Dynamic real-time correction method, device and equipment for laser beam pointing, and medium

Abstract

The present application relates to the technical field of laser control, and particularly relates to a laser beam pointing dynamic real-time correction method, device, equipment and medium. The method comprises: establishing a mapping model of a fast mirror deflection angle space and a camera pixel coordinate space of an optical axis; acquiring a current frame of a theoretical fast mirror deflection angle, determining a theoretical spot center pixel coordinate by using the mapping model; reading a historical offset, correcting the theoretical fast mirror deflection angle to generate an initial control instruction and driving the fast mirror; after the posture is stable, acquiring an actual spot center pixel coordinate, calculating a pixel deviation between the actual spot center pixel coordinate and the theoretical spot center; if the pixel deviation is less than a convergence threshold, determining convergence and updating the historical offset; otherwise, determining a correction increment based on the mapping model, correcting the current deflection angle and iterating until convergence. The present application can complete the beam pointing correction in the process of laser irradiation of a target, without the need to set a special shutdown correction window, and improves the continuous operation capability of a laser emission system.

Description

Technical Field

[0001] This invention relates to the field of laser control technology, and in particular to a method, apparatus, equipment and medium for dynamic real-time correction of laser beam direction. Background Technology

[0002] Currently, laser emission systems are widely used for drone countermeasures. These systems target drones by emitting laser beams in a directed manner, causing structural damage and forcing the drone to crash. To achieve precision strikes, the laser beam must be kept stable. However, because laser emission systems are typically deployed in complex outdoor environments for extended periods, they are susceptible to temperature drift, mechanical vibration, and gravitational deformation. High-precision mechanical structures alone cannot maintain the laser beam's alignment with a pre-set reference beam for long periods, and beam pointing errors accumulate over time.

[0003] Existing technologies typically perform beam pointing correction within a preset time period: the theoretical spot position of the fast-reflecting mirror in a reference attitude is pre-calibrated; when within the preset time period, the fast-reflecting mirror is first driven back to the reference attitude, the optical axis camera acquires the actual spot image to obtain the actual spot position, and then the fast-reflecting mirror is driven to deflect, calibrating the spot to the theoretical spot position, thereby ensuring that the laser optical axis coincides with the preset reference optical axis. However, this offline error elimination method, if frequently corrected, will reduce the system's continuous operational capability; if the correction interval is extended, the laser pointing error will continuously accumulate during the operation. Summary of the Invention

[0004] The purpose of this invention is to provide a method, device, equipment, and medium for dynamic real-time correction of laser beam pointing, so as to solve the technical problems of correction lag and insufficient laser beam pointing accuracy in the prior art.

[0005] The technical solution of this invention is: a method for dynamic real-time correction of laser beam pointing, comprising: S1. Establish a mapping model between the deflection angle space of the fast-reflecting mirror and the pixel coordinate space of the optical axis camera; the deflection angle space of the fast-reflecting mirror is the set of deflection angles formed by the two orthogonal deflection axes of the fast-reflecting mirror, and the pixel coordinate space of the optical axis camera is the set of pixel coordinates of the center of the light spot in the image acquired by the optical axis camera. S2. Obtain the theoretical fast-reflection mirror deflection angle of the current frame, and determine the theoretical spot center pixel coordinates based on the mapping model; S3. Obtain the historical offset of the fast-reflecting mirror deflection angle, and use the historical offset to correct the theoretical fast-reflecting mirror deflection angle, generate an initial control command, and use the initial control command as the current control command to drive the fast-reflecting mirror deflection. S4. After the fast-reflecting mirror has stabilized, obtain the actual center pixel coordinates of the light spot in the image captured by the optical axis camera, and determine the pixel deviation between the actual center pixel coordinates of the light spot and the theoretical center pixel coordinates of the light spot. S5. If the norm of the pixel deviation is less than a preset convergence threshold, the frame correction is determined to be converged. The current fast-reflecting mirror deflection angle is taken as the final fast-reflecting mirror deflection angle for this frame. An angle offset is determined based on the final fast-reflecting mirror deflection angle and the theoretical fast-reflecting mirror deflection angle, and the historical offset is updated to the angle offset. If the norm of the pixel deviation is greater than the convergence threshold, a correction increment is determined based on the mapping model, and the current fast-reflecting mirror deflection angle is corrected using the correction increment. After updating the current control command, the fast-reflecting mirror deflects, and steps S4 and S5 are repeated until the frame correction is determined to be converged. Preferably, the mapping model is a homography matrix H. Based on the homography matrix H, the deflection angles of the two orthogonal deflection axes of the fast-reflecting mirror and the center pixel coordinates of the spot satisfy the following mapping relationship:

[0006] Where s is the scale factor, used to offset the scale degrees of freedom of the homography matrix; The coordinates of the center pixel of the light spot are... The homogeneous coordinate vector corresponding to the center pixel coordinates of the light spot; Let be the deflection angle of the two orthogonal deflection axes of the fast-reflecting mirror. Let be the homogeneous coordinate vector corresponding to the deflection angles of the two orthogonal deflection axes of the fast-reflecting mirror.

[0007] Preferably, the method for determining the theoretical spot center pixel coordinates based on the mapping model is as follows:

[0008] in, The theoretical center pixel coordinates The corresponding Cartesian coordinate vector; H is the homography matrix; The theoretical fast-reflecting mirror deflection angle is given. Let be the homogeneous coordinate vector corresponding to the theoretical fast-reflecting mirror deflection angle; This is a projection operator used to convert homogeneous coordinate vectors into their corresponding Cartesian coordinate vectors.

[0009] Preferably, the method for determining the correction increment based on the mapping model is as follows:

[0010] Where j is the iteration sequence corresponding to the k-th frame; This is the correction increment corresponding to the j-th iteration within the k-th frame; The coordinates of the center pixel of the actual light spot are... The homogeneous coordinate vector corresponding to the center pixel coordinates of the actual light spot; It is the inverse matrix of the homography matrix; The Cartesian coordinate vector corresponding to the current fast-reflection mirror deflection angle in the j-th iteration within the k-th frame; This is a projection operator used to convert homogeneous coordinate vectors into their corresponding Cartesian coordinate vectors.

[0011] Preferably, when the norm of the pixel deviation is less than a preset deviation threshold, the correction increment is linearly approximated as follows:

[0012] Where j is the iteration sequence corresponding to the k-th frame; This is the correction increment corresponding to the j-th iteration within the k-th frame; The Jacobian matrix derived from the homography matrix H is... It is the inverse of the Jacobian matrix J. This refers to the pixel deviation corresponding to the j-th iteration within the k-th frame; Let the homography matrix be:

[0013] When the homography matrix H is approximated by an affine transformation, the Jacobian matrix J can be simplified into the following constant matrix:

[0014] When the Jacobian matrix J is simplified to the above constant matrix, the correction increment is determined based on the linear approximation of the correction increment.

[0015] Preferably, the method for determining the approximate affine transformation of the homography matrix is ​​as follows: The deflection angle of the fast-reflecting mirror is within a preset angle range, and the installation posture of the optical axis camera and the fast-reflecting mirror meets the orthogonal alignment condition.

[0016] Preferably, the preset angle range is where the absolute value of the deflection angle of the two orthogonal deflection axes of the fast-reflecting mirror relative to their respective mechanical zero positions is less than 2°. The orthogonal alignment conditions satisfy the following requirements: when only the first orthogonal deflection axis of the fast-reflecting mirror is driven to deflect, the center of the light spot in the image acquired by the optical axis camera moves only along the first pixel direction; when only the second orthogonal deflection axis of the fast-reflecting mirror is driven to deflect, the center of the light spot in the image acquired by the optical axis camera moves only along the second pixel direction; the first pixel direction and the second pixel direction are perpendicular to each other, and the vertical deviation is less than 0.1°.

[0017] On the other hand, this application also discloses a laser beam pointing dynamic real-time correction device, applied to the beam pointing control structure of a laser emission system. The beam pointing control structure includes a laser, a beam splitter, a fast-reflecting mirror, and an optical axis camera. The device includes: The command receiving interface is used to receive the theoretical fast-reflection mirror deflection angle sent by the upper-level tracking system; The image processing module is used to obtain the center pixel coordinates of the light spot in the image acquired by the optical axis camera; The calculation module is used to perform the calculation steps in any of the above-described correction methods; The drive module is used to issue current control commands to drive the fast-reflecting mirror deflection.

[0018] On the other hand, this application further discloses an electronic device, including a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the laser beam pointing dynamic real-time correction method described in any of the above.

[0019] On the other hand, this application further discloses a computer-readable storage medium storing at least one instruction or at least one program, wherein the at least one instruction or the at least one program is loaded and executed by a processor to implement the laser beam pointing dynamic real-time correction method described in any one of the above.

[0020] Compared with the prior art, the advantages of the present invention are: (1) This application dynamically corrects the theoretical fast-reflection mirror deflection angle by real-time iterative historical offset, embedding the correction process into the laser emission process of each frame. There is no need to reserve a special shutdown correction window, which improves the continuous combat capability of the laser emission system and ensures the consistency of the optical axis during the attack on highly mobile targets.

[0021] (2) By storing and reusing historical offsets, the theoretical fast mirror deflection angle of the current frame is pre-corrected, thereby reducing the number of intra-frame iterations and improving the dynamic response speed of the laser emission system. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the laser beam pointing control structure in the laser emission system described in this invention; Figure 2 This is a flowchart of the laser beam pointing dynamic real-time correction method described in this invention; Figure 3 This is an example of iterative optimization in one embodiment of the present invention; Figure 4This is a comparison of pixel deviation distribution before and after optimization in one embodiment of the present invention; Figure 5 This is a comparison of pixel deviations before and after using historical offsets in one embodiment of the present invention.

[0023] Among them, 1. Laser; 2. Fast-reflecting mirror; 3. Beam splitter; 4. Optical axis camera. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to specific embodiments: In practical applications, to achieve laser beam pointing adjustment, laser emitting systems are typically equipped with, for example... Figure 1 The laser beam pointing control structure shown mainly includes: a laser 1, a fast reflector 2, a beam splitter 3, and an optical axis camera 4. The laser 1 serves as the light source emitting device, emitting a laser beam and illuminating the fast reflector 2. The fast reflector 2 has two orthogonal deflection axes. When the driving voltage changes, the fast reflector 2 undergoes angular displacement around these axes, allowing it to change the direction of the reflection normal in real time, thereby adjusting the reflection propagation direction of the laser beam and forming a reflected light path. The beam splitter 3 is placed in the reflected light path of the fast reflector 2, splitting the reflected laser beam into two paths: a transmission light path and a secondary reflection light path. In an exemplary embodiment, the secondary reflection light path serves as the main light path, emitting light to the target, while the transmission light path serves as the monitoring light path, forming a light spot on the target surface of the optical axis camera 4.

[0025] Because laser emission systems are deployed outdoors for extended periods, their pointing accuracy is affected by factors such as temperature drift, mechanical vibration, and gravitational deformation, causing it to drift over time and requiring periodic calibration. Traditional methods use offline error elimination, but frequent calibration reduces the system's continuous operational capability; conversely, extending the calibration interval leads to the continuous accumulation of laser pointing errors.

[0026] Therefore, this application provides as follows Figure 2 The method for dynamic real-time correction of laser beam pointing, as shown, includes: S1. Establish a mapping model between the deflection angle space of the fast-reflecting mirror and the pixel coordinate space of the optical axis camera; the deflection angle space of the fast-reflecting mirror is the set of deflection angles formed by the two orthogonal deflection axes of the fast-reflecting mirror, and the pixel coordinate space of the optical axis camera is the set of pixel coordinates of the center of the light spot in the image acquired by the optical axis camera.

[0027] Specifically, the deflection angle space of the fast-reflecting mirror is defined as M=(α,β). When the fast-reflecting mirror is in the mechanical zero position, the normal of the mirror surface of the fast-reflecting mirror is oriented in a fixed initial direction. At this time, α=0 and β=0 are defined. In the deflection angle space of the fast-reflecting mirror, α and β represent the angular displacement of the normal direction of the mirror surface of the fast-reflecting mirror relative to the zero position direction.

[0028] The pixel coordinate space of the optical axis camera is defined as I=(u,v), which refers to the coordinates of the center of the light spot in the image. It corresponds to the coordinate point in pixels with the upper left corner of the image as the origin.

[0029] Since the deflection angle of the fast mirror changes the direction of the reflected light path of the laser beam, it directly changes the position of the light spot in the optical axis camera. When the assembly parameters of the laser emission system are fixed, there is a geometric correspondence between the deflection angle M=(α,β) of the fast mirror and the pixel coordinates I=(u,v) of the center of the light spot. Therefore, a mapping relationship can be established between the two.

[0030] In one embodiment, the mapping model uses a homography matrix H, which is essentially a 3×3 homogeneous matrix. The deflection angles of the two orthogonal deflection axes of the fast-reflecting mirror and the coordinates of the center pixel of the light spot satisfy the following mapping relationship:

[0031] Here, s is the scale factor. The homography matrix H has scale uncertainty. H and kH (k is a non-zero constant) express the same planar mapping. Therefore, the scale factor s is introduced to offset the scale degree of freedom of the homography matrix H. The coordinates of the center pixel of the light spot. This corresponds to its homogeneous coordinate vector. Homogeneous coordinates represent the original N-dimensional Cartesian coordinates (X1, X2, ..., XN) using N+1 numbers (x1, x2, ..., xN, w). When w ≠ 0, it can be converted back to Cartesian coordinates by dividing by w. In this embodiment, w=1. Let be the deflection angles of the two orthogonal deflection axes of the fast-reflecting mirror. It is its corresponding homogeneous coordinate vector.

[0032] When solving for the homography matrix H, during the initial assembly and calibration phase of the laser emission system, the fast-reflecting mirror is randomly deflected to N different attitudes (N≥5); the deflection angle of the fast-reflecting mirror corresponding to each attitude is recorded simultaneously. The light spot images under various deflection postures were acquired using an optical axis camera, and the center pixel coordinates of the light spot were calculated using image processing algorithms. Finally, based on the collected data, the homography matrix H is solved using the least squares method.

[0033] S2. Obtain the theoretical fast-reflection mirror deflection angle of the current frame, and determine the theoretical spot center pixel coordinates based on the mapping model.

[0034] Specifically, the theoretical fast-reflection mirror deflection angle for the current frame is provided by the higher-level tracking system (such as radar). In one embodiment, the mapping model is a homography matrix H. The method for determining the coordinates of the theoretical spot center pixel based on the mapping model is as follows:

[0035] in, The theoretical center pixel coordinates of the light spot The corresponding Cartesian coordinate vector; H is the homography matrix; The theoretical fast-reflecting mirror deflection angle, This is the homogeneous coordinate vector corresponding to the theoretical fast-reflecting mirror deflection angle; This is a projection operator used to transform a homogeneous coordinate vector into its corresponding Cartesian coordinate vector. For example, if the homogeneous coordinate vector v is... ,but .

[0036] S3. Obtain the historical offset of the fast-reflecting mirror deflection angle, and use the historical offset to correct the theoretical fast-reflecting mirror deflection angle, generate the initial control command, and use the initial control command as the current control command to drive the fast-reflecting mirror deflection.

[0037] Specifically, when the correction is performed for the first time, the historical offset is zero. Its value is updated and saved after each frame of correction convergence. The initial control command is a control signal that contains information about the deflection angle of the fast-reflecting mirror.

[0038] In one implementation, the mapping model is a homography matrix H, and the correction method in the k-th frame is as follows:

[0039] in, Let be the Cartesian coordinate vector corresponding to the theoretical fast-reflection mirror deflection angle in the k-th frame. It is the historical offset updated and saved after the previous frame's correction converged. It is the Cartesian coordinate vector corresponding to the deflection angle of the fast-reflecting mirror after historical offset feedforward correction.

[0040] S4. After the fast-reflecting mirror stabilizes, obtain the actual center pixel coordinates of the light spot in the image captured by the optical axis camera, and determine the pixel deviation between the actual center pixel coordinates of the light spot and the theoretical center pixel coordinates of the light spot.

[0041] In one embodiment, the mapping model is a homography matrix H, and the pixel deviation is calculated as follows:

[0042] Where j represents the iteration sequence within the k-th frame. This represents the pixel deviation corresponding to the j-th iteration within the k-th frame. This is the vector corresponding to the center pixel coordinates of the theoretical light spot. This is the vector corresponding to the actual center pixel coordinates of the light spot in the j-th iteration within the k-th frame. Both the actual and theoretical center pixel coordinates of the light spot are Cartesian coordinates.

[0043] S5. If the norm of the pixel deviation is less than the preset convergence threshold, the frame correction is determined to be converged. The current fast-reflecting mirror deflection angle is taken as the final fast-reflecting mirror deflection angle of the frame. The angle offset is determined based on the final fast-reflecting mirror deflection angle and the theoretical fast-reflecting mirror deflection angle, and the historical offset is updated to the angle offset. If the norm of the pixel deviation is greater than the convergence threshold, the correction increment is determined based on the mapping model, and the current fast-reflecting mirror deflection angle is corrected using the correction increment. After updating the current control command, the fast-reflecting mirror deflection is driven, and steps S4 and S5 are repeated until the frame correction is determined to be converged.

[0044] Specifically, the norm is used to measure the length of a vector. The convergence threshold can be set according to the required laser beam pointing accuracy, for example, 0.2px.

[0045] In one implementation, the mapping model is a homography matrix H, and the historical offset of the k-th frame is determined as follows:

[0046] in, This is the historical offset of the k-th frame. Let be the Cartesian coordinate vector corresponding to the deflection angle of the fast-reflection mirror in the last iteration of the k-th frame. Let be the Cartesian coordinate vector corresponding to the theoretical fast-reflection mirror deflection angle in the k-th frame.

[0047] The method for determining the correction increment is as follows:

[0048] Where j is the iteration sequence corresponding to the k-th frame; This is the correction increment corresponding to the j-th iteration within the k-th frame; These are the actual pixel coordinates of the light spot center. This is the homogeneous coordinate vector corresponding to the actual center pixel coordinates of the light spot; This is the inverse matrix of the homography matrix, also known as the inverse mapping model; This is the Cartesian coordinate vector corresponding to the deflection angle of the fast-reflection mirror in the current frame (the j-th iteration within the k-th frame); This is a projection operator used to convert homogeneous coordinate vectors into their corresponding Cartesian coordinate vectors.

[0049] The calibration increment refers to the required adjustment amount corresponding to the deflection angle of the fast-reflecting mirror; among which, This is the Cartesian coordinate vector corresponding to the actual deflection angle of the fast-reflecting mirror, calculated using an inverse mapping model based on the actual center pixel coordinates of the laser spot. Let be the Cartesian coordinate vector corresponding to the current fast-reflection mirror deflection angle, and the difference between the two is the calibration increment determined in the j-th iteration within the k-th frame.

[0050] Based on the calibration increments, the deflection angle of the fast-reflecting mirror is continuously updated iteratively, and: .

[0051] Because the j-th iteration yields Update the quick-reflective mirror deflection angle to After that, in In this new deflection state, the optical axis camera re-acquires the spot image and determines the vector corresponding to the updated actual spot center pixel coordinates. Then, based on the norm of the pixel deviation, it is directly determined whether the correction of this frame has converged or continues to iterate.

[0052] It should also be noted that the first iteration within the k-th frame corresponds to... The determination is made by directly selecting... .

[0053] In another implementation, when the norm of the pixel deviation is less than a preset deviation threshold (e.g., 2px), the correction increment can be linearly approximated as:

[0054] Where j is the iteration sequence corresponding to the k-th frame; This is the correction increment corresponding to the j-th iteration within the k-th frame; The Jacobian matrix derived from the homography matrix H. It is the inverse of the Jacobian matrix J. This refers to the pixel deviation corresponding to the j-th iteration within the k-th frame.

[0055] Specifically, the Jacobian matrix is ​​a partial derivative matrix representing the local rate of change of a multi-input multi-output function. In this embodiment, the input is the deflection angle of the fast-reflection mirror. The output is the center pixel coordinates of the light spot. J can be expressed by the following formula:

[0056] Let the homography matrix H be as follows:

[0057] Based on the mapping relationship, we can obtain:

[0058]

[0059] set up , , We can obtain:

[0060]

[0061]

[0062]

[0063] If the fast-reflective mirror deflection angle is still within the preset angle range (e.g.) When the homography matrix H is within ±2° and the mounting orientation of the optical axis camera and the fast-reflecting mirror satisfies the orthogonal alignment condition, the homography matrix H is approximately affine transformed. The value is very small, D≈ U≈ V≈ Because when solving for the homography matrix H, it is agreed that... =1, so D≈1, therefore the Jacobian matrix J is approximately a constant matrix:

[0064] At this point, when calculating the correction increment, the simplified constant matrix can be substituted into... The calculation is performed in the middle, avoiding the division operation required when converting homogeneous coordinate vectors to their corresponding Cartesian coordinate vectors.

[0065] The orthogonal alignment conditions meet the following requirements: when only the first orthogonal deflection axis of the fast-reflecting mirror is driven to deflect, the center of the light spot in the image acquired by the optical axis camera moves only along the first pixel direction; when only the second orthogonal deflection axis of the fast-reflecting mirror is driven to deflect, the center of the light spot in the image acquired by the optical axis camera moves only along the second pixel direction; the first pixel direction and the second pixel direction are perpendicular to each other, and the vertical deviation is less than 0.1°.

[0066] In one embodiment, the orthogonal alignment condition can be verified by the following method: The fast-reflecting mirror was deflected to three sets of angles: (0,0), (0,100), and (100,0); the corresponding center pixel coordinates of the light spot were collected and recorded, and denoted as coordinate points A, B, and C respectively; a vector was constructed. ,vector By solving the angle between the two vectors, it can be determined whether the above orthogonal alignment requirements are met.

[0067] Figure 3The iterative optimization process in one embodiment of this application is shown. In this embodiment, the convergence threshold is 0.2px. Tests show that the average number of iterations is ≤2. Therefore, at a sampling rate of 250Hz, the steady-state correction bandwidth can reach more than 100Hz, which can match the front-end tracking frame rate.

[0068] Figure 4 This paper illustrates the pixel deviation distribution (100 sets of data) before and after correction using the method in one embodiment of this application. Before correction, the mean of the pixel deviation norm was 3.75px, the median was 3.37px, and the maximum was 12.91px; after correction, the mean of the pixel deviation norm was 0.11px, the median was 0.10px, and the maximum was 0.19px, significantly improving the laser beam pointing accuracy.

[0069] Figure 5 This paper illustrates the pixel deviation (100 frames) before and after using historical offset correction in one embodiment of this application. Before using historical offset correction, the mean pixel deviation norm was 1.35px, and after using it, the mean pixel deviation norm was 0.11px, which is about 12.7 times lower than before correction, effectively reducing the initial pixel deviation and reducing the number of correction iterations.

[0070] In summary, this application embeds the beam pointing correction process into each frame of the laser emission process, eliminating the need for system downtime to perform corrections, thereby enhancing the continuous operational capability of the laser emission system. After each frame of correction converges, the historical offset is updated and used as the feedforward correction for the next frame, effectively reducing the initial pointing error, decreasing the number of correction iterations within a single frame, and improving the dynamic response speed of the beam pointing.

[0071] This application also provides a laser beam pointing dynamic real-time correction device, including: The command receiving interface is used to receive the theoretical fast-reflection mirror deflection angle sent by the upper-level tracking system; The image processing module is used to obtain the center pixel coordinates of the light spot in the image acquired by the optical axis camera; The calculation module is used to perform the calculation steps in the laser beam pointing dynamic real-time correction method provided in this application; The drive module is used to issue current control commands to drive the fast-reflecting mirror deflection.

[0072] This application also provides an electronic device including a processor and a memory; the memory stores one or more instructions, which are adapted for the processor to load and execute, to implement the laser beam pointing dynamic real-time correction method as described in the above embodiments.

[0073] The memory can be used to store software programs, application modules, configuration parameters, and operating data. The processor reads and runs the software programs and application modules stored in the memory, calling corresponding instructions and data to execute various functional applications of the electronic device, thereby realizing the laser beam pointing dynamic real-time correction method of the above embodiment. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, underlying drivers, and application programs required for the functions; the data storage area may store data created according to the use of the device. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device (such as NAND Flash, NOR Flash), or other volatile solid-state storage devices. Accordingly, the memory may also include a memory controller to manage the read and write operations of the memory cells and provide the processor with access to the memory. The processor, as the computing and control core of the aforementioned electronic device, can be a central processing unit (CPU), a microcontroller unit (MCU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a combination of one or more integrated circuits.

[0074] This application also provides a computer-readable storage medium that can be disposed in an electronic device to store at least one instruction, at least one program, code set, or instruction set related to implementing the laser beam pointing dynamic real-time correction method in the above embodiments. The at least one instruction, at least one program, code set, or instruction set can be loaded and executed by the processor of the electronic device to implement the laser beam pointing dynamic real-time correction method provided in the above embodiments.

[0075] Optionally, in this embodiment, the storage medium includes, but is not limited to: USB flash drives, flash drives, read-only memory (ROM), random access memory (RAM), solid-state drives (SSDs), hard disks, portable hard drives, magnetic disks, optical disks, and any other physical media or non-temporary storage devices capable of storing program code in electromagnetic, optical, or semiconductor form. The storage medium can be fixed or removable, and its stored content can be written during the device manufacturing stage and updated during device use.

[0076] The above embodiments are merely illustrative of the technical concept and features of the present invention, intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be construed as limiting the scope of protection of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and therefore all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention.

Claims

1. A method for dynamic real-time correction of laser beam pointing, characterized in that, include: S1. Establish a mapping model between the deflection angle space of the fast-reflecting mirror and the pixel coordinate space of the optical axis camera; the deflection angle space of the fast-reflecting mirror is the set of deflection angles formed by the two orthogonal deflection axes of the fast-reflecting mirror, and the pixel coordinate space of the optical axis camera is the set of pixel coordinates of the center of the light spot in the image acquired by the optical axis camera. S2. Obtain the theoretical fast-reflection mirror deflection angle of the current frame, and determine the theoretical spot center pixel coordinates based on the mapping model; S3. Obtain the historical offset of the fast-reflecting mirror deflection angle, and use the historical offset to correct the theoretical fast-reflecting mirror deflection angle, generate an initial control command, and use the initial control command as the current control command to drive the fast-reflecting mirror deflection. S4. After the fast-reflecting mirror has stabilized, obtain the actual center pixel coordinates of the light spot in the image captured by the optical axis camera, and determine the pixel deviation between the actual center pixel coordinates of the light spot and the theoretical center pixel coordinates of the light spot. S5. If the norm of the pixel deviation is less than the preset convergence threshold, the frame correction is determined to be converged. The current fast-reflecting mirror deflection angle is taken as the final fast-reflecting mirror deflection angle of the frame. The angle offset is determined based on the final fast-reflecting mirror deflection angle and the theoretical fast-reflecting mirror deflection angle, and the historical offset is updated to the angle offset. If the norm of the pixel deviation is greater than the convergence threshold, the correction increment is determined based on the mapping model, and the current fast-reflecting mirror deflection angle is corrected using the correction increment. The current control command is updated and the fast-reflecting mirror deflection is driven. Steps S4 and S5 are repeated until the frame correction is determined to be converged.

2. The method for dynamic real-time correction of laser beam pointing according to claim 1, characterized in that: The mapping model is a homography matrix H. Based on the homography matrix H, the deflection angles of the two orthogonal deflection axes of the fast-reflecting mirror and the coordinates of the center pixel of the light spot satisfy the following mapping relationship: ； Where s is the scale factor, used to offset the scale degrees of freedom of the homography matrix; The coordinates of the center pixel of the light spot are... The homogeneous coordinate vector corresponding to the center pixel coordinates of the light spot; Let be the deflection angle of the two orthogonal deflection axes of the fast-reflecting mirror. Let be the homogeneous coordinate vector corresponding to the deflection angles of the two orthogonal deflection axes of the fast-reflecting mirror.

3. The method for dynamic real-time correction of laser beam pointing according to claim 2, characterized in that, The method for determining the theoretical spot center pixel coordinates based on the mapping model is as follows: ； in, The theoretical center pixel coordinates The corresponding Cartesian coordinate vector; H is the homography matrix; The theoretical fast-reflecting mirror deflection angle is given. Let be the homogeneous coordinate vector corresponding to the theoretical fast-reflecting mirror deflection angle; This is a projection operator used to convert homogeneous coordinate vectors into their corresponding Cartesian coordinate vectors.

4. The method for dynamic real-time correction of laser beam pointing according to claim 2, characterized in that, The method for determining the correction increment based on the mapping model is as follows: ； Where j is the iteration sequence corresponding to the k-th frame; This is the correction increment corresponding to the j-th iteration within the k-th frame; The coordinates of the center pixel of the actual light spot are... The homogeneous coordinate vector corresponding to the center pixel coordinates of the actual light spot; It is the inverse matrix of the homography matrix; The Cartesian coordinate vector corresponding to the current fast-reflection mirror deflection angle in the j-th iteration within the k-th frame; This is a projection operator used to convert homogeneous coordinate vectors into their corresponding Cartesian coordinate vectors.

5. The method for dynamic real-time correction of laser beam pointing according to claim 2, characterized in that: When the norm of the pixel deviation is less than a preset deviation threshold, the correction increment is linearly approximated as: ； Where j is the iteration sequence corresponding to the k-th frame; This is the correction increment corresponding to the j-th iteration within the k-th frame; The Jacobian matrix derived from the homography matrix H is... It is the inverse of the Jacobian matrix J. This refers to the pixel deviation corresponding to the j-th iteration within the k-th frame; Let the homography matrix be: ； When the homography matrix H is approximated by an affine transformation, the Jacobian matrix J can be simplified into the following constant matrix: ； When the Jacobian matrix J is simplified to the above constant matrix, the correction increment is determined based on the linear approximation of the correction increment.

6. The method for dynamic real-time correction of laser beam pointing according to claim 5, characterized in that, The method for determining the approximate affine transformation of the homography matrix is ​​as follows: The deflection angle of the fast-reflecting mirror is within a preset angle range, and the installation posture of the optical axis camera and the fast-reflecting mirror meets the orthogonal alignment condition.

7. The method for dynamic real-time correction of laser beam pointing according to claim 6, characterized in that: The preset angle range is defined as the absolute value of the deflection angle of the two orthogonal deflection axes of the fast-reflecting mirror relative to their respective mechanical zero positions being less than 2°. The orthogonal alignment conditions satisfy the following requirements: when only the first orthogonal deflection axis of the fast-reflecting mirror is driven to deflect, the center of the light spot in the image acquired by the optical axis camera moves only along the first pixel direction; when only the second orthogonal deflection axis of the fast-reflecting mirror is driven to deflect, the center of the light spot in the image acquired by the optical axis camera moves only along the second pixel direction; the first pixel direction and the second pixel direction are perpendicular to each other, and the vertical deviation is less than 0.1°.

8. A dynamic real-time correction device for laser beam pointing, applied to the beam pointing control structure of a laser emission system, the beam pointing control structure comprising a laser, a beam splitter, a fast-reflecting mirror, and an optical axis camera, characterized in that, The device includes: The command receiving interface is used to receive the theoretical fast-reflection mirror deflection angle sent by the upper-level tracking system; The image processing module is used to obtain the center pixel coordinates of the light spot in the image acquired by the optical axis camera; The calculation module is used to perform the calculation steps in the correction method according to any one of claims 1-7; The drive module is used to issue current control commands to drive the fast-reflecting mirror deflection.

9. An electronic device, characterized in that: The device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by the processor to implement the laser beam pointing dynamic real-time correction method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction or at least one program segment, which is loaded and executed by a processor to implement the laser beam pointing dynamic real-time correction method as described in any one of claims 1-7.

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