast reflector to ensure that the retrace compensation process time of the fast reflector is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time of the retrace compensation process;

[0063] Step 2: Based on the fast reflection mirror described in step 1, construct a fast reflection mirror motion trajectory model;

[0064] Step 3: Update the fast reflection mirror motion trajectory model according to the real-time rotation speed of the servo turntable, and plan the fast reflection mirror motion trajectory using the updated fast reflection mirror trajectory model.

[0065] In this embodiment, the test of the trajectory tracking capability of the fast reflector in step 1 includes the following steps:

[0066] Step 11, designing an isosceles triangle wave trajectory based on the maximum rotation speed of the servo turntable and the maximum integration time of the detector;

[0067] Step 12, according to the isosceles triangle trajectory, obtain the maximum frequency of the fast reflector following the isosceles triangle wave trajectory, and obtain the following trajectory curve;

[0068] Step 13: Based on the tracking trajectory curve described in step 12, the retrace compensation process time of the fast reflection mirror is obtained, and the trajectory tracking capability of the fast reflection mirror is tested using the retrace compensation process time of the fast reflection mirror.

[0069] In this embodiment, the design of the isosceles triangle wave trajectory in step 11 is specifically as follows:

[0070] According to the maximum rotation speed of the servo turntable and the maximum integration time of the detector, the maximum retrace angle of the fast reflector is obtained, specifically:

[0071] ;

[0072] ;

[0073] Where, is the maximum speed of the fast mirror, is the optical system zoom ratio, is the maximum speed of the servo turntable, is the maximum retrace angle of the fast reflector, is the maximum integration time of the detector, The amount of time to accelerate or decelerate for the retrace compensation process;

[0074] According to the maximum retrace stroke angle of the fast reflector, the position sensor code value of the maximum stroke of the fast reflector is obtained, specifically:

[0075] ;

[0076] Where, is the position sensor code value of the fast reflector's maximum travel, is the proportionality coefficient;

[0077] The isosceles triangle wave trajectory is designed based on the position sensor code value of the maximum stroke of the fast reflector.

[0078] In this embodiment, the time of the fast mirror retrace compensation process is obtained in step 13, specifically:

[0079] From the following trajectory curve, the minimum return time of the fast reflector, the rapid acceleration time of the fast reflector, the rapid deceleration time of the fast reflector, and the maximum slope of the return of the fast reflector are obtained respectively, specifically:

[0080] ;

[0081] ;

[0082] ;

[0083] Where, is the minimum return time of the fast reflector, is the maximum frequency of the fast mirror following the isosceles triangle wave trajectory, is the rapid acceleration time of the fast reflector, is the rapid deceleration time of the fast reflector, is the maximum slope of the fast reflector return;

[0084] Based on the maximum frequency of the fast reflector following the isosceles triangle wave trajectory, the minimum return time of the fast reflector, the rapid acceleration time of the fast reflector, and the rapid deceleration time of the fast reflector, the retrace compensation process time of the fast reflector is obtained, specifically:

[0085] ;

[0086] Where, The time for the fast mirror retrace compensation process, The maximum shooting frequency of the fast reflector.

[0087] In this embodiment, the construction of the fast reflector motion trajectory model in step 2 is specifically as follows:

[0088] The fast reflector motion trajectory model moves in a sawtooth wave shape. The actual rotation speed of the servo turntable is collected in real time. According to the actual rotation speed of the servo turntable and the maximum integration time of the detector, the fast reflector position sensor code value, the fast reflector retrace slope, and the fast reflector return slope are obtained respectively. Specifically,

[0089] ;

[0090] ;

[0091] ;

[0092] Where, is the code value of the fast reflector position sensor, is the actual speed of the servo turntable, is the fast mirror retrace slope, is the return slope of the fast reflector.

[0093] In this embodiment, the updating of the fast reflection mirror motion trajectory model by the real-time rotation speed of the servo turntable in step 3 is specifically as follows:

[0094] The servo turntable return gain and servo turntable retrace gain are obtained by adjusting the servo turntable return gain and servo turntable retrace gain respectively, and the fast reflector motion trajectory model is calculated. 、 and , update the fast reflector motion trajectory model, specifically:

[0095] ;

[0096] ;

[0097] Where, is the servo gain coefficient following the isosceles triangle wave trajectory, is the servo turntable retrace gain, is the return gain of the servo turntable.

[0098] The existing technology has the technical problem of lacking a fast mirror motion trajectory planning method that ensures that the detector has a sufficiently long integration time and maintains clear and stable image output when the servo turntable speed and frame rate change.

[0099] To address the above technical issues, this embodiment provides a fast reflector motion trajectory planning method that meets the requirements for retrace compensation under high frame rate imaging. The method is particularly suitable for scenarios requiring high frame rate, high precision control, and stable imaging, such as infrared remote sensing, infrared imaging, and satellite monitoring. The method includes the following steps:

[0100] Step 1: Test the tracking capability of the fast reflector to ensure that the retrace compensation process time of the fast reflector is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time of the retrace compensation process;

[0101] Step 11: Based on the maximum speed of the servo turntable in the medium-wave infrared continuous scanning imaging system and the detector's maximum integration time , calculate the maximum retrace angle of the fast reflector :

[0102] ; (1)

[0103] ; (2)

[0104] Where, is the maximum retrace angle of the fast reflector, in degrees, is the maximum speed of the fast reflector, in degrees per second. is the maximum speed of the servo turntable, in degrees / s, is the optical system zoom ratio, unitless, The double angle relationship of the reflector is that the reflector rotates 1° and the optical axis rotates 2°. is the maximum integration time of the detector, in seconds, The acceleration or deceleration time of the retrace compensation process, in seconds;

[0105] Step 12: According to the maximum retrace angle of the fast reflector , calculate the position sensor code value of the fast reflector's maximum stroke :

[0106] ; (3)

[0107] Where, Zero is the zero position of the fast mirror, is the position sensor code value of the fast reflector's maximum travel, is the proportional coefficient.

[0108] Step 13: According to the position sensor code value of the maximum stroke of the fast reflector Design an isosceles triangle wave trajectory and use the sweep frequency test to obtain the maximum ability of the fast reflector to follow the triangle wave trajectory, that is, the position sensor code value of the maximum stroke of the fast reflector is The maximum frequency of the fast reflector following the isosceles triangle wave trajectory , and draw the curve of the tracking trajectory. Find the minimum return time of the fast reflector from the tracking trajectory curve , Rapid acceleration time of fast reflector , Rapid deceleration time of fast reflector and the maximum slope of the fast reflector return :

[0109] ; (4)

[0110] ; (5)

[0111] ; (6)

[0112] Where, is the minimum return time of the fast reflector, is the rapid acceleration time of the fast reflector, is the rapid deceleration time of the fast reflector, and Represents the maximum acceleration and deceleration capability of the fast reflector, which is approximately equal to Smaller, is the maximum slope of the fast reflector return, Approximately equal to the displacement and The above parameters can be obtained through the actual motion trajectory curve.

[0113] Step 14: The maximum frequency of the fast reflector following the isosceles triangle wave trajectory according to the test , Minimum return time of fast reflector , Maximum shooting frequency of fast reflector , Maximum speed of servo turntable and the detector's maximum integration time , calculate the fast reflector retrace compensation process time ,judge Whether the detector's maximum integration time is met Requirements:

[0114] ; (7)

[0115] Where, The time for the fast mirror retrace compensation process, The maximum shooting frequency of the fast reflector and the retrace compensation process time of the fast reflector is the integration time period that the detector can use. When , the planned trajectory meets the requirement of maximum integration time. The amount of time it takes to accelerate or decelerate during the flyback compensation process. The value must be greater than the maximum ,now that To ensure that the integral time is sufficient, when the servo turntable is at its maximum speed If the lower fast reflector meets the maximum integration time of the detector, then other low speed conditions can also meet the requirements.

[0116] Step 2: Based on the fast reflection mirror described in step 1, construct a fast reflection mirror motion trajectory model;

[0117] Meet the detector's maximum integration time , start planning the fast reflector trajectory. The fast reflector trajectory should move in a sawtooth wave shape, that is, the return time within the shooting cycle is as short as possible, so as to ensure that the retrace compensation imaging time is as long as possible. The retrace imaging is performed using the sawtooth wavelength edge area, and the time is , using the sawtooth wave short side area to scan back the image, the time is .

[0118] According to the actual speed of the servo turntable and the detector's maximum integration time , calculate the code value of the fast reflector position sensor, that is, find the position of the sawtooth wave vertex:

[0119] ; (8)

[0120] according to , calculate the fast mirror retrace slope and the fast mirror return slope :

[0121] ; (9)

[0122] ; (10)

[0123] The relationship given by the above formula satisfies the maximum speed of the fast reflector Maximum speed of servo turntable Matches the detector's maximum integration time. The motion trajectory can be designed based on the calculation results.

[0124] Step 3: updating the fast reflector motion trajectory model according to the real-time rotation speed of the servo turntable, and planning the fast reflector motion trajectory using the updated fast reflector trajectory model;

[0125] According to the code value of the fast reflector position sensor, the fast reflector retrace slope and the fast reflector return slope, a fast reflector motion trajectory model can be constructed. By controlling the servo turntable return gain and the servo turntable retrace gain, the fast reflector can follow the fast reflector motion trajectory model. When the servo turntable speed changes in real time, the new fast reflector position can be calculated according to the formula. 、 and , we get a new fast mirror motion trajectory model:

[0126] ; (11)

[0127] ; (12)

[0128] The fast mirror motion trajectory model is an approximate linear system. is the servo gain coefficient for following the trajectory curve, which is also the maximum gain coefficient. The servo turntable retrace gain can be obtained by multiplying the ratio of the fast mirror retrace slope to the fast mirror maximum retrace slope by express, The servo turntable return gain is calculated by multiplying the ratio of the fast mirror return slope to the fast mirror return maximum slope by It indicates that the fast reflection mirror motion is controlled to follow the planned trajectory by continuously adjusting the servo turntable return gain and the servo turntable retrace gain.

[0129] This implementation addresses issues such as short integration times and image distortion caused by real-time changes in servo turntable speed in high-frequency imaging environments by innovatively implementing velocity-matching trajectory planning between the fast reflector and the servo turntable. This implementation utilizes a dynamic real-time adjustment mechanism and introduces a dynamic real-time velocity-matching trajectory planning algorithm. This pre-establishes a model of the fast reflector's motion trajectory to ensure the detector has a sufficiently long integration time. It also captures the servo turntable's speed changes in real time during retrace compensation. Based on this model, the fast reflector's motion trajectory is adaptively adjusted based on the model. This allows for flexible adjustments to the fast reflector's motion trajectory based on actual needs, ensuring precise matching and maintaining clear and stable image output even with changes in servo speed and frame rate.

[0130] In order to better illustrate the method for planning the motion trajectory of the fast reflector according to this embodiment, the following examples are used for detailed description:

[0131] Step 1: Test the tracking capability of the fast reflector to ensure that the retrace compensation process time of the fast reflector is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time of the retrace compensation process;

[0132] Step 11: In this embodiment, the maximum speed of the servo turntable The optical system zoom ratio is 6° / s. 10, the maximum integration time of the detector 10ms, the amount of time it takes to accelerate or decelerate during the flyback compensation process 2ms, is based on The estimated duration of Usually This is to deduct the rapid acceleration time and rapid deceleration time of the fast reflector during the retrace compensation process to ensure that the retrace speed is uniform when the detector reaches the maximum integration time, and the maximum retrace travel angle of the fast reflector The calculated result is 0.36°.

[0133] Step 12, based on the maximum retrace stroke angle of the fast reflector, obtain the position sensor code value of the maximum stroke of the fast reflector. In this embodiment is 2400, The calculated result is ±432DN.

[0134] Step 13, such as Figure 1 As shown, the fast reflector photographing frequency in this embodiment is The frequency is 50Hz. If it is operated according to the traditional isosceles triangle wave trajectory, the fast reflector retrace compensation process time is only 10ms. Excluding the acceleration or deceleration time of the retrace compensation process, the actual integration time left for the detector is less than 10ms, which does not meet the maximum integration time. To meet the requirement of 10ms, the only way to compensate is to reduce the exposure time. The duration is about 7ms at a frame rate of 50Hz is 13ms, which satisfies The time requirement is 12ms.

[0135] Step 2: Meet the detector's maximum integration time , use formulas (8) to (10) to plan the fast reflector motion trajectory, and construct the fast reflector motion trajectory model according to the fast reflector position sensor code value, the fast reflector retrace slope and the fast reflector return slope, as shown in Figure 2 As shown, it meets the maximum speed of the fast reflector Maximum speed of servo turntable Match, and also meet the detector's maximum integration time requirements.

[0136] Step 3: According to the actual speed of the servo turntable, the servo turntable return gain and the servo turntable retrace gain are obtained, and the servo turntable return gain and the servo turntable retrace gain are adjusted to calculate the fast reflector motion trajectory model. 、 and , forming a new fast mirror motion trajectory model. Figure 3 As shown in Figure 3, the actual tracking trajectory of the fast reflector will have a certain phase lag relative to the given planned trajectory, and this lag is fixed under the condition that the shooting frequency remains unchanged.

[0137] Implementation 2. The fast mirror motion trajectory planning system described in this implementation includes the following modules:

[0138] The test module tests the trajectory tracking capability of the fast reflector to ensure that the retrace compensation process time of the fast reflector is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time of the retrace compensation process;

[0139] A construction module, based on the fast reflector described in the test module, constructs a fast reflector motion trajectory model;

[0140] The planning module updates the fast reflector motion trajectory model through the real-time rotation speed of the servo turntable, and plans the fast reflector motion trajectory using the updated fast reflector trajectory model.

[0141] Implementation three. An electronic device described in this implementation includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0142] Memory for storing computer programs;

[0143] The processor is configured to implement the fast reflection mirror motion trajectory planning method described in the first embodiment when executing the program stored in the memory.

[0144] Embodiment 4. The computer-readable storage medium described in this embodiment stores a computer program, and when the computer program is executed by a processor, the fast reflection mirror motion trajectory planning method described in embodiment 1 is implemented.

[0145] The above is a detailed introduction to the fast reflector motion trajectory planning method, system, device and storage medium proposed in the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A fast mirror motion trajectory planning method, characterized in that: The following steps are involved: Step 1: Test the tracking capability of the fast reflector to ensure that the retrace compensation process time of the fast reflector is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time of the retrace compensation process; Step 2: Based on the fast reflection mirror described in step 1, construct a fast reflection mirror motion trajectory model; Step 3: updating the fast reflector motion trajectory model according to the real-time rotation speed of the servo turntable, and planning the fast reflector motion trajectory using the updated fast reflector trajectory model; The construction of the fast reflector motion trajectory model in step 2 is specifically as follows: The fast reflector motion trajectory model moves in a sawtooth wave shape. The actual rotation speed of the servo turntable is collected in real time. According to the actual rotation speed of the servo turntable and the maximum integration time of the detector, the fast reflector position sensor code value, the fast reflector retrace slope, and the fast reflector return slope are obtained respectively. Specifically, ； ； ； Where, is the code value of the fast reflector position sensor, is the actual speed of the servo turntable, is the fast mirror retrace slope, is the return slope of the fast reflector; In step 3, the fast reflection mirror motion trajectory model is updated by the real-time rotation speed of the servo turntable, specifically: The servo turntable return gain and servo turntable retrace gain are obtained by adjusting the servo turntable return gain and servo turntable retrace gain respectively, and the fast reflector motion trajectory model is calculated. 、 and , update the fast reflector motion trajectory model, specifically: ； ； Where, is the servo gain coefficient following the isosceles triangle wave trajectory, is the servo turntable retrace gain, is the return gain of the servo turntable.

2. The method for planning the motion trajectory of a fast reflector according to claim 1, wherein: The test of the trajectory tracking capability of the fast reflector in step 1 includes the following steps: Step 11, designing an isosceles triangle wave trajectory based on the maximum rotation speed of the servo turntable and the maximum integration time of the detector; Step 12, according to the isosceles triangle trajectory, obtain the maximum frequency of the fast reflector following the isosceles triangle wave trajectory, and obtain the following trajectory curve; Step 13: Based on the tracking trajectory curve described in step 12, the retrace compensation process time of the fast reflection mirror is obtained, and the trajectory tracking capability of the fast reflection mirror is tested using the retrace compensation process time of the fast reflection mirror.

3. The method for planning the motion trajectory of a fast reflector according to claim 2, wherein: The design of the isosceles triangle wave trajectory in step 11 is specifically as follows: According to the maximum rotation speed of the servo turntable and the maximum integration time of the detector, the maximum retrace angle of the fast reflector is obtained, specifically: ； ； Where, is the maximum speed of the fast mirror, is the optical system zoom ratio, is the maximum speed of the servo turntable, is the maximum retrace angle of the fast reflector, is the maximum integration time of the detector, The amount of time to accelerate or decelerate for the retrace compensation process; According to the maximum retrace stroke angle of the fast reflector, the position sensor code value of the maximum stroke of the fast reflector is obtained, specifically: ； Where, is the position sensor code value of the fast reflector's maximum travel, is the proportionality coefficient; The isosceles triangle wave trajectory is designed based on the position sensor code value of the maximum stroke of the fast reflector.

4. The method for planning the motion trajectory of a fast reflector according to claim 2, wherein: The time of the fast mirror retrace compensation process is obtained in step 13, specifically: From the following trajectory curve, the minimum return time of the fast reflector, the rapid acceleration time of the fast reflector, the rapid deceleration time of the fast reflector, and the maximum slope of the return of the fast reflector are obtained respectively, specifically: ； ； ； Where, is the minimum return time of the fast reflector, is the maximum frequency of the fast mirror following the isosceles triangle wave trajectory, is the rapid acceleration time of the fast reflector, is the rapid deceleration time of the fast reflector, is the maximum slope of the fast reflector return; Based on the maximum frequency of the fast reflector following the isosceles triangle wave trajectory, the minimum return time of the fast reflector, the rapid acceleration time of the fast reflector, and the rapid deceleration time of the fast reflector, the retrace compensation process time of the fast reflector is obtained, specifically: ； Where, The time for the fast mirror retrace compensation process, The maximum shooting frequency of the fast reflector.

5. A fast reflector motion trajectory planning system, wherein the system is implemented according to the fast reflector motion trajectory planning method according to claim 1, characterized in that: Includes the following modules: The test module tests the trajectory tracking capability of the fast reflector to ensure that the retrace compensation process time of the fast reflector is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time of the retrace compensation process; A construction module, based on the fast reflector described in the test module, constructs a fast reflector motion trajectory model; A planning module updates the fast reflector motion trajectory model through the real-time rotation speed of the servo turntable, and plans the fast reflector motion trajectory using the updated fast reflector trajectory model; The construction module of the fast reflector motion trajectory model is specifically as follows: The fast reflector motion trajectory model moves in a sawtooth wave shape. The actual rotation speed of the servo turntable is collected in real time. According to the actual rotation speed of the servo turntable and the maximum integration time of the detector, the fast reflector position sensor code value, the fast reflector retrace slope, and the fast reflector return slope are obtained respectively. Specifically, ； ； ； Where, is the code value of the fast reflector position sensor, is the actual speed of the servo turntable, is the fast mirror retrace slope, is the return slope of the fast reflector; The planning module updates the fast mirror motion trajectory model by using the real-time rotation speed of the servo turntable, specifically: The servo turntable return gain and servo turntable retrace gain are obtained by adjusting the servo turntable return gain and servo turntable retrace gain respectively, and the fast reflector motion trajectory model is calculated. 、 and , update the fast reflector motion trajectory model, specifically: ； ； Where, is the servo gain coefficient following the isosceles triangle wave trajectory, is the servo turntable retrace gain, is the return gain of the servo turntable.

6. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory for storing computer programs; The processor is configured to implement the fast reflector motion trajectory planning method according to any one of claims 1 to 4 when executing the program stored in the memory.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for planning the motion trajectory of a fast reflector according to any one of claims 1 to 4 is implemented.

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