Optical-electrical pod adaptive zoom and focus linkage control method and system, and medium

Abstract

The embodiment of the application provides a kind of photoelectric pod self-adapting zoom and focus linkage control method, system and medium, belong to photoelectric imaging control technical field.The method comprises: obtaining target focal length, and obtaining target object distance, phase difference information and image definition information;According to the target object distance, the phase difference information and the image definition information, determine the target focusing position corresponding to each zoom position in zooming process;According to current zoom position and the target focal length, generate zoom motion trajectory, and generate the focusing motion trajectory synchronous with the zoom motion trajectory according to the target focusing position corresponding to each zoom position;According to the zoom motion trajectory and the focusing motion trajectory, linkage control zoom lens group and focusing lens group motion.The application scheme reduces the defocus in continuous zooming process, improves photoelectric pod imaging definition and focusing stability.

Description

Technical Field

[0001] This invention relates to the field of optoelectronic imaging control technology, and more specifically to an adaptive zoom and focus linkage control method, system, and medium for an optoelectronic pod. Background Technology

[0002] An electro-optical pod is an airborne observation device that integrates optical imaging equipment, attitude stabilization mechanisms, and control components. It is typically mounted on drones, helicopters, or other mobile platforms for target search, tracking, and identification. The continuous zoom lens within the pod adjusts the observation range by changing the focal length. The wide-angle mode is used to acquire a larger area of ​​scene information, while the telephoto mode is used to observe local details of distant targets. As the focal length changes, the zoom lens group and focusing lens group inside the lens need to move separately to adjust the field of view and keep the target image in focus.

[0003] Existing optoelectronic pods typically employ a method where the zoom lens group is first driven to the target position during zoom operations, and then the focusing lens group is adjusted based on the sharpness of the zoomed image. While this method meets basic imaging requirements when the target is stationary and the ambient light is high, it is prone to image blurring during continuous tracking, necessitating a refocusing process after zooming. Especially at telephoto distances, the reduced depth of field means even small deviations in focus can distort the target's outline. For moving targets, the time required for refocusing can also cause the target to deviate from the original tracking area.

[0004] Furthermore, image sharpness assessment is easily affected by low light, haze, and insufficient target texture, and phase detection results may also deviate due to imaging signal fluctuations. Existing zoom and focus control methods struggle to maintain stable coordination under different target distances and imaging conditions. Therefore, reducing the degree of defocusing during continuous zooming and improving the linkage accuracy between the zoom lens group and the focus lens group are pressing issues that need to be addressed in the imaging control of optoelectronic pods. Summary of the Invention

[0005] The purpose of this invention is to provide a method, system, and medium for adaptive zoom and focus linkage control of an optoelectronic pod, so as to at least solve the problem of easy defocusing during continuous zooming of the optoelectronic pod.

[0006] To achieve the above objectives, a first aspect of the present invention provides an adaptive zoom and focus linkage control method for an optoelectronic pod. The method includes: acquiring a target focal length, and acquiring target object distance, phase difference information, and image sharpness information; determining the target focus position corresponding to each zoom position during the zoom process based on the target object distance, the phase difference information, and the image sharpness information; generating a zoom motion trajectory based on the current zoom position and the target focal length, and generating a focus motion trajectory synchronized with the zoom motion trajectory based on the target focus position corresponding to each zoom position; and linkage control of the zoom lens group and the focus lens group based on the zoom motion trajectory and the focus motion trajectory.

[0007] Optionally, the process of obtaining the target focal length includes: in response to a zoom control command, extracting the target zoom parameters carried by the zoom control command; when the target zoom parameters are a target zoom magnification or a target field of view, determining the corresponding candidate focal length according to a preset mapping relationship between zoom parameters and focal length; constraining the candidate focal length according to the focal length range of the lens configured on the optoelectronic pod to obtain the target focal length.

[0008] Optionally, determining the target focus position corresponding to each zoom position during the zoom process based on the target object distance, the phase difference information, and the image sharpness information includes: determining the base focus position corresponding to each zoom position based on the target object distance; determining the phase correction direction of the base focus position based on the phase difference information, and determining the sharpness correction direction based on the image sharpness change when the base focus position is adjusted in different directions; adjusting the base focus position along the consistent correction direction when the phase correction direction is consistent with the sharpness correction direction; and reducing the adjustment amount of the base focus position when the phase correction direction is inconsistent with the sharpness correction direction to obtain the target focus position corresponding to each zoom position.

[0009] Optionally, determining the phase correction direction of the basic focus position based on the phase difference information, and determining the sharpness correction direction based on the image sharpness change when the basic focus position is adjusted in different directions, includes: determining the phase correction direction of the basic focus position based on the positive and negative states of the phase difference information; determining the image sharpness change when the basic focus position is adjusted in increasing and decreasing directions respectively; and determining the adjustment direction corresponding to the increase in image sharpness as the sharpness correction direction.

[0010] Optionally, generating a zoom motion trajectory based on the current zoom position and the target focal length includes: determining the target zoom position corresponding to the target focal length, and dividing the zoom interval between the current zoom position and the target zoom position into multiple continuous segments; determining the zoom speed corresponding to each continuous segment based on the positional relationship of each continuous segment relative to the target zoom position, so that the zoom speed of the deceleration segment near the target zoom position gradually decreases; sequentially connecting each continuous segment, and performing continuous processing on the zoom speed between adjacent continuous segments to obtain the zoom motion trajectory.

[0011] Optionally, generating a focusing motion trajectory synchronized with the zoom motion trajectory based on the target focusing position corresponding to each zoom position includes: determining the arrival time corresponding to each zoom position based on the zoom motion trajectory, and configuring each target focusing position to the corresponding arrival time; determining the direction of position change between adjacent target focusing positions according to the order of each zoom position; when multiple consecutive target focusing positions have the same direction of position change, connecting the corresponding target focusing positions continuously; when the direction of position change of adjacent target focusing positions changes, taking the target focusing position at the point of direction change as the turning point, and connecting the target focusing positions on both sides of the turning point to obtain the focusing motion trajectory.

[0012] Optionally, based on the zoom motion trajectory and the focusing motion trajectory, the zoom lens group and the focusing lens group are linked and controlled to move, including: determining the zoom position and the focusing position corresponding to each synchronization control moment from the zoom motion trajectory and the focusing motion trajectory according to a preset time interval; controlling the zoom lens group and the focusing lens group to move towards the zoom position and the focusing position corresponding to the current synchronization control moment, respectively; when the zoom lens group or the focusing lens group reaches the position corresponding to the current synchronization control moment ahead of schedule, maintaining the position of the lens group that has reached the position corresponding to the current synchronization control moment until the other lens group reaches the position corresponding to the current synchronization control moment, and then controlling the zoom lens group and the focusing lens group to move towards the position corresponding to the next synchronization control moment.

[0013] Optionally, the method further includes: when the target focus position corresponding to multiple consecutive zoom positions is the same, merging the focus motion trajectories corresponding to the multiple consecutive zoom positions into a position holding segment; during the period when the zoom lens group passes through the multiple consecutive zoom positions, keeping the focus lens group at the target focus position corresponding to the position holding segment; after the zoom lens group leaves the multiple consecutive zoom positions, controlling the focus lens group to continue moving according to the focus motion trajectory.

[0014] A second aspect of the present invention provides an adaptive zoom and focus linkage control system for an optoelectronic pod. The system includes: a data acquisition unit for acquiring a target focal length, and acquiring target object distance, phase difference information, and image sharpness information; a position determination unit for determining the target focus position corresponding to each zoom position during the zoom process based on the target object distance, the phase difference information, and the image sharpness information; a trajectory generation unit for generating a zoom motion trajectory based on the current zoom position and the target focal length, and generating a focus motion trajectory synchronized with the zoom motion trajectory based on the target focus position corresponding to each zoom position; and an execution unit for linkage control of the zoom lens group and the focus lens group based on the zoom motion trajectory and the focus motion trajectory.

[0015] On the other hand, the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the above-described photoelectric pod adaptive zoom and focus linkage control method.

[0016] Through the above technical solution, the present invention determines the target focus position corresponding to different zoom positions by combining target distance, phase difference information, and image sharpness information, so that the focus position can be adjusted according to the target distance and the actual imaging state. Based on this, time-synchronized zoom motion trajectory and focus motion trajectory are generated respectively, and the zoom lens group and focus lens group are linked and controlled accordingly. This allows the focus lens group to synchronously follow the focal plane change during zooming, reducing image defocusing caused by separate zooming and focusing operations, shortening the refocusing time after zooming, and thus improving the imaging sharpness and focusing stability during continuous zooming of the optoelectronic pod.

[0017] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0019] Figure 1 This is a flowchart of the steps of the photoelectric pod adaptive zoom and focus linkage control method provided in one embodiment of the present invention;

[0020] Figure 2 This is a system structure diagram of the photoelectric pod adaptive zoom and focus linkage control system provided in one embodiment of the present invention. Detailed Implementation

[0021] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0022] like Figure 1 As shown, embodiments of the present invention provide an adaptive zoom and focus linkage control method for an optoelectronic pod, the method comprising:

[0023] Step S10: Obtain the target focal length, and obtain the target object distance, phase difference information, and image sharpness information.

[0024] Specifically, the process of obtaining the target focal length includes: in response to a zoom control command, extracting the target zoom parameters carried by the zoom control command; when the target zoom parameters are a target zoom magnification or a target field of view, determining the corresponding candidate focal length according to a preset mapping relationship between zoom parameters and focal length; and constraining the candidate focal length according to the focal length range of the lens configured on the optoelectronic pod to obtain the target focal length.

[0025] In this embodiment of the invention, in response to a zoom control command, the target zoom parameter carried in the zoom control command is read, and the parameter type of the target zoom parameter is identified. The target zoom parameter includes one of target focal length, target zoom magnification, and target field of view. When the target zoom parameter is a target focal length, it is recorded as the target focal length Ftarget. When the target zoom parameter is a target zoom magnification or a target field of view, the corresponding candidate focal length is determined according to a pre-calibrated mapping relationship between zoom parameters and focal length. The mapping relationship is obtained through lens calibration. During calibration, the zoom lens group is driven sequentially to multiple known zoom positions, and the actual focal length, zoom magnification, and field of view corresponding to each zoom position are recorded, forming a mapping table in ascending order of focal length. During querying, when the target zoom parameter matches the calibration value in the mapping table, the corresponding focal length is directly read. When it is between two adjacent calibration values, interpolation is performed based on the focal lengths corresponding to the adjacent calibration values ​​to obtain the candidate focal length.

[0026] After obtaining the candidate focal length, it is compared with the minimum and maximum focal lengths of the lens configured on the optoelectronic pod. If the candidate focal length falls within the lens's focal length range, it is used as the target focal length; if the candidate focal length is less than the minimum focal length, the minimum focal length is used as the target focal length; if the candidate focal length is greater than the maximum focal length, the maximum focal length is used as the target focal length. For example, if the lens focal length range is 10–300 mm, and the candidate focal length corresponding to the target zoom ratio is 320 mm, the target focal length is determined to be 300 mm. The type of the target zoom parameters and the number of calibration points in the mapping table are determined according to the lens control protocol and zoom accuracy, and are not limited to the parameter forms listed in this embodiment. After determining the target focal length, the target object distance, phase difference information, and image sharpness information are acquired for subsequent target focus position determination.

[0027] Step S20: Determine the target focus position corresponding to each zoom position during the zoom process based on the target object distance, the phase difference information, and the image sharpness information.

[0028] Specifically, based on the target object distance, the base focus position corresponding to each zoom position is determined; the phase correction direction of the base focus position is determined based on the phase difference information, and the sharpness correction direction is determined based on the image sharpness change when the base focus position is adjusted in different directions; when the phase correction direction and the sharpness correction direction are consistent, the base focus position is adjusted along the consistent correction direction; when the phase correction direction and the sharpness correction direction are inconsistent, the adjustment amount of the base focus position is reduced to obtain the target focus position corresponding to each zoom position.

[0029] Furthermore, determining the phase correction direction of the basic focus position based on the phase difference information, and determining the sharpness correction direction based on the image sharpness change when the basic focus position is adjusted in different directions, includes: determining the phase correction direction of the basic focus position based on the positive and negative states of the phase difference information; determining the image sharpness change when the basic focus position is adjusted in increasing and decreasing directions respectively; and determining the adjustment direction corresponding to the increase in image sharpness as the sharpness correction direction.

[0030] In this embodiment of the invention, based on the target object distance D and the focal length states corresponding to each zoom position, a pre-established correspondence between object distance, zoom position, and focus position is queried to determine the basic focus position corresponding to each zoom position. This correspondence is obtained through lens calibration. During calibration, the zoom position is changed sequentially at multiple known object distances, and the focus position when the image reaches a sharp state is recorded. For target object distances or zoom positions that are not directly calibrated, interpolation is performed based on adjacent calibration data to obtain the corresponding basic focus position. For example, if the target object distance is 500m, and the current zoom position is between the corresponding calibration positions for focal lengths of 80mm and 100mm, linear interpolation is performed based on the focus positions corresponding to the two calibration positions, and the interpolation result is used as the basic focus position for that zoom position.

[0031] After obtaining the basic focus position, the phase correction direction is determined based on the positive or negative state of the phase difference information. It is pre-defined that when the phase difference is positive, the focusing lens group moves along the direction of increasing focus position; when the phase difference is negative, the focusing lens group moves along the direction of decreasing focus position. The correspondence between the positive and negative states of the phase difference and the direction of lens group movement is determined during the lens assembly and calibration stage. When the mechanical coordinates of the lens are reversed, the opposite direction correspondence to that in this embodiment is adopted.

[0032] Simultaneously, at the base focus position corresponding to the current zoom position, small adjustments are made along both the increasing and decreasing focus direction, and the image sharpness before and after the adjustment is compared. The small adjustment amount is determined according to the minimum controllable travel of the focusing lens group, which is 5μm in this embodiment. If the image sharpness increases after adjustment in a certain direction, that direction is determined as the sharpness correction direction. If the image sharpness decreases after adjustment in both directions, the base focus position corresponding to the current zoom position is maintained. If the changes in image sharpness in the two directions are similar, the phase correction direction is determined as the sharpness correction direction. Image sharpness is calculated using the same evaluation method and compared in continuous images with unchanged exposure conditions to reduce the influence of brightness changes on the judgment results.

[0033] The focus position correction amount is determined based on the phase correction direction and the sharpness correction direction. When the two correction directions are consistent, the displacement of the focusing lens group corresponding to the phase difference information is used as the focus position correction amount; when the two correction directions are inconsistent, the displacement of the focusing lens group is reduced to half of its original value. The focus position correction amount is applied to the base focus position corresponding to each zoom position during the zoom process to obtain the target focus position corresponding to each zoom position.

[0034] In this embodiment, the phase correction direction is consistent with the sharpness correction direction, therefore the base focus position is adjusted along the increasing direction. The conversion relationship between phase difference and focusing lens group displacement is obtained during the lens calibration stage. In this embodiment, every 1μm phase difference corresponds to 0.8μm focusing lens group displacement, so the displacement correction amount corresponding to the phase difference is 9.84μm. Combined with the correction direction determined by the image sharpness change, the displacement correction amount is applied to the base focus position to obtain a target focus position of approximately 1.290mm. When the phase correction direction is inconsistent with the sharpness correction direction, the displacement correction amount is reduced to half of it, i.e., 4.92μm, to limit over-adjustment caused by fluctuations in a single detection result. Based on the focus position correction amount, the base focus position corresponding to each zoom position during the zoom process is corrected in the same direction to obtain the target focus position corresponding to each zoom position. The above-mentioned small adjustment amount and focus position correction amount are determined based on the travel resolution of the focusing lens group and the lens depth of field. The aforementioned minor and basic adjustment amounts are determined based on the focusing lens group's travel resolution and the lens's depth of field, and are not limited to the specific values ​​listed in this embodiment.

[0035] Step S30: Generate a zoom motion trajectory based on the current zoom position and the target focal length, and generate a focus motion trajectory synchronized with the zoom motion trajectory based on the target focus position corresponding to each zoom position.

[0036] Specifically, generating a zoom motion trajectory based on the current zoom position and the target focal length includes: determining the target zoom position corresponding to the target focal length, and dividing the zoom interval between the current zoom position and the target zoom position into multiple continuous segments; determining the zoom speed corresponding to each continuous segment based on the positional relationship of each continuous segment relative to the target zoom position, so that the zoom speed of the deceleration segment near the target zoom position gradually decreases; sequentially connecting each continuous segment, and performing continuous processing on the zoom speed between adjacent continuous segments to obtain the zoom motion trajectory.

[0037] Furthermore, generating a focusing motion trajectory synchronized with the zoom motion trajectory based on the target focusing position corresponding to each zoom position includes: determining the arrival time corresponding to each zoom position based on the zoom motion trajectory, and configuring each target focusing position to the corresponding arrival time; determining the direction of position change between adjacent target focusing positions according to the order of each zoom position; when multiple consecutive target focusing positions have the same direction of position change, connecting the corresponding target focusing positions continuously; when the direction of position change of adjacent target focusing positions changes, taking the target focusing position at the point of direction change as the turning point, and connecting the target focusing positions on both sides of the turning point to obtain the focusing motion trajectory.

[0038] In this embodiment of the invention, the starting position of the zoom lens group is determined based on the current zoom position, and the target zoom position corresponding to the target focal length is determined by querying a pre-established correspondence between focal length and zoom position based on the target focal length. This correspondence is obtained during the lens calibration stage. During calibration, the actual focal lengths corresponding to different zoom lens group positions are recorded sequentially, and a focal length-zoom position mapping table is formed in ascending order of focal length. When the target focal length matches the calibrated focal length in the mapping table, the corresponding target zoom position is directly read; when the target focal length is between two adjacent calibrated focal lengths, interpolation is performed based on adjacent calibration data to obtain the target zoom position.

[0039] After determining the target zoom position, the zoom interval between the current zoom position and the target zoom position is divided into multiple consecutive segments. Each consecutive segment is divided according to the movement distance of the zoom lens group. In this embodiment, the entire zoom interval is divided into an acceleration segment, a stable movement segment, and a deceleration segment, with the deceleration segment closer to the target zoom position. For cases with a long zoom distance, at least one transition segment is further divided between the stable movement segment and the deceleration segment. The zoom speed is configured for each consecutive segment according to the rule that the closer the focal length is to the target focal length, the lower the zoom speed of the corresponding segment. For example, when the current focal length is 20mm and the target focal length is 100mm, the zoom process is divided into an acceleration segment, a stable movement segment, and a deceleration segment. The speed in the acceleration segment continuously increases from zero to 28mm / s, the speed in the stable movement segment remains at 28mm / s, and the speed in the deceleration segment continuously decreases from 28mm / s to zero to reduce overshoot when the zoom lens group approaches the target position.

[0040] After determining the zoom speed of each continuous segment, the segments are connected in order from the current zoom position to the target zoom position. The zoom speed of adjacent segments does not jump directly; instead, a speed transition process is set at the segment connection point, so that the end speed of the previous segment continuously changes to the starting speed of the next segment. In this embodiment, a constant acceleration method is used to complete the speed continuity processing, with a transition time set to 20ms; in another embodiment, the speed change at the segment connection point is adjusted according to a preset smoothing curve. After connecting the positions and speeds of each continuous segment, the zoom motion trajectory from the current zoom position to the target zoom position is obtained.

[0041] Furthermore, based on the zoom motion trajectory, multiple zoom positions are extracted at preset position intervals, and the arrival time of each zoom position in the zoom motion trajectory is determined. The preset position interval is determined according to the position resolution of the zoom lens group; in this embodiment, it is set to 0.1 mm. For the target focus positions corresponding to each zoom position obtained in step S20, each target focus position is configured to the corresponding arrival time of the focus position, thereby forming a sequence of target focus positions arranged in time.

[0042] Following the sequence of zoom positions, adjacent target focus positions are compared sequentially to determine the direction of positional change between them. When the focus position of a later target is greater than that of a previous target, it is defined as the increasing direction; when the focus position of a later target is less than that of a previous target, it is defined as the decreasing direction; when they are equal, the corresponding time period is defined as the position holding period. When multiple consecutive target focus positions have the same direction of positional change, they are continuously connected according to their arrival times, ensuring that the focus position changes continuously in the same direction within the corresponding time period. When the direction of positional change of adjacent target focus positions changes, the target focus position at the point of change is designated as a turning point, and the target focus positions on both sides of this turning point are connected to avoid direct connections across turning points that could cause the focus trajectory to deviate from the actual target position. This results in a focus trajectory with the same temporal reference as the zoom motion trajectory.

[0043] The number of consecutive segments, position intervals, and speed transition times mentioned above are determined based on the lens zoom travel, drive response speed, and position resolution, and are not limited to the specific values ​​listed in this embodiment; as long as the arrival time of each zoom position can be made to maintain a temporal correspondence with the corresponding target focus position, they all fall within the protection scope of this embodiment.

[0044] In another embodiment, after generating the focusing motion trajectory, the direction of positional change between adjacent target focusing positions is identified, and reverse segments in the focusing motion trajectory that switch from an increasing direction to a decreasing direction or vice versa are determined. For each reverse segment, a preload transition section is set before the corresponding turning point, causing the focusing position to first continue moving along the original motion direction by a preset compensation distance, and then move in the opposite direction to the target focusing position after the turning point. The preset compensation distance is determined based on the calibration results of the empty travel of the focusing lens group between forward and reverse motion; in this embodiment, it is set to 8 μm. The arrival time corresponding to the preload transition section is synchronously adjusted so that it is located before the zoom lens group enters the focusing position. This eliminates the response lag caused by the transmission gap when the focusing lens group reverses direction, avoids the focusing motion trajectory reversing while the focusing lens group has not yet produced an effective displacement, and improves the consistency between the target focusing position and the actual focusing position within the turning interval.

[0045] Step S40: Based on the zoom motion trajectory and the focus motion trajectory, control the movement of the zoom lens group and the focus lens group in a coordinated manner.

[0046] Specifically, according to a preset time interval, the zoom position and focus position corresponding to each synchronization control moment are determined from the zoom movement trajectory and the focus movement trajectory, respectively; the zoom lens group and the focus lens group are controlled to move towards the zoom position and focus position corresponding to the current synchronization control moment, respectively; when the zoom lens group or the focus lens group reaches the position corresponding to the current synchronization control moment ahead of schedule, the position of the lens group that has reached the position ahead of schedule is maintained until the other lens group reaches the position corresponding to the current synchronization control moment, and then the zoom lens group and the focus lens group are controlled to move towards the position corresponding to the next synchronization control moment.

[0047] In this embodiment of the invention, the zoom motion trajectory and the focus motion trajectory obtained in step S30 are linked and controlled using the same time base. The two motion trajectories are discretely sampled according to a preset time interval to obtain the zoom position and focus position corresponding to each synchronous control moment. The preset time interval is determined based on the drive response time of the zoom lens group and the focus lens group; in this embodiment, it is 5ms. This 5ms is the sampling interval for extracting adjacent synchronous control nodes from the zoom motion trajectory and the focus motion trajectory. Each synchronous control node ends after the zoom lens group and the focus lens group have completed the corresponding position matching. Taking the k-th synchronous control moment as an example, the corresponding zoom position Zk is read from the zoom motion trajectory, and the corresponding focus position Fk is read from the focus motion trajectory. Subsequently, motion commands corresponding to Zk and Fk are output to the zoom lens group and the focus lens group, respectively.

[0048] Within the current synchronization control moment, the actual positions of the zoom lens group and the focusing lens group are continuously acquired and compared with Zk and Fk, respectively. When both lens groups reach the position corresponding to the current synchronization control moment, the next synchronization control moment begins; if one lens group reaches the corresponding position ahead of schedule, that lens group remains in its current position, while the other lens group continues to move towards the corresponding position until both lens groups have completed position matching for the current moment. The arrival state is determined according to the difference between the actual position and the target position. In this embodiment, a position difference of no more than 2μm is defined as arrival.

[0049] For example, if the zoom lens group reaches Zk first, but the focusing lens group has not yet reached Fk, the zoom lens group remains in its current position while the focusing lens group continues to adjust. Once the focusing lens group reaches Fk, the position corresponding to the next synchronization control moment is read simultaneously. By completing position pairing step by step, the zoom lens group and the focusing lens group advance in the same timing sequence, reducing focal plane deviation caused by asynchronous execution of the two motion trajectories. The aforementioned preset time interval and position difference are determined based on the lens group drive accuracy and response speed, and are not limited to the specific values ​​listed in this embodiment.

[0050] In another embodiment, after completing the linkage movement at the current synchronization control moment, the actual time required for the zoom lens group and the focusing lens group to reach the corresponding position is compared, and the response offset trend between the two lens groups is determined based on the time difference of multiple consecutive synchronization control moments. When the focusing lens group arrives at the corresponding position later than the zoom lens group consecutively, the configuration moment corresponding to the subsequent focusing position is advanced by one preset time interval. When the zoom lens group arrives at the corresponding position later than the focusing lens group consecutively, the configuration moment corresponding to the subsequent zoom position is advanced by one preset time interval. The advanced configuration is only performed without changing the position order of the two movement trajectories. In this embodiment, the occurrence of the same-direction time difference at three consecutive synchronization control moments is used as the adjustment condition. Thus, the time correspondence between the two movement trajectories is corrected online based on the actual drive response, reducing the linkage lag caused by motor temperature rise, load changes, or mechanical resistance differences during long-term operation, and enabling the zoom lens group and the focusing lens group to maintain a more stable position synchronization relationship in subsequent control moments.

[0051] Preferably, the method further includes: when the target focus position corresponding to multiple consecutive zoom positions is the same, merging the focus motion trajectories corresponding to the multiple consecutive zoom positions into a position holding segment; during the period when the zoom lens group passes through the multiple consecutive zoom positions, keeping the focus lens group at the target focus position corresponding to the position holding segment; after the zoom lens group leaves the multiple consecutive zoom positions, controlling the focus lens group to continue moving according to the focus motion trajectory.

[0052] In this embodiment of the invention, the target focus positions are compared sequentially according to the order of each zoom position in the zoom motion trajectory. When multiple consecutive zoom positions correspond to the same target focus position, the multiple focus positions originally configured separately within that continuous range are merged into the same position holding segment. The same target focus position means that, after quantization by the position resolution of the focusing lens group, they correspond to the same drive position. For example, if the minimum controllable displacement of the focusing lens group is 2μm, and multiple consecutive zoom positions correspond to the same number of drive pulses after drive pulse conversion, the target focus positions are quantized into the same drive position, and a position holding segment is formed accordingly.

[0053] After the zoom lens group enters the zoom range corresponding to the consecutive zoom positions, the focusing lens group is held at the target focus position corresponding to the position holding segment, and the point-to-point change of the focus position is stopped. The zoom lens group continues to move according to the original zoom trajectory, and the zoom speed and arrival time of the corresponding range are not changed due to the focusing lens group holding the position. By holding the position of the focusing lens group, the high-frequency reciprocating adjustments caused by the difference between adjacent target focus positions being less than the actual driving resolution are reduced.

[0054] When the zoom lens group reaches the last zoom position among the consecutive zoom positions and continues to move towards the subsequent zoom position, the target focus position after the position holding segment is read, and the focusing lens group is controlled to continue moving from the current position according to the subsequent focus movement trajectory. The start and end points of the position holding segment are determined based on the first and last zoom positions corresponding to consecutive identical target focus positions. The above position resolution is set according to the driving accuracy of the focusing lens group, and is not limited to the 2μm listed in this embodiment.

[0055] The following description illustrates the implementation of this invention using a single zoom process from a 20mm wide-angle end to a 100mm medium telephoto end. In this embodiment, the target object distance is 500m, the lens focal length range is 10–300mm, the zoom lens group position feedback resolution is 1μm, and the minimum controllable displacement of the focusing lens group is 0.5μm.

[0056] Step S10: In response to the zoom control command, the target zoom parameters are read. In this embodiment, the target zoom parameter is a target focal length of 100mm, therefore the target focal length Ftarget is determined to be 100mm. When the zoom control command carries the target zoom magnification or target field of view, a candidate focal length is determined according to a pre-calibrated mapping table between zoom magnification, field of view, and focal length, and the candidate focal length is constrained to the range of 10-300mm.

[0057] Simultaneously, laser ranging results are acquired, and the target distance D is determined to be 500m. Phase difference information corresponding to Phase Detection Autofocus (PDAF) is read; in this embodiment, the phase difference ΔP = +12.3 μm is obtained, with the positive sign indicating that the focusing lens group should move along the direction of increasing focus position. Image sharpness information is calculated from continuously acquired target images. Image sharpness is obtained using the same evaluation method and compared between images with unchanged exposure states to ensure comparability of sharpness results corresponding to different focus positions.

[0058] Step S20: Determine the base focus position corresponding to each zoom position during the zoom process based on the target object distance. Lens calibration is completed in advance at multiple known object distances and multiple zoom positions, and the focus position when the image reaches a sharp state is recorded, establishing a correspondence between object distance, zoom position, and focus position. For positions not directly calibrated, interpolation is performed based on adjacent calibration data. In this embodiment, at the zoom position corresponding to a target object distance of 500m and a target focal length of 100mm, the base focus position Fbase=1.28mm is obtained.

[0059] Based on the sign of the phase difference, the direction of increase of the base focus position is determined as the phase correction direction. Then, with Fbase as the center, adjustments are made by 5μm along both the increasing and decreasing directions, and the sharpness of the adjusted image is calculated. Assuming the normalized sharpness corresponding to the base focus position is 0.43, the sharpness after adjustment along the increasing direction is 0.47, and the sharpness after adjustment along the decreasing direction is 0.39, the increasing direction is determined as the sharpness correction direction.

[0060] In this embodiment, the phase correction direction is consistent with the sharpness correction direction; therefore, the base focus position is adjusted along the increasing direction. The conversion relationship between phase difference and focusing lens group displacement is obtained during the lens calibration stage. In this embodiment, every 1μm phase difference corresponds to 0.8μm focusing lens group displacement. Therefore, the displacement correction amount corresponding to the phase difference is:

[0061] ΔFPDAF = 0.8 × 12.3 = 9.84 μm

[0062] Based on the correction results determined by the image sharpness change, the target focus position corresponding to this zoom position is determined to be approximately 1.290 mm. When the phase correction direction is inconsistent with the sharpness correction direction, the displacement correction amount is reduced to half of it, i.e., 4.92 μm, to limit over-adjustment caused by fluctuations in a single detection result. The target focus position corresponding to each zoom position during the zoom process is determined sequentially in the same manner.

[0063] Step S30: Generate a zoom motion trajectory based on the current zoom position and the target focal length. In this embodiment, the current zoom position Z0 corresponding to the 20mm focal length is 5.6mm, the target zoom position Ztarget corresponding to the 100mm target focal length is 33.6mm, the total travel of the zoom lens group is 28mm, and the preset zoom time is 1.2s.

[0064] The zoom process is divided into an acceleration phase, a stabilization phase, and a deceleration phase. The acceleration phase is from 0 to 0.2 s, the stabilization phase from 0.2 to 1.0 s, and the deceleration phase from 1.0 to 1.2 s. The acceleration in the acceleration phase is set to 140 mm / s², the velocity in the stabilization phase is set to 28 mm / s, and the deceleration in the deceleration phase is set to -140 mm / s². The displacements corresponding to the acceleration, stabilization, and deceleration phases are 2.8 mm, 22.4 mm, and 2.8 mm, respectively, ensuring that the zoom lens group completes a total travel of 28 mm and reaches the target zoom position of 33.6 mm in 1.2 s, with the velocity dropping to zero upon reaching the target zoom position.

[0065] Based on the zoom motion trajectory, a zoom position is extracted every 0.1 mm, and the arrival time corresponding to each zoom position is determined. The target focus positions obtained in step S20 are configured to the corresponding arrival times to form a target focus position sequence arranged by time. For intervals where adjacent target focus positions change in the same direction, they are continuously connected according to their corresponding arrival times; for intervals where the direction of change of target focus positions changes, the point where the direction changes is taken as the turning point, and the target focus positions on both sides of the turning point are connected respectively, thereby obtaining a focus motion trajectory with the same time base as the zoom motion trajectory.

[0066] In this embodiment, the position of the focusing lens group is updated over time according to the following formula:

[0067] Ftarget(t)=FbaseD,Z(t)+ΔFPDAF(t)+ΔFCDAF(t)

[0068] Where FbaseD,Z(t) represents the base focus position corresponding to the target distance D and the current zoom position Z(t), ΔFPDAF(t) represents the displacement correction amount determined based on the phase difference information, and ΔFCDAF(t) represents the displacement correction amount determined based on the image sharpness change corresponding to Contrast Detection AutoFocus (CDAF). The formula is used to illustrate the composition of the target focus position and does not require that the correction amounts be superimposed in a fixed ratio.

[0069] Step S40: At a preset time interval of 5ms, read the zoom position Zk and focus position Fk corresponding to each synchronization control moment from the zoom motion trajectory and focus motion trajectory, and control the zoom lens group and focus lens group to move to the corresponding positions respectively. When the difference between the actual position and the target position is not greater than 2μm, determine the position of the corresponding lens group at the current synchronization control moment.

[0070] If the zoom lens group reaches Zk before the focusing lens group reaches Fk, keep the zoom lens group at Zk and continue adjusting the focusing lens group. If the focusing lens group reaches Fk first, keep the focusing lens group at its position and continue adjusting the zoom lens group. After both lens groups reach their positions corresponding to the current synchronization control moment, read the zoom and focus positions for the next synchronization control moment. This ensures that both lens groups advance in the same timing sequence.

[0071] When the target focus positions corresponding to multiple consecutive zoom positions are identical after position resolution quantization, the corresponding focusing motion trajectories are merged into a position holding segment. For example, if the target focus positions corresponding to three consecutive zoom positions are 1.280mm, 1.281mm, and 1.280mm respectively, and the minimum control step size of the focusing lens group is 2μm, all three are quantized to 1.280mm. While the zoom lens group is passing through this zoom range, the focusing lens group is kept at 1.280mm; after the zoom lens group leaves this range, the focusing lens group continues to adjust according to the subsequent focusing motion trajectory, thereby reducing high-frequency reciprocating motion caused by small positional differences.

[0072] In this embodiment, after zooming from 20mm to 100mm, the zoom lens group reaches the target zoom position in 1.2s, and the focusing lens group simultaneously reaches the target focusing position at approximately 1.290mm. Throughout the zoom process, the normalized image sharpness remains above 0.48, and no full-stroke focus search is required after zooming. The focal length, object distance, position interval, control cycle, and position error mentioned above are used to illustrate a specific implementation process; in actual implementation, these parameters are determined based on the lens focal length range, lens group travel, and drive resolution.

[0073] like Figure 2 As shown, this invention provides an adaptive zoom and focus linkage control system for an optoelectronic pod. The system includes: a data acquisition unit for acquiring the target focal length, target object distance, phase difference information, and image sharpness information; a position determination unit for determining the target focus position corresponding to each zoom position during the zoom process based on the target object distance, the phase difference information, and the image sharpness information; a trajectory generation unit for generating a zoom motion trajectory based on the current zoom position and the target focal length, and generating a focus motion trajectory synchronized with the zoom motion trajectory based on the target focus position corresponding to each zoom position; and an execution unit for linkage control of the zoom lens group and the focus lens group based on the zoom motion trajectory and the focus motion trajectory.

[0074] The present invention also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the above-described photoelectric pod adaptive zoom and focus linkage control method. The optional embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details described above. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe the various possible combinations.

[0075] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the embodiments of the present invention, they should also be regarded as the content disclosed by the embodiments of the present invention.

Claims

1. A method for adaptive zoom and focus linkage control of an optoelectronic pod, characterized in that, The method includes: Obtain the target focal length, as well as the target object distance, phase difference information, and image sharpness information; Based on the target distance, the phase difference information, and the image sharpness information, determine the target focus position corresponding to each zoom position during the zoom process; A zoom motion trajectory is generated based on the current zoom position and the target focal length, and a focus motion trajectory synchronized with the zoom motion trajectory is generated based on the target focus position corresponding to each zoom position. Based on the zoom motion trajectory and the focus motion trajectory, the zoom lens group and the focus lens group are controlled in a coordinated manner.

2. The adaptive zoom and focus linkage control method for the optoelectronic pod according to claim 1, characterized in that, The process of obtaining the target focal length includes: In response to a zoom control command, the target zoom parameters carried by the zoom control command are extracted; When the target zoom parameter is the target zoom magnification or the target field of view, the corresponding candidate focal length is determined according to the preset mapping relationship between the zoom parameter and the focal length. The candidate focal length is constrained based on the focal length range of the lens configured on the optoelectronic pod to obtain the target focal length.

3. The adaptive zoom and focus linkage control method for the optoelectronic pod according to claim 1, characterized in that, Based on the target object distance, the phase difference information, and the image sharpness information, the target focus position corresponding to each zoom position during the zoom process is determined, including: Based on the target object distance, determine the basic focus position corresponding to each zoom position; The phase correction direction of the basic focus position is determined based on the phase difference information, and the sharpness correction direction is determined based on the image sharpness change when the basic focus position is adjusted in different directions. When the phase correction direction is consistent with the sharpness correction direction, the base focus position is adjusted along the consistent correction direction; When the phase correction direction is inconsistent with the sharpness correction direction, the adjustment amount of the base focus position is reduced to obtain the target focus position corresponding to each zoom position.

4. The adaptive zoom and focus linkage control method for the optoelectronic pod according to claim 3, characterized in that, The phase correction direction of the basic focus position is determined based on the phase difference information, and the sharpness correction direction is determined based on the image sharpness change when the basic focus position is adjusted in different directions, including: Based on the positive or negative state of the phase difference information, the phase correction direction of the basic focus position is determined; The changes in image sharpness when the base focus position is adjusted along the increasing and decreasing directions are determined respectively; The adjustment direction corresponding to increasing image sharpness is determined as the sharpness correction direction.

5. The adaptive zoom and focus linkage control method for the optoelectronic pod according to claim 1, characterized in that, Generate a zoom motion trajectory based on the current zoom position and the target focal length, including: Determine the target zoom position corresponding to the target focal length, and divide the zoom interval between the current zoom position and the target zoom position into multiple continuous segments; Based on the positional relationship of each continuous segment relative to the target zoom position, the zoom speed corresponding to each continuous segment is determined, so that the zoom speed of the deceleration segment near the target zoom position gradually decreases. By sequentially connecting each continuous segment and performing continuous processing on the zoom speed between adjacent continuous segments, the zoom motion trajectory is obtained.

6. The adaptive zoom and focus linkage control method for the optoelectronic pod according to claim 5, characterized in that, Based on the target focus position corresponding to each zoom position, a focus motion trajectory synchronized with the zoom motion trajectory is generated, including: The arrival time corresponding to each zoom position is determined based on the zoom motion trajectory, and each target focus position is configured to the corresponding arrival time. Determine the direction of position change between adjacent target focus positions according to the order of each zoom position; When the direction of position change of multiple consecutive target focus positions is the same, the corresponding target focus positions are continuously connected. When the direction of position change of adjacent target focus positions changes, the target focus position at the point of change of direction is taken as the turning point, and the target focus positions on both sides of the turning point are connected respectively to obtain the focus motion trajectory.

7. The adaptive zoom and focus linkage control method for the optoelectronic pod according to claim 1, characterized in that, Based on the zoom motion trajectory and the focusing motion trajectory, the zoom lens group and the focusing lens group are linked and controlled to move, including: According to a preset time interval, the zoom position and focus position corresponding to each synchronization control moment are determined from the zoom motion trajectory and the focus motion trajectory, respectively. Control the zoom lens group and the focusing lens group to move to the zoom position and focusing position corresponding to the current synchronization control time, respectively; When the zoom lens group or the focusing lens group reaches the position corresponding to the current synchronization control time ahead of schedule, the position of the lens group that has reached the current synchronization control time is maintained until the other lens group reaches the position corresponding to the current synchronization control time. Then, the zoom lens group and the focusing lens group are controlled to move to the position corresponding to the next synchronization control time.

8. The adaptive zoom and focus linkage control method for the optoelectronic pod according to claim 1, characterized in that, The method further includes: When the target focus position is the same for multiple consecutive zoom positions, the focus motion trajectories corresponding to the multiple consecutive zoom positions are merged into a position holding segment; During the period when the zoom lens group passes through the consecutive multiple zoom positions, the focusing lens group is kept at the target focusing position corresponding to the position holding segment; After the zoom lens group leaves the consecutive zoom positions, the focusing lens group is controlled to continue moving according to the focusing motion trajectory.

9. A photoelectric pod adaptive zoom and focus linkage control system, characterized in that, The system includes: The data acquisition unit is used to obtain the target focal length, target object distance, phase difference information, and image sharpness information; The position determination unit is used to determine the target focus position corresponding to each zoom position during the zoom process based on the target object distance, the phase difference information, and the image sharpness information. The trajectory generation unit is used to generate a zoom motion trajectory based on the current zoom position and the target focal length, and to generate a focus motion trajectory synchronized with the zoom motion trajectory based on the target focus position corresponding to each zoom position. The execution unit is used to control the movement of the zoom lens group and the focusing lens group in conjunction with the zoom movement trajectory and the focusing movement trajectory.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the adaptive zoom and focus linkage control method for the optoelectronic pod as described in any one of claims 1-8.

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