Tracking system

Abstract

The invention discloses a tracking system, which comprises a main frame, and a first Kuder optical path, a first telescopic optical system, a second Kuder optical path and a second telescopic optical system which are arranged on the main frame, the first light beam enters a first Kuder light path and enters a first telescopic optical system after being reflected, and the first telescopic optical system emits the first light beam; the second light beam enters a second Kuder light path and enters a second telescopic optical system after being reflected, and the second telescopic optical system emits the second light beam; the main frame comprises an azimuth axis and a pitch axis and can rotate around the azimuth axis or / and the pitch axis, so that a first light beam emitted by the first telescopic optical system points to a target and a second light beam emitted by the second telescopic optical system points to the target. According to the invention, light beams of two different wavebands can be conducted, so that the light beams of the two different wavebands aim at a target simultaneously.

Description

Technical Field

[0001] The present invention relates to the field of optical systems, and in particular to a tracking system. Background Art

[0002] Currently, a Coode optical path is installed on a horizontal tracking frame to transmit the light beam emitted by the light source through the Coode optical path of the tracking frame and then emit it from the telescope so that the emitted light beam is aimed at the target. The Coode optical path includes at least one reflector, and the light beam is reflected by the at least one reflector to transmit the light beam. Usually, a single set of Coode optical paths only transmits a single-band light beam. However, some targets require multiple-band light beams to act on the target simultaneously. For such application requirements, the reflectors of the Coode optical path can be specially coated to enable the reflectors to combine and transmit multiple-band light beams, so that a single set of Coode optical paths can transmit multiple-band light beams simultaneously. However, this has strict requirements on the combination of bands. For two different-band light beams, it is possible that the reflector obtained by the coating can achieve a high reflectivity for one of the bands, but not for the other. Summary of the Invention

[0003] In view of this, an object of the present invention is to provide a tracking system that can transmit two light beams of different wavelength bands so that the two light beams of different wavelength bands can aim at the target at the same time.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A tracking system includes a main frame and a first Coudé optical path, a first telescopic optical system, a second Coudé optical path, and a second telescopic optical system arranged on the main frame;

[0006] The first Coode optical path includes at least one first reflecting element. The first telescopic optical system is arranged on an exit optical path of the first Coode optical path. The first light beam is incident on the first Coode optical path, and after being reflected by the at least one first reflecting element, is incident on the first telescopic optical system. The first telescopic optical system is used to emit the first light beam.

[0007] The second Coode optical path includes at least one second reflecting element, the second telescopic optical system is arranged on an exit optical path of the second Coode optical path, the second light beam is incident on the second Coode optical path, is reflected by the at least one second reflecting element, and is incident on the second telescopic optical system, and the second telescopic optical system is used to emit the second light beam;

[0008] The main frame includes an azimuth axis and a pitch axis. The directions of the first telescopic optical system and the second telescopic optical system are both consistent with the direction of the azimuth axis. The pitch axis is perpendicular to the azimuth axis. The main frame is used to rotate about the azimuth axis and / or about the pitch axis so that the first light beam emitted by the first telescopic optical system points to a target and the second light beam emitted by the second telescopic optical system points to the target.

[0009] Optionally, it also includes:

[0010] a coarse tracking device, disposed on the main frame, for acquiring a first image of the target and obtaining a first miss distance based on the first image, wherein the first miss distance is a distance from the centroid of the target in the first image to the center of the first image;

[0011] A control device is connected to the coarse tracking device and the main frame respectively, and is used to control the main frame to rotate about the azimuth axis and / or about the pitch axis according to the first miss amount, so that the centroid of the target in the first image obtained by the coarse tracking device is at the center of the first image.

[0012] Optionally, it also includes:

[0013] a first tracking actuator, disposed on the main frame and on the exit optical path of the first Coode optical path, for adjusting the exit direction of the first light beam from the first Coode optical path after passing through the first tracking actuator;

[0014] A first precision tracking device is provided on the main frame, and is used to receive light from the target acquired by the first telescopic optical system and generate a second image based on the received light, obtain a second miss amount according to the second image, and control the first tracking execution component to adjust the emission direction of the first light beam according to the second miss amount, so that the centroid of the target in the second image acquired by the first precision tracking device is at the center of the second image.

[0015] Optionally, it also includes:

[0016] a first tracking actuator, disposed on the main frame and on the exit optical path of the first Coode optical path, for adjusting the exit direction of the first light beam from the first Coode optical path after passing through the first tracking actuator;

[0017] The first tracking execution component includes:

[0018] a third reflecting element, configured to reflect the first light beam incident on the first tracking actuator, wherein the third reflecting element is capable of swinging to adjust an exit direction of the first light beam after passing through the first tracking actuator;

[0019] a first bracket, wherein the third reflective element is disposed on the first bracket;

[0020] a first driving assembly connected to the first bracket via a first supporting hinge, and configured to drive the first bracket to rotate via the first supporting hinge, thereby driving the third reflecting element to swing;

[0021] a first displacement measuring component, disposed on the third reflecting element, and configured to measure a deflection angle of the third reflecting element;

[0022] The first control module is connected to the first displacement measuring component, and is used to drive the third reflective element to swing through the first driving assembly according to the deflection angle of the third reflective element.

[0023] Optionally, it also includes:

[0024] a second tracking actuator, disposed on the main frame and on the exit optical path of the second Coode optical path, for adjusting the exit direction of the second light beam from the second Coode optical path after passing through the second tracking actuator;

[0025] A second precision tracking device is provided on the main frame, and is used for receiving the light of the target acquired by the second telescopic optical system and generating a third image based on the received light, obtaining a third miss amount according to the third image, and controlling the second tracking execution component to adjust the emission direction of the second light beam according to the third miss amount, so that the centroid of the target in the third image acquired by the second precision tracking device is at the center of the third image.

[0026] Optionally, it also includes:

[0027] a second tracking actuator, disposed on the main frame and on the exit optical path of the second Coode optical path, for adjusting the exit direction of the second light beam from the second Coode optical path after passing through the second tracking actuator;

[0028] The second tracking execution component includes:

[0029] a fourth reflecting element, configured to reflect the second light beam incident on the second tracking actuator, wherein the fourth reflecting element is capable of swinging to adjust an exit direction of the second light beam after passing through the second tracking actuator;

[0030] a second bracket, wherein the fourth reflective element is disposed on the second bracket;

[0031] a second driving assembly connected to the second bracket via a second supporting hinge, and configured to drive the second bracket to rotate via the second supporting hinge, thereby driving the fourth reflective element to swing;

[0032] a second displacement measuring component, disposed on the fourth reflecting element, for measuring a deflection angle of the fourth reflecting element;

[0033] The second control module is connected to the second displacement measuring component, and is used to drive the fourth reflective element to swing through the second driving assembly according to the deflection angle of the fourth reflective element.

[0034] Optionally, it also includes:

[0035] a first oscillating mirror assembly, disposed on an incident light path of the first Coode optical path, and configured to adjust an exit direction of the first light beam after passing through the first oscillating mirror assembly, so that the first light beam emitted by the first oscillating mirror assembly is incident on the first Coode optical path;

[0036] Or / and, a second swing mirror assembly is arranged on the incident light path of the second Coode optical path, and is used to adjust the exit direction of the second light beam after passing through the second swing mirror assembly, so that the second light beam emitted by the second swing mirror assembly is incident on the second Coode optical path.

[0037] Optionally, it also includes:

[0038] a first beam splitting element, disposed on an outgoing light path of the first oscillating mirror assembly, for splitting the first light beam emitted by the first oscillating mirror assembly into a light beam incident on a first light spot monitoring device;

[0039] The first light spot monitoring device is configured to generate a first light spot image and obtain a fourth miss distance based on the first light spot image, and control the first oscillating mirror assembly to adjust the emission direction of the first light beam based on the fourth miss distance, wherein the fourth miss distance is the distance from the center of the light spot in the first light spot image to the center of the first light spot image;

[0040] or / and, a second beam splitting element, disposed on an outgoing light path of the second oscillating mirror assembly, for splitting the second light beam emitted by the second oscillating mirror assembly into a beam incident on a second light spot monitoring device;

[0041] The second light spot monitoring device is used to generate a second light spot image and obtain a fifth miss amount based on the second light spot image, and control the second swing mirror assembly to adjust the emission direction of the second light beam based on the fifth miss amount. The fifth miss amount is the distance from the center of the light spot in the second light spot image to the center of the second light spot image.

[0042] Optionally, the first oscillating mirror assembly / the second oscillating mirror assembly includes:

[0043] a fifth reflecting element / sixth reflecting element, configured to reflect the first light beam / the second light beam incident on the first oscillating mirror assembly / the second oscillating mirror assembly, wherein the fifth reflecting element / the sixth reflecting element is capable of swinging to adjust an exit direction of the first light beam / the second light beam after passing through the first oscillating mirror assembly / the second oscillating mirror assembly;

[0044] a bracket, wherein the fifth reflective element / the sixth reflective element is disposed on the bracket;

[0045] a driving assembly connected to the bracket via a support hinge, and configured to drive the bracket to rotate via the support hinge, thereby driving the fifth reflective element / the sixth reflective element to swing;

[0046] a displacement measuring element, disposed on the fifth reflecting element / the sixth reflecting element, and configured to measure a deflection angle of the fifth reflecting element / the sixth reflecting element;

[0047] A control module is connected to the displacement measuring component and is used to drive the fifth reflecting element / the sixth reflecting element to swing through the driving assembly according to the deflection angle of the fifth reflecting element / the sixth reflecting element.

[0048] Optionally, the first telescopic optical system includes a first primary mirror and a first secondary mirror that are coaxially arranged, and the first light beam emitted from the first Coode optical path is reflected by the first secondary mirror and the first primary mirror in sequence and then emitted;

[0049] The second telescopic optical system includes a second primary mirror and a secondary mirror arranged off-axis. The second light beam emitted from the second Coode optical path is reflected by the secondary mirror and the second primary mirror in sequence and then emitted.

[0050] It can be seen from the above technical solution that the present invention provides a tracking system, including a main frame and a first Coode optical path, a first telescopic optical system, a second Coode optical path and a second telescopic optical system arranged on the main frame; the first Coode optical path includes at least one first reflecting element, a first light beam is incident on the first Coode optical path, and is incident on the first telescopic optical system after being reflected by the at least one first reflecting element, and the first telescopic optical system is used to emit the first light beam; the second Coode optical path includes at least one second reflecting element, a second light beam is incident on the second Coode optical path, and is incident on the second telescopic optical system after being reflected by the at least one second reflecting element, and the second telescopic optical system is used to emit the second light beam; the main frame includes an azimuth axis and a pitch axis, the direction of the first telescopic optical system and the direction of the second telescopic optical system are both consistent with the direction of the azimuth axis, and the main frame is used to rotate about the azimuth axis or / and about the pitch axis so that the first light beam emitted by the first telescopic optical system points to the target and the second light beam emitted by the second telescopic optical system points to the target. The tracking system of the present invention is equipped with two sets of Coode optical paths and a telescopic optical system. A first light beam is transmitted through the first Coode optical path and then emitted by the first telescopic optical system to be directed at the target. A second light beam is transmitted through the second Coode optical path and then emitted by the second telescopic optical system to be directed at the target. The transmission of the first light beam and the transmission of the second light beam do not affect each other. The first light beam and the second light beam can be beams of two different wavelengths. Therefore, the tracking system of the present invention can transmit two light beams of different wavelengths and simultaneously aim them at the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 A schematic diagram of the composition principle of a tracking system provided by one embodiment of the present invention;

[0053] Figure 2 A side view of a tracking system provided by one embodiment of the present invention;

[0054] Figure 3 A schematic diagram of the composition of a first tracking execution component of a tracking system according to an embodiment of the present invention;

[0055] Figure 4 A schematic diagram illustrating the working principle of a first tracking execution component of a tracking system according to an embodiment of the present invention;

[0056] Figure 5Schematic diagram of the composition of the first oscillating mirror assembly of the tracking system according to one embodiment of the present invention.

[0057] The reference numerals in the drawings of the specification include:

[0058] 101-first oscillating mirror assembly, 102-second oscillating mirror assembly, 103-first incident port, 104-second incident port, 105-first Kude optical path, 106-second Kude optical path, 107-first quick reflex mirror assembly, 108-second quick reflex mirror assembly, 109-first telescopic optical system, 110-second telescopic optical system, 111-coarse tracking device, 201-azimuth axis, 202-pitch axis. DETAILED DESCRIPTION

[0059] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0060] This embodiment provides a tracking system, including a main frame and a first Coudé optical path, a first telescopic optical system, a second Coudé optical path, and a second telescopic optical system arranged on the main frame;

[0061] The first Coode optical path includes at least one first reflecting element. The first telescopic optical system is arranged on an exit optical path of the first Coode optical path. The first light beam is incident on the first Coode optical path, and after being reflected by the at least one first reflecting element, is incident on the first telescopic optical system. The first telescopic optical system is used to emit the first light beam.

[0062] The second Coode optical path includes at least one second reflecting element, the second telescopic optical system is arranged on an exit optical path of the second Coode optical path, the second light beam is incident on the second Coode optical path, is reflected by the at least one second reflecting element, and is incident on the second telescopic optical system, and the second telescopic optical system is used to emit the second light beam;

[0063] The main frame includes an azimuth axis and a pitch axis. The directions of the first telescopic optical system and the second telescopic optical system are both consistent with the direction of the azimuth axis. The pitch axis is perpendicular to the azimuth axis. The main frame is used to rotate about the azimuth axis and / or about the pitch axis so that the first light beam emitted by the first telescopic optical system points to a target and the second light beam emitted by the second telescopic optical system points to the target.

[0064] The direction of the first telescopic optical system refers to the direction of the optical axis of the first telescopic optical system, and the direction of the second telescopic optical system refers to the direction of the optical axis of the second telescopic optical system.

[0065] The first light beam is incident on the first Coode optical path, is reflected by the at least one first reflecting element, and is incident on the first telescopic optical system. The first light beam is emitted through the first telescopic optical system. The second light beam is incident on the second Coode optical path, is reflected by the at least one second reflecting element, and is incident on the second telescopic optical system. The second light beam is emitted through the second telescopic optical system.

[0066] The first Coode optical path, the first telescopic optical system, the second Coode optical path, and the second telescopic optical system are all mounted on a main frame. The main frame is rotatable about an azimuth axis and about a pitch axis. When the main frame rotates about an azimuth axis or about a pitch axis, the first Coode optical path, the first telescopic optical system, the second Coode optical path, and the second telescopic optical system move with the main frame. Rotation of the main frame can adjust the direction of a first light beam emitted by the first telescopic optical system and the direction of a second light beam emitted by the second telescopic optical system, so that the first light beam emitted by the first telescopic optical system points toward a target, and the second light beam emitted by the second telescopic optical system points toward a target.

[0067] The tracking system of this embodiment is equipped with two sets of Coode optical paths and a telescopic optical system. A first light beam is guided through the first Coode optical path and then emitted by the first telescopic optical system to the target. A second light beam is guided through the second Coode optical path and then emitted by the second telescopic optical system to the target. The transmission of the first light beam and the transmission of the second light beam do not affect each other. The first and second light beams can be beams of different wavelengths. Therefore, the tracking system of this embodiment can transmit two light beams of different wavelengths and simultaneously aim them at the target.

[0068] For example, you can refer to Figure 1 , Figure 1 This is a schematic diagram of the composition principle of a tracking system provided in one embodiment. As shown in the figure, the first Coode optical path, the first telescopic optical system, the second Coode optical path and the second telescopic optical system are all arranged on the main frame. The first light beam is incident on the first Coode optical path, passes through and then is incident on the first telescopic optical system, and the first light beam is emitted through the first telescopic optical system. The second light beam is incident on the second Coode optical path, passes through and then is incident on the second telescopic optical system, and the second light beam is emitted through the second telescopic optical system. For example, reference can be made to Figure 2 , Figure 2 This is a side view of a tracking system provided in one embodiment. The main frame can rotate about an azimuth axis 201 and a pitch axis 202 .

[0069] In this embodiment, the number and arrangement of the first reflective elements included in the first Coode optical path 105 are not limited; the first reflective elements are arranged relative to the azimuth axis 201 and the elevation axis 202 of the main frame. The number and arrangement of the second reflective elements included in the second Coode optical path 106 are not limited; the second reflective elements are arranged relative to the azimuth axis 201 and the elevation axis 202 of the main frame. The first reflective element and the second reflective element may each be referred to as a Coode mirror.

[0070] In some embodiments, the tracking system may further include:

[0071] a coarse tracking device 111, disposed on the main frame, for acquiring a first image of the target and obtaining a first miss distance based on the first image, wherein the first miss distance is a distance from the centroid of the target in the first image to the center of the first image;

[0072] A control device is connected to the coarse tracking device 111 and the main frame respectively, and is used to control the main frame to rotate about the azimuth axis 201 and / or about the pitch axis 202 according to the first miss amount, so that the centroid of the target in the first image obtained by the coarse tracking device 111 is at the center of the first image.

[0073] On the main frame, the positions of the first Kude optical path 105, the first telescopic optical system 109, the second Kude optical path 106, the second telescopic optical system 110, and the coarse tracking device 111 have all been calibrated. The coarse tracking device 111 acquires a first image of the target and determines a first miss distance. Based on the first miss distance, the control device controls the main frame to rotate about the azimuth axis 201 and / or the pitch axis 202 so that the centroid of the target in the first image acquired by the coarse tracking device 111 is at the center of the first image, thereby achieving coarse tracking of the target.

[0074] In some embodiments, the coarse tracking device 111 includes an optical system, an image sensor, and an image processor. The optical system is configured to capture target light and transmit the captured light to the image sensor. The image sensor is configured to generate a first image based on the received light. The image processor is configured to obtain a first miss distance based on the first image. In some embodiments, the control device may include, but is not limited to, a servo control device.

[0075] In some embodiments, the tracking system may further include:

[0076] a first tracking actuator, disposed on the main frame and on the outgoing optical path of the first Kude optical path 105, for adjusting the outgoing direction of the first light beam from the first Kude optical path 105 after passing through the first tracking actuator;

[0077] A first fine tracking device is mounted on the main frame and configured to receive light from the target captured by the first telescopic optical system 109 and generate a second image based on the received light. The device then obtains a second miss distance based on the second image. The device then controls the first tracking actuator to adjust the emission direction of the first light beam based on the second miss distance, such that the centroid of the target in the second image captured by the first fine tracking device is at the center of the second image. The second miss distance is the distance from the centroid of the target in the second image to the center of the second image.

[0078] The first telescopic optical system 109, the imaging optical path of the first fine tracking device, and the theoretical optical axis of the first light beam optical path are internally coaxially calibrated by a beam splitter. This allows the imaging light to enter the first telescopic optical system 109 and form an image on the first fine tracking device, achieving coaxial consistency between the imaging optical path and the first light beam optical path within a limited angular range. Figure 1 As shown, the first tracking actuator is disposed on the exit optical path of the first Kude optical path 105. After the first light beam from the first Kude optical path 105 passes through the first tracking actuator, it is further emitted through the first telescopic optical system 109. The first tracking actuator can adjust the exit direction of the first light beam after passing through the first tracking actuator, and accordingly adjust the exit direction of the first light beam through the first telescopic optical system 109. The first fine tracking device receives light from the target captured by the first telescopic optical system 109 and generates a second image. Based on the second image, a second miss distance is obtained. Based on the second miss distance, the first tracking actuator is controlled to adjust the exit direction of the first light beam, thereby achieving fine tracking of the target by the first light beam emitted by the first telescopic optical system 109.

[0079] In some embodiments, the tracking system may further include:

[0080] a second tracking actuator, disposed on the main frame and on the exit optical path of the second Kude optical path 106, for adjusting the exit direction of the second light beam from the second Kude optical path 106 after passing through the second tracking actuator;

[0081] A second fine tracking device, mounted on the main frame, is configured to receive light from the target captured by the second telescopic optical system 110 and generate a third image based on the received light. A third miss distance is obtained based on the third image. Based on the third miss distance, the second tracking actuator is controlled to adjust the emission direction of the second light beam so that the centroid of the target in the third image captured by the second fine tracking device is at the center of the third image. The third miss distance is the distance from the centroid of the target in the third image to the center of the third image.

[0082] The second telescopic optical system 110, the imaging optical path of the second fine tracking device, and the theoretical optical axis of the second light beam path are internally coaxially calibrated by a beam splitter. This allows the second tracking actuator to adjust the angle, and the imaging light can enter the second telescopic optical system 110, and then form an image in the second fine tracking device, achieving the coaxial consistency of the imaging optical path and the second light beam path within a limited angle range. For example, it can be combined with reference to Figure 1 As shown, the second tracking actuator is disposed on the exit optical path of the second Kude optical path 106. After the second light beam from the second Kude optical path 106 passes through the second tracking actuator, it is further emitted through the second telescopic optical system 110. The second tracking actuator can adjust the exit direction of the second light beam after passing through the second tracking actuator, and accordingly adjust the exit direction of the second light beam through the second telescopic optical system 110. The second fine tracking device receives light from the target captured by the second telescopic optical system 110 and generates a third image. Based on the third image, a third miss distance is obtained. Based on the third miss distance, the second tracking actuator is controlled to adjust the exit direction of the second light beam, thereby achieving fine tracking of the target by the second light beam emitted by the second telescopic optical system 110.

[0083] In an embodiment in which the tracking system includes a first tracking execution component, a first fine tracking device, a second tracking execution component, and a second fine tracking device, the tracking system adopts a composite axis control scheme of coarse tracking + dual fine tracking. The coarse tracking device is used to capture the target and perform coarse tracking, and the main frame is controlled to rotate to guide the target into the field of view of the fine tracking device. The image of the target is further acquired through the telescopic optical system and the fine tracking device. The tracking execution component is controlled to make the light beam emitted by the telescopic optical system point to the target more accurately, ensuring that the light beam acts on the target and that the tracking accuracy meets the requirements.

[0084] In some embodiments, the first precision tracking device includes an image sensor and an image processor. The image sensor is used to receive light of the target acquired by the first telescopic optical system 109 and generate a second image based on the received light. The image processor is used to process the image and obtain a second miss distance based on the second image.

[0085] In some embodiments, the tracking system also includes: a first tracking execution component, which is arranged on the main frame and on the exit optical path of the first Kude optical path 105, and is used to adjust the exit direction of the first light beam from the first Kude optical path 105 after passing through the first tracking execution component; the first tracking execution component includes a third reflecting element, and the third reflecting element is used to reflect the first light beam incident to the first tracking execution component, and the third reflecting element can swing to adjust the exit direction of the first light beam after passing through the first tracking execution component.

[0086] In some embodiments, the first tracking execution component may include: a third reflecting element, used to reflect the first light beam incident on the first tracking execution component, and the third reflecting element can swing to adjust the emission direction of the first light beam after passing through the first tracking execution component; a first bracket, and the third reflecting element is arranged on the first bracket; a first driving component, connected to the first bracket through a first support hinge, and used to drive the first bracket to rotate through the first support hinge to drive the third reflecting element to swing; a first displacement measuring component, provided on the third reflecting element, and used to measure the deflection angle of the third reflecting element; a first control module, connected to the first displacement measuring component, and used to drive the third reflecting element to swing through the first driving component according to the deflection angle of the third reflecting element.

[0087] For example, you can refer to Figure 3 , Figure 3 This is a schematic diagram of the components of the first tracking actuator assembly of a tracking system according to one embodiment. As shown, the first tracking actuator assembly comprises a mechanical portion and a measurement and control portion. The mechanical portion primarily includes a third reflective element, a first bracket, a first support hinge, a first displacement measuring element, and a support structure. The measurement and control portion comprises a measurement module, a first control module, and a first drive assembly. The first support hinge provides elastic support for the torsional load of the third reflective element and its first bracket, enabling its movement about its center of rotation. The first support hinge can be a flexible support hinge, capable of driving the reflective element to rotate through small angles, providing high rotational flexibility and a wide control bandwidth, facilitating high-precision angular control. The first displacement measuring element measures the displacement of the third reflective element's current position relative to its zero position and converts this displacement into a deflection angle of the third reflective element. The first displacement measuring element can be, but is not limited to, a non-contact micro-displacement sensor. This sensor utilizes electromagnetic field principles to measure changes in the magnetic field at different angles. Its measuring element can be a rotary transformer. In some embodiments, multiple first displacement measuring elements can be evenly spaced around the edge of the third reflective element to achieve differential precision real-time measurement. The measurement module is configured to perform analog-to-digital conversion on the electrical signal output by the first displacement measuring element. The signal output by the measurement module is transmitted to the first control module, which controls the first drive assembly based on the signal. The first tracking actuator assembly may also include a locking mechanism for braking the third reflective element. The support structure is the overall support structure for the first tracking actuator assembly.

[0088] For example, you can refer to Figure 4 , Figure 4This is a schematic diagram of the operating principle of the first tracking actuator assembly of a tracking system according to one embodiment. As shown, the sensor probe is a displacement measuring element. Closed-loop feedback control of the deflection angle of the reflective element is achieved through the displacement measuring element, the drive assembly, and the control module. The control module is responsible for circuit logic control, implementing control algorithms, and information input and output. The control module can be designed based on digital signal processing (DSP) technology, integrating control and measurement input and output channels, drive circuits, communication interfaces, and power conversion functions. The motor and its drive assembly are used to drive the deflection of the reflective element. Electronic braking can be used to control the locking motor to brake the reflective element during non-operating periods.

[0089] In some embodiments, the second precision tracking device includes an image sensor and an image processor. The image sensor is used to receive light of the target acquired by the second telescopic optical system 110 and generate a third image based on the received light. The image processor is used to process the image and obtain a third miss distance based on the third image.

[0090] In some embodiments, the tracking system further includes: a second tracking execution component, disposed on the main frame and on the exit optical path of the second Kude optical path 106, for adjusting the exit direction of the second light beam from the second Kude optical path 106 after passing through the second tracking execution component; the second tracking execution component includes a fourth reflecting element, the fourth reflecting element is used to reflect the second light beam incident to the second tracking execution component, and the fourth reflecting element can swing to adjust the exit direction of the second light beam after passing through the second tracking execution component.

[0091] In some embodiments, the second tracking actuator includes: a fourth reflective element for reflecting the second light beam incident on the second tracking actuator, the fourth reflective element being swingable to adjust the emission direction of the second light beam after passing through the second tracking actuator; a second bracket on which the fourth reflective element is disposed; a second drive assembly connected to the second bracket via a second support hinge, configured to drive the second bracket to rotate via the second support hinge to drive the fourth reflective element to swing; a second displacement measuring member disposed on the fourth reflective element for measuring the deflection angle of the fourth reflective element; and a second control module connected to the second displacement measuring member for driving the fourth reflective element to swing via the second drive assembly according to the deflection angle of the fourth reflective element. In this embodiment, the structure of the second tracking actuator can refer to the above-mentioned embodiment of the first tracking actuator and will not be further described here.

[0092] The first tracking execution component may be a fast-reflection mirror component but is not limited to a fast-reflection mirror component, and the second tracking execution component may be a fast-reflection mirror component but is not limited to a fast-reflection mirror component. Figure 2 As shown, the first fast mirror assembly 107 is disposed between the first Coudé optical path 105 and the first telescopic optical system 109 , and the second fast mirror assembly 108 is disposed between the second Coudé optical path 106 and the second telescopic optical system 110 .

[0093] In some embodiments, the tracking system may further include: a first oscillating mirror assembly 101, disposed on the incident light path of the first Coudé optical path 105, for adjusting the emission direction of the first light beam after passing through the first oscillating mirror assembly 101, so that the first light beam emitted by the first oscillating mirror assembly 101 is incident on the first Coudé optical path 105. Figure 2 As shown, the solid arrowed line pointing to the first oscillating mirror assembly 101 represents the incident direction of the first light beam. The first light beam is incident on the first oscillating mirror assembly 101, passes through the first oscillating mirror assembly 101, and then enters the first Coode optical path 105. The first oscillating mirror assembly 101 can adjust the emission direction of the first light beam so that the first light beam emitted by the first oscillating mirror assembly 101 enters the first Coode optical path 105, thereby achieving optical axis calibration of the first light beam.

[0094] In some embodiments, the tracking system further comprises:

[0095] a first beam splitting element, disposed on an outgoing light path of the first oscillating mirror assembly 101, for splitting the first light beam emitted by the first oscillating mirror assembly 101 into a light beam incident on a first light spot monitoring device;

[0096] The first light spot monitoring device is used to generate a first light spot image and obtain a fourth miss amount based on the first light spot image, and control the first swing mirror assembly 101 to adjust the emission direction of the first light beam based on the fourth miss amount. The fourth miss amount is the distance from the center of the light spot in the first light spot image to the center of the first light spot image.

[0097] The first light beam emitted by the first oscillating mirror assembly 101 is incident on the first beam splitter. The first beam splitter splits the first light beam into one beam that is incident on the first light spot monitoring device. The remaining beam is incident on the first incident port 103 and then on the first Coode optical path 105. The first light spot monitoring device controls the first oscillating mirror assembly 101 to adjust the emission direction of the first light beam based on the fourth miss distance. This ensures that the center of the light spot in the first light spot image captured by the first light spot monitoring device is at the center of the first light spot image, and the first light beam is aligned with the optical axis of the first Coode optical path 105. The first light spot monitoring device may include a camera and an image processor.

[0098] In some embodiments, the tracking system may further include: a second swing mirror assembly 102, which is disposed on the incident light path of the second Coudé optical path 106 and is used to adjust the emission direction of the second light beam after passing through the second swing mirror assembly 102, so that the second light beam emitted by the second swing mirror assembly 102 is incident on the second Coudé optical path 106. Figure 2 , the solid arrow pointing to the second oscillating mirror assembly 102 represents the incident direction of the second light beam. The second light beam is incident on the second oscillating mirror assembly 102, passes through the second oscillating mirror assembly 102, and then enters the second Coode optical path 106. The second oscillating mirror assembly 102 can adjust the emission direction of the second light beam so that the second light beam emitted by the second oscillating mirror assembly 102 enters the second Coode optical path 106.

[0099] In some embodiments, the tracking system may further include:

[0100] a second beam splitting element, disposed on the outgoing light path of the second oscillating mirror assembly 102, for splitting the second light beam emitted by the second oscillating mirror assembly 102 into a beam incident on a second light spot monitoring device;

[0101] The second light spot monitoring device is used to generate a second light spot image and obtain a fifth miss amount based on the second light spot image, and control the second swing mirror assembly 102 to adjust the emission direction of the second light beam based on the fifth miss amount. The fifth miss amount is the distance from the center of the light spot in the second light spot image to the center of the second light spot image.

[0102] The second light beam emitted by the second oscillating mirror assembly 102 is incident on the second beam splitter, which splits the second light beam into one beam that is incident on the second light spot monitoring device. The remaining beam is incident on the second incident port 104 and then on the second Coode optical path 106. The second light spot monitoring device controls the second oscillating mirror assembly 102 to adjust the emission direction of the second light beam based on the fifth miss distance, so that the center of the second light spot image captured by the second light spot monitoring device is at the center of the second light spot image, and the second light beam is aligned with the optical axis of the second Coode optical path 106. The second light spot monitoring device may include a camera and an image processor.

[0103] In some embodiments, the first swing mirror assembly 101 / the second swing mirror assembly 102 may include: a fifth reflecting element / a sixth reflecting element, for reflecting the first light beam / the second light beam incident to the first swing mirror assembly 101 / the second swing mirror assembly 102, the fifth reflecting element / the sixth reflecting element being swingable to adjust the emission direction of the first light beam / the second light beam after passing through the first swing mirror assembly 101 / the second swing mirror assembly 102; a bracket, the fifth reflecting element / the sixth reflecting element being arranged on the bracket; a driving assembly, connected to the bracket through a support hinge, for driving the bracket to rotate through the support hinge to drive the fifth reflecting element / the sixth reflecting element to swing; a displacement measuring component, provided on the fifth reflecting element / the sixth reflecting element, for measuring the deflection angle of the fifth reflecting element / the sixth reflecting element; a control module, connected to the displacement measuring component, for driving the fifth reflecting element / the sixth reflecting element to swing through the driving assembly according to the deflection angle of the fifth reflecting element / the sixth reflecting element.

[0104] For example, you can refer to Figure 5 , Figure 5 This is a schematic diagram of the components of the first oscillating mirror assembly of a tracking system according to one embodiment. As shown in the figure, the first oscillating mirror assembly 101 includes a mechanical portion and a measurement and control portion. The mechanical portion primarily includes a fifth reflective element, a bracket, a support hinge, a displacement measuring device, and a support structure. The measurement and control portion includes a measurement module, a control module, and a drive assembly. The support hinge provides elastic support for the torsional load comprising the fifth reflective element and its bracket, enabling it to move about its center of rotation. The support hinge can be a flexible support hinge, capable of driving the reflective element to rotate at small angles, providing high rotation flexibility and a wide control bandwidth, facilitating high-precision angle control.

[0105] The displacement measuring element is used to measure the displacement of the current position of the fifth reflective element relative to the zero position of the fifth reflective element, and can convert the displacement into the deflection angle of the fifth reflective element. The displacement measuring element can adopt but is not limited to a non-contact micro-displacement sensor, which uses the principle of electromagnetic field to measure the changes in magnetic field at different angles, and its measuring element can be a rotary transformer. In some embodiments, multiple displacement measuring elements can be evenly arranged on the edge of the fifth reflective element to achieve differential precision real-time measurement. The measuring module is used to perform analog-to-digital conversion on the electrical signal output by the displacement measuring element, and the signal output by the measuring module is transmitted to the control module, and the control module controls the drive assembly according to the signal. The first swing mirror assembly 101 may also include a locking mechanism for braking the fifth reflective element. The support structure is the overall support structure of the first swing mirror assembly 101. The working principle of the first swing mirror assembly 101 can be referred to Figure 4The working principle of the first tracking execution assembly shown is not repeated here. The implementation and working principle of the second swing mirror assembly 102 can refer to the implementation of the first swing mirror assembly 101 above, and are not repeated here.

[0106] In this embodiment, the structure of the first telescopic optical system 109 is not limited. In some embodiments, the first telescopic optical system 109 may include a first primary mirror and a first secondary mirror arranged coaxially, and the first light beam emitted by the first Coode optical path 105 is reflected by the first secondary mirror and the first primary mirror in sequence and emitted. The first telescopic optical system 109 adopts a coaxial reflection type. After passing through the first Coode optical path 105, the first light beam passes through the first fast-reflecting mirror assembly 107, and is reflected by the first secondary mirror and the first primary mirror in sequence and emitted. In some embodiments, the first primary mirror and the first secondary mirror can be combined to form an afocal unit to achieve beam expansion. In some embodiments, the first primary mirror and the first secondary mirror can each adopt a parabolic design, and can each adopt a material with a low temperature expansion coefficient, and can be coated with a dielectric reflective film on the surface. In a specific example, the first telescopic optical system 109 can be called a first transmitting telescope, and its aperture is 600 mm.

[0107] In this embodiment, the structure of the second telescopic optical system 110 is not limited. In some embodiments, the second telescopic optical system 110 includes a second primary mirror and a secondary mirror arranged off-axis, and the second light beam emitted by the second Coode optical path 106 is reflected by the secondary mirror and the second primary mirror in sequence and emitted. The second telescopic optical system 110 can adopt an off-axis reflection type, and the second light beam after passing through the second Coode optical path 106 passes through the second fast-reflecting mirror assembly 108, and is reflected by the secondary mirror and the second primary mirror in sequence and emitted. In some embodiments, the second primary mirror and the secondary mirror can be combined to form an afocal unit to achieve beam expansion. In some embodiments, the second primary mirror and the secondary mirror can respectively adopt a parabolic design, and can respectively adopt a material with a low temperature expansion coefficient, and can be coated with a dielectric reflective film on the surface. In a specific example, the second telescopic optical system 110 can be called a second transmitting telescope, and its aperture is 200 mm.

[0108] The first light beam and the second light beam can be two light beams of different wavelength bands. The main frame can be a horizontal tracking frame.

[0109] For applications where multiple wavelengths of light beams need to be aimed at the target simultaneously, if the reflectors of the Coode optical path are coated and a single set of Coode optical paths is used to transmit multiple wavelengths of light beams simultaneously, existing optical coating technology cannot guarantee high reflection efficiency for each light beam within the two wavelength ranges. However, the tracking system of this embodiment adopts a dual Coode optical path and dual beam expansion telescopic optical system emission scheme, which can ensure high reflection efficiency for each light beam. The light beam is transmitted by the Coode optical path and is passed step by step to the corresponding telescopic optical system. The telescopic optical system expands the beam and further compresses the beam divergence angle to increase the power density or energy density of the light beam in the far field.

[0110] In the tracking system of this embodiment, a "common aperture for laser emission and imaging precision tracking" scheme is adopted. The telescopic optical system also serves as the imaging receiving optical system of the precision tracking device. It has a large aperture and thus has a strong light-collecting ability. It can also reduce the light beam emission and aiming error caused by the shaking of the primary and secondary mirrors of the telescopic optical system.

[0111] The tracking system in this embodiment utilizes a "common aperture for laser emission and imaging fine tracking" and a "coarse tracking + dual fine tracking mother-child composite axis control" approach. Due to the narrow laser beam after beam expansion and the large inertia of the tracking and aiming launch turntable, first-level tracking cannot achieve arc-second-level target tracking. Therefore, a mother-child composite axis tracking approach is employed. Specifically, a coarse tracking device carried on the main frame forms a coarse tracking control loop with the main frame, which, guided by target guidance information, completes target capture and angularly graded coarse tracking. A first and second fine tracking devices mounted within the main frame, along with a first and second fast-reflection mirror assembly placed in the laser emission optical path, form a fine tracking servo control loop, achieving arc-second-level precision tracking of targets within the fine tracking field of view. This constitutes a mother-child composite axis tracking system combining coarse tracking with dual fine tracking. Due to the dual-Kude optical path and dual-beam expansion telescope optical system for emission and reception, two independent common-aperture fine tracking devices are employed.

[0112] This embodiment of the tracking system utilizes dual-path beam alignment monitoring. To ensure that the optical axis of the laser beam remains within the permitted range during laser emission, a spot monitoring device and an oscillating mirror assembly are installed in each of the two optical paths. The spot monitoring device captures an image of the beam spot and determines the miss distance. Based on this miss distance, the oscillating mirror assembly controls the corresponding oscillating mirror assembly, which rapidly performs corrections to ensure that the optical axis of the beam enters the tracking frame at the theoretical angle.

[0113] The above is a detailed introduction to a tracking system provided by the present invention. Specific examples are used herein 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. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A tracking system, characterized in that: It includes a main frame and a first Kude optical path, a first telescopic optical system, a second Kude optical path and a second telescopic optical system arranged on the main frame; The first Coode optical path includes at least one first reflecting element. The first telescopic optical system is arranged on an exit optical path of the first Coode optical path. The first light beam is incident on the first Coode optical path, and after being reflected by the at least one first reflecting element, is incident on the first telescopic optical system. The first telescopic optical system is used to emit the first light beam. The second Coode optical path includes at least one second reflecting element, the second telescopic optical system is arranged on an exit optical path of the second Coode optical path, the second light beam is incident on the second Coode optical path, is reflected by the at least one second reflecting element, and is incident on the second telescopic optical system, and the second telescopic optical system is used to emit the second light beam; The main frame includes an azimuth axis and a pitch axis. The directions of the first telescopic optical system and the second telescopic optical system are both consistent with the direction of the azimuth axis. The pitch axis is perpendicular to the azimuth axis. The main frame is used to rotate about the azimuth axis and / or about the pitch axis so that the first light beam emitted by the first telescopic optical system points to a target and the second light beam emitted by the second telescopic optical system points to the target.

2. The tracking system according to claim 1, wherein: Also includes: a coarse tracking device, disposed on the main frame, for acquiring a first image of the target and obtaining a first miss distance based on the first image, wherein the first miss distance is a distance from the centroid of the target in the first image to the center of the first image; A control device is connected to the coarse tracking device and the main frame respectively, and is used to control the main frame to rotate about the azimuth axis and / or about the pitch axis according to the first miss amount, so that the centroid of the target in the first image obtained by the coarse tracking device is at the center of the first image.

3. The tracking system according to claim 1, wherein: Also includes: a first tracking actuator, disposed on the main frame and on the exit optical path of the first Coode optical path, for adjusting the exit direction of the first light beam from the first Coode optical path after passing through the first tracking actuator; A first precision tracking device is provided on the main frame, and is used to receive light from the target acquired by the first telescopic optical system and generate a second image based on the received light, obtain a second miss amount according to the second image, and control the first tracking execution component to adjust the emission direction of the first light beam according to the second miss amount, so that the centroid of the target in the second image acquired by the first precision tracking device is at the center of the second image.

4. The tracking system according to claim 1, wherein: Also includes: a first tracking actuator, disposed on the main frame and on the exit optical path of the first Coode optical path, for adjusting the exit direction of the first light beam from the first Coode optical path after passing through the first tracking actuator; The first tracking execution component includes: a third reflecting element, configured to reflect the first light beam incident on the first tracking actuator, wherein the third reflecting element is capable of swinging to adjust an exit direction of the first light beam after passing through the first tracking actuator; a first bracket, wherein the third reflective element is disposed on the first bracket; a first driving assembly connected to the first bracket via a first supporting hinge, and configured to drive the first bracket to rotate via the first supporting hinge, thereby driving the third reflecting element to swing; a first displacement measuring component, disposed on the third reflecting element, and configured to measure a deflection angle of the third reflecting element; The first control module is connected to the first displacement measuring component, and is used to drive the third reflective element to swing through the first driving assembly according to the deflection angle of the third reflective element.

5. The tracking system according to claim 1, wherein: Also includes: a second tracking actuator, disposed on the main frame and on the exit optical path of the second Coode optical path, for adjusting the exit direction of the second light beam from the second Coode optical path after passing through the second tracking actuator; A second precision tracking device is provided on the main frame, and is used for receiving the light of the target acquired by the second telescopic optical system and generating a third image based on the received light, obtaining a third miss amount according to the third image, and controlling the second tracking execution component to adjust the emission direction of the second light beam according to the third miss amount, so that the centroid of the target in the third image acquired by the second precision tracking device is at the center of the third image.

6. The tracking system according to claim 1, wherein: Also includes: a second tracking actuator, disposed on the main frame and on the exit optical path of the second Coode optical path, for adjusting the exit direction of the second light beam from the second Coode optical path after passing through the second tracking actuator; The second tracking execution component includes: a fourth reflecting element, configured to reflect the second light beam incident on the second tracking actuator, wherein the fourth reflecting element is capable of swinging to adjust an exit direction of the second light beam after passing through the second tracking actuator; a second bracket, wherein the fourth reflective element is disposed on the second bracket; a second driving assembly connected to the second bracket via a second supporting hinge, and configured to drive the second bracket to rotate via the second supporting hinge, thereby driving the fourth reflective element to swing; a second displacement measuring component, disposed on the fourth reflecting element, for measuring a deflection angle of the fourth reflecting element; The second control module is connected to the second displacement measuring component, and is used to drive the fourth reflective element to swing through the second driving assembly according to the deflection angle of the fourth reflective element.

7. The tracking system according to claim 1, wherein: Also includes: a first oscillating mirror assembly, disposed on an incident light path of the first Coode optical path, and configured to adjust an exit direction of the first light beam after passing through the first oscillating mirror assembly, so that the first light beam emitted by the first oscillating mirror assembly is incident on the first Coode optical path; Or / and, a second swing mirror assembly is arranged on the incident light path of the second Coode optical path, and is used to adjust the exit direction of the second light beam after passing through the second swing mirror assembly, so that the second light beam emitted by the second swing mirror assembly is incident on the second Coode optical path.

8. The tracking system according to claim 7, wherein: Also includes: a first beam splitting element, disposed on an outgoing light path of the first oscillating mirror assembly, for splitting the first light beam emitted by the first oscillating mirror assembly into a light beam incident on a first light spot monitoring device; The first light spot monitoring device is configured to generate a first light spot image and obtain a fourth miss distance based on the first light spot image, and control the first oscillating mirror assembly to adjust the emission direction of the first light beam based on the fourth miss distance, wherein the fourth miss distance is the distance from the center of the light spot in the first light spot image to the center of the first light spot image; or / and, a second beam splitting element, disposed on an outgoing light path of the second oscillating mirror assembly, for splitting the second light beam emitted by the second oscillating mirror assembly into a beam incident on a second light spot monitoring device; The second light spot monitoring device is used to generate a second light spot image and obtain a fifth miss amount based on the second light spot image, and control the second swing mirror assembly to adjust the emission direction of the second light beam based on the fifth miss amount. The fifth miss amount is the distance from the center of the light spot in the second light spot image to the center of the second light spot image.

9. The tracking system according to claim 7, wherein: The first oscillating mirror assembly / the second oscillating mirror assembly comprises: a fifth reflecting element / sixth reflecting element, configured to reflect the first light beam / the second light beam incident on the first oscillating mirror assembly / the second oscillating mirror assembly, wherein the fifth reflecting element / the sixth reflecting element is capable of swinging to adjust an exit direction of the first light beam / the second light beam after passing through the first oscillating mirror assembly / the second oscillating mirror assembly; a bracket, wherein the fifth reflective element / the sixth reflective element is disposed on the bracket; a driving assembly connected to the bracket via a support hinge, and configured to drive the bracket to rotate via the support hinge, thereby driving the fifth reflective element / the sixth reflective element to swing; a displacement measuring element, disposed on the fifth reflecting element / the sixth reflecting element, and configured to measure a deflection angle of the fifth reflecting element / the sixth reflecting element; A control module is connected to the displacement measuring component and is used to drive the fifth reflecting element / the sixth reflecting element to swing through the driving assembly according to the deflection angle of the fifth reflecting element / the sixth reflecting element.

10. The tracking system according to claim 1, wherein: The first telescopic optical system includes a first primary mirror and a first secondary mirror arranged coaxially, and the first light beam emitted from the first Coode optical path is reflected by the first secondary mirror and the first primary mirror in sequence and then emitted; The second telescopic optical system includes a second primary mirror and a secondary mirror arranged off-axis. The second light beam emitted from the second Coode optical path is reflected by the secondary mirror and the second primary mirror in sequence and then emitted.

Images