CN119334253A - Telescope reflection surface positioning measurement system and method - Google Patents
Telescope reflection surface positioning measurement system and method Download PDFInfo
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- CN119334253A CN119334253A CN202411886685.4A CN202411886685A CN119334253A CN 119334253 A CN119334253 A CN 119334253A CN 202411886685 A CN202411886685 A CN 202411886685A CN 119334253 A CN119334253 A CN 119334253A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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Abstract
The invention relates to the technical field of telescope measurement, in particular to a telescope reflecting surface positioning measurement system and a telescope reflecting surface positioning measurement method, wherein the measurement system comprises a reflecting surface module for collecting and measuring object light and reflecting the object light to a target focus to form a light spot; the system comprises a camera module, a sensor module, a control module, an execution module, a signal control center and a feedback module, wherein the camera module is used for calibrating and recording a current spot position measurement image through an industrial camera and acquiring spot measurement position change parameters in a target time period, the sensor module is used for detecting and acquiring actual profile information of a spot region of a reflecting surface and determining spot actual position change parameters according to the spot measurement position change parameters acquired by the camera module, the control module is used for generating a control instruction according to the spot actual position change parameters acquired by the sensor module and calculating a target adjustment amount, the execution module is used for calibrating the position of the reflecting surface according to the control instruction of the control module, and the feedback module is used for feeding back the reflection surface measurement result adjusted by the execution module to be transmitted to the signal control center so as to improve the measurement accuracy of the reflection surface measurement position of a measurement system.
Description
Technical Field
The invention relates to the technical field of telescope measurement, in particular to a telescope reflecting surface positioning measurement system and a telescope reflecting surface positioning measurement method.
Background
With the research and development of the fields of deep space exploration activities, cosmic radio celestial exploration and the like, the requirements on the performance of astronomical telescopes are also higher and higher. Astronomical telescopes generally comprise a reflecting surface structure, a measuring system and a positioning control system, and are commonly used for receiving and positioning astronomical radio wave signals with high precision.
The existing fixed binocular vision measuring system composed of fixed cameras realizes the measuring process, can ensure higher measuring precision but the measuring range is usually smaller due to the limitation of the visual field and resolution of the cameras, and also needs to consume time to recalibrate the position of the cameras in the next measuring process.
Along with the development of data intellectualization, the telescope reflecting surface positioning measurement system performs conversion calibration process between space coordinates by combining a vision measurement technology with an imaging model. However, complicated image processing and three-dimensional control processes are required, and the calculated amount is huge, so that the measurement accuracy of the three-dimensional control points is low, the extraction and conversion efficiency of the measured image points is low, and the calibration accuracy is seriously affected.
Disclosure of Invention
The invention aims to provide a telescope reflecting surface positioning measurement system and a telescope reflecting surface positioning measurement method, which solve the following technical problems:
how to improve the measurement accuracy of the measuring position of the reflecting surface of the measuring system and promote the efficient conversion of the measured three-dimensional information.
The aim of the invention can be achieved by the following technical scheme:
a telescope reflective surface positioning measurement system, comprising:
the reflecting surface module is used for collecting the light of the measuring object and reflecting the light to the target focus to form a light spot; the bottom of the reflecting surface module is provided with a controller;
The camera module is used for calibrating and recording a current spot position measurement image through the industrial camera and acquiring a spot measurement position change parameter in a target time period;
the sensor module is used for detecting and acquiring actual contour information of the reflecting surface light spot area and determining actual light spot position change parameters by combining the light spot measurement position change parameters acquired by the camera module;
the control module is used for generating a control instruction according to the actual position change parameters of the light spots acquired by the sensor module and calculating a target adjustment quantity;
and the execution module is used for calibrating the position of the reflecting surface according to the control instruction of the control module.
Preferably, the image pickup module includes:
According to spot image matrixes obtained by detecting camera angular points in different directions, calculating camera parameters;
determining a current spot measurement position image according to the camera parameters and the three-dimensional model;
Acquiring position change data of a three-dimensional coordinate system of a light spot measurement contour in a target time period;
And inputting the three-dimensional coordinate system position change data set of the light spot measurement profile at different moments and the target time period information into a linear projection model to obtain a projection coefficient and outputting the light spot measurement position change parameters.
Preferably, the manner of determining the actual position change parameter of the light spot by the sensor module is as follows:
acquiring an outline information electric signal of a reflecting surface light spot area through an optical sensor;
Converting the contour information electric signal into a contour digital signal parameter through a frequency domain;
And acquiring the light spot measurement position change parameters and the corresponding outline digital signal parameters, inputting the light spot measurement position change parameters and the corresponding outline digital signal parameters into a perspective projection simulation model, and outputting the light spot actual position change parameters.
Preferably, the control module comprises:
By the formula Calculating to obtain adjustment coefficient;
Wherein, For the total number of focal spots,∈;Is in front ofActual position deviation of each light spot; Is in front of Standard deviation of the actual positions of the light spots; Is in front of Average value of the actual position deviation of each light spot; Is in front of The influence of the actual position deviation in the focus spots on the position deviation of the reflecting surface is preset by a weight coefficient; is a preset adjustment function.
Preferably, the control instruction is generated by the following steps:
Will adjust the coefficient And preset adjustment coefficient thresholdAnd (3) performing comparison:
If it is ≥Judging that the focus position deviation of the reflecting surface is larger, and generating a control instruction;
If it is <And judging that the deviation of the focal position of the reflecting surface is smaller, and continuously executing the measuring process.
Preferably, the front partDeviation of actual positions of individual light spotsIs before combinationAll actual position change parameters of all key points of different light spot area outlinesAnd (3) carrying out analysis to obtain the product:
By the formula Before calculationDeviation of actual positions of individual light spotsWhereinIs the total number of key points of the outline of the light spot area,∈;Is the target time period interval, and 0<<;The key point position coefficient of the outline of the current light spot area is; Is the first Spot area profile on spotActual position change parameters of the key points; Is the first Spot area profile on spotThe actual position change parameter standard values of the key points; To preset the first Spot area profile on spotParameter deviation values are changed for actual positions of the key points.
Preferably, the calculation mode of the control module for obtaining the target adjustment quantity of the key point is as follows:
By the formula Calculating key point positionsTarget adjustment amount of (2)Wherein, the method comprises the steps of,Mapping functions for actual position to measured position transformations; Is the point location Is set, is a preset position coefficient of (a).
Preferably, the process of calibrating the position of the reflecting surface by the execution module according to the control instruction comprises the following steps:
Starting a self-calibration mode;
According to the target adjustment amount Determining the measurement position information of each key point of the light spot to form a measurement position coordinate set;
Transmitting the three-dimensional coordinates measured by the light spots in the initial reflecting surface and the measured position coordinates into a control model of the controller for three-dimensional simulation, and outputting control parameters;
the controller controls the reflecting surface to conduct angle adjustment or position deviation according to the control parameters.
Preferably, the system further comprises a feedback module for feeding back the measured result of the reflecting surface adjusted by the execution module to the signal control center.
A telescope reflecting surface positioning measurement method comprises the following steps:
The method comprises the steps of firstly, collecting light of a measuring object and reflecting the light to a target focus to form a light spot, wherein a detector is arranged at the target focus;
Step two, calibrating and recording a current spot position measurement image through an industrial camera, and acquiring spot measurement position change parameters in a target time period;
Detecting and obtaining actual contour information of a reflecting surface light spot area, and determining actual position change parameters of the light spots by combining the light spot measurement position change parameters;
Generating a control instruction according to the actual position change parameters of the light spots and calculating a target adjustment quantity;
Fifthly, calibrating the position of the reflecting surface according to the control instruction;
and step six, transmitting the feedback-adjusted reflection surface measurement result to a signal control center.
The invention has the beneficial effects that:
(1) According to the invention, the current spot position measurement image is calibrated through the industrial camera through the camera module, the spot measurement position change parameter in the target time period is acquired, the actual contour information of the spot area of the reflecting surface is acquired through detection of the sensor module, the spot actual position change parameter is determined by combining the spot measurement position change parameter acquired by the camera module, the actual contour of the spot area on the reflecting surface can be fully detected through the sensor, the more accurate position change parameter is provided, and the accuracy of subsequent position adjustment is ensured.
(2) The invention generates a control instruction and calculates a target adjustment quantity according to the actual position change parameter of the light spot obtained by the sensor module, generates an adjustment instruction according to the data provided by the sensor module, calculates the accurate adjustment quantity of the reflecting surface to be controlled through the adjustment instruction, obtains an adjustment coefficient through analyzing the change condition of the actual position deviation quantity of the light spot in the measuring process and judging the position deviation condition in the key point of each light spot in the focal area of the reflecting surface, thereby avoiding the one-to-one analysis process of the specific position of each measuring point and avoiding the overlarge position deviation of each measuring point to a certain extent.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a module of a telescope reflective surface positioning measurement system according to the present invention;
Fig. 2 is a step diagram of a telescope reflecting surface positioning measurement method according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention is a telescope reflecting surface positioning measurement system, comprising:
the reflecting surface module is used for collecting the light of the measuring object and reflecting the light to the target focus to form a light spot; the bottom of the reflecting surface module is provided with a controller;
The camera module is used for calibrating and recording a current spot position measurement image through the industrial camera and acquiring a spot measurement position change parameter in a target time period;
the sensor module is used for detecting and acquiring actual contour information of the reflecting surface light spot area and determining actual light spot position change parameters by combining the light spot measurement position change parameters acquired by the camera module;
the control module is used for generating a control instruction according to the actual position change parameters of the light spots acquired by the sensor module and calculating a target adjustment quantity;
and the execution module is used for calibrating the position of the reflecting surface according to the control instruction of the control module.
In the technical scheme, the measuring system for positioning the reflecting surface of the telescope is designed, and the measuring and analyzing and calibrating processes for the position of the reflecting surface are realized by designing the reflecting surface module, the camera module, the sensor module, the control module and the executing module.
The measuring system comprises a reflecting surface module, a measuring system and a measuring system, wherein the measuring system is used for measuring the object light, reflecting the object light to a target focus to form a light spot, capturing and reflecting the light from the target object, accurately focusing the light to a point to form the light spot, confirming the position of the light spot to ensure that the follow-up detailed judgment according to measurement analysis and position adjustment is performed, the target focus is provided with a detector, and the detector positioned at the reflecting surface focus can capture the light spot, so that the measuring system is a direct source for acquiring the state information of the reflecting surface.
And the controller is arranged at the bottom of the reflecting surface module and used for receiving instructions from the control module and fine-adjusting the position of the reflecting surface so as to ensure that light spots can accurately fall on the detector.
The system comprises a camera module, an industrial camera, a system and a system, wherein the camera module is used for calibrating and recording a current spot position measurement image through the industrial camera and acquiring a spot measurement position change parameter in a target time period, and the industrial camera is used for recording the real-time position of a spot and acquiring the position change parameter of the spot in the target time period through image analysis, which is an important basis for system adjustment.
Specifically, as one embodiment of the present invention, an image pickup module includes:
According to spot image matrixes obtained by detecting camera angular points in different directions, calculating camera parameters;
determining a current spot measurement position image according to the camera parameters and the three-dimensional model;
Acquiring position change data of a three-dimensional coordinate system of a light spot measurement contour in a target time period;
And inputting the three-dimensional coordinate system position change data set of the light spot measurement profile at different moments and the target time period information into a linear projection model to obtain a projection coefficient and outputting the light spot measurement position change parameters.
In the technical scheme, the camera module firstly carries out spot image matrixes obtained by detecting angular points through cameras arranged in different directions, and particularly determines camera parameters through a camera calibration technology, wherein the camera parameters mainly comprise internal parameters (such as focal length, principal point coordinates, distortion coefficients and the like) and external parameters (rotation and translation matrixes), the conventional common calibration method comprises a Zhang Zhengyou calibration method, and the method is used for solving through detecting angular points in the images by shooting a plurality of images with known patterns (such as checkerboards).
And obtaining the current spot measurement position image by projecting points in the three-dimensional space onto a two-dimensional image plane and carrying out coordinate transformation according to an internal and external parameter matrix of the camera.
And tracking the position change of the light spot in the image sequence by an image processing technology, and converting the two-dimensional position change into the position change in a three-dimensional space.
And finally, inputting the three-dimensional coordinate system position change data set of the light spot measurement profile at different moments and the target time period information into a linear projection model to obtain a projection coefficient and outputting the light spot measurement position change parameters. The method comprises the steps of inputting a three-dimensional coordinate system position change data set of light spot measurement outlines at different moments and target time period information into a linear projection model, and obtaining projection coefficients through a least square method optimization technology, wherein the projection coefficients refer to projection coefficients required when three-dimensional points are projected onto a two-dimensional plane in the linear projection model, the coefficients relate to internal and external parameters of a camera and geometric characteristics of the three-dimensional model, and the light spot measurement position change parameters can be output through obtaining the projection coefficients and are used for representing movement tracks and change conditions of light spots in a three-dimensional space.
It should be noted that the nonlinear distortion of the camera is considered in the calculation process, and correction is needed in the calibration process to improve the accuracy of measurement. In addition, robustness and precision of an image processing algorithm are considered in practical application so as to ensure reliability of spot detection and tracking. The linear projection model maps high-dimensional data into a low-dimensional space by linear transformation. This transformation is typically accomplished by matrix multiplication, i.e., multiplying the original data matrix by a projection matrix to obtain a projected data matrix.
The sensor module is used for detecting and acquiring actual contour information of the light spot area of the reflecting surface, determining the actual position change parameter of the light spot by combining the light spot measurement position change parameter acquired by the camera module, and fully detecting the actual contour of the light spot area on the reflecting surface through the sensor to provide more accurate position change parameter and ensure the accuracy of subsequent position adjustment.
Specifically, as an implementation mode of the invention, the mode of determining the actual position change parameter of the light spot by the sensor module is as follows:
acquiring an outline information electric signal of a reflecting surface light spot area through an optical sensor;
Converting the contour information electric signal into a contour digital signal parameter through a frequency domain;
And acquiring the light spot measurement position change parameters and the corresponding outline digital signal parameters, inputting the light spot measurement position change parameters and the corresponding outline digital signal parameters into a perspective projection simulation model, and outputting the light spot actual position change parameters.
In the above technical solution, the determination method of the actual position change parameter of the light spot includes that firstly, the outline information electric signal of the light spot area of the reflecting surface is obtained through the optical sensor, the outline information of the light spot on the reflecting surface is captured through the optical sensor, and the shape and the position of the light spot are output in the form of the electric signal, and the sensor used in the embodiment can be a CCD (charge coupled device) or a CMOS (complementary metal oxide semiconductor) sensor, so long as the sensor capable of converting the light intensity change into the electric signal can be used without limiting the specific use type.
The profile information electrical signal is then converted to profile digital signal parameters by frequency domain conversion, by means of general frequency domain conversion of the electrical signal to digital signals, and extracting features from the digital signals by using Fast Fourier Transform (FFT) or the like techniques to convert the profile information electrical signal to profile digital signal parameters for the computation and processing of features, such as profile shape and edge information of the light spot, to digital signals that can be identified and analyzed by the computing system.
Finally, acquiring a spot measurement position change parameter and a corresponding profile digital signal parameter, inputting the parameter into a perspective projection simulation model, and outputting an actual spot position change parameter; the perspective projection simulation model is based on a perspective geometric principle, can simulate and calculate actual changes of light spots at different positions, performs machine training by inputting light spot measurement position change parameters and profile digital signal parameters into a preset perspective projection simulation model, and outputs accurate parameters of light spot actual position change after the positions, angles and actual geometric shapes of the light spots of a camera are considered, wherein the output light spot actual position change parameters comprise accurate displacement, rotation and scaling information of the light spots in a three-dimensional space, the adjustment precision of a reflecting surface can be ensured through the light spot actual position change parameters, and the observation precision of telescope equipment can be effectively improved.
And fourthly, the control module is used for generating a control instruction according to the actual position change parameters of the light spots obtained by the sensor module and calculating a target adjustment quantity, generating an adjustment instruction according to the data provided by the sensor module, and calculating the accurate adjustment quantity of the reflecting surface to be controlled through the adjustment instruction.
Specifically, as an embodiment of the present invention, the control module includes:
By the formula Calculating to obtain adjustment coefficient;
Wherein, For the total number of focal spots,∈;Is in front ofActual position deviation of each light spot; Is in front of Standard deviation of the actual positions of the light spots; Is in front of Average value of the actual position deviation of each light spot; Is in front of The influence of the actual position deviation in the focus spots on the position deviation of the reflecting surface is preset by a weight coefficient; is a preset adjustment function.
In the above technical solution, the control module generates the control quality and judges the position of the reflecting surface, and the specific judging and analyzing mode is that the formula is passed throughCalculating to obtain adjustment coefficientAccording to the adjustment coefficientThe accuracy of the focal position of the reflecting surface is judged by analyzing the actual position deviation of the light spotIn the change condition in the measuring process, the adjustment coefficient is obtained by judging the position deviation condition in the key point of each light spot of the focal region of the reflecting surface, so that the process of analyzing the specific position of each measuring point one by one is avoided, and the overlarge position deviation of each measuring point can be avoided to a certain extent.
It should be explained that, beforeStandard deviation of actual position of each light spotFor standard data values obtained based on historical experience, guarantee the futureInputting the set of historical values of the actual position deviation of each light spot into an analysis model for machine training, and outputting a simulation calculation result which is obtained by simulation according to historical empirical data and is used as a comparison of actual measurement deviation, presetting a weight coefficientIs set for fitting in advance according to historical empirical data, not described in detail herein, and is provided with an adjustment functionAnd (3) ensuring that the result of the adjustment coefficient is within a specific reasonable interval range for an adjustment function set according to the historical data condition.
As one embodiment of the present invention, the control instruction is generated by:
Will adjust the coefficient And preset adjustment coefficient thresholdAnd (3) performing comparison:
If it is ≥Judging that the focus position deviation of the reflecting surface is larger, and generating a control instruction;
If it is <And judging that the deviation of the focal position of the reflecting surface is smaller, and continuously executing the measuring process.
In the above technical solution, the present embodiment determines and obtains the control instruction according to the comparison of the adjustment coefficient, specifically, the adjustment coefficientAnd preset adjustment coefficient thresholdComparing the sizes, if≥If the deviation of the focal position of the reflecting surface is large, generating a control instruction, if<And judging that the deviation of the focal position of the reflecting surface is smaller, and continuously executing the measuring process. The control instruction is generated by judging the condition that the deviation of the focal position of the reflecting surface is large, so that the control instruction is generated.
As an embodiment of the present invention, a frontDeviation of actual positions of individual light spotsIs before combinationAll actual position change parameters of all key points of different light spot area outlinesAnd (3) carrying out analysis to obtain the product:
By the formula Before calculationDeviation of actual positions of individual light spotsWhereinIs the total number of key points of the outline of the light spot area,∈;Is the target time period interval, and 0<<;The key point position coefficient of the outline of the current light spot area is; Is the first Spot area profile on spotActual position change parameters of the key points; Is the first Spot area profile on spotThe actual position change parameter standard values of the key points; To preset the first Spot area profile on spotParameter deviation values are changed for actual positions of the key points.
In the technical proposal, through the front part ofIntegrating all actual position change parameters of all key points of different light spot area outlinesTo determine the corresponding frontDeviation of actual positions of individual light spotsSpecifically, through the formulaBefore calculationDeviation of actual positions of individual light spotsBefore measuring within the target time period by analyzing the actual position change parametersBefore the cumulative determination of the dynamic change of the number of the light spotsDeviation of actual positions of individual light spotsThe measuring adjustment of the actual position change is realized, and the accurate measurement of the positions of different light spots of the reflecting surface focus is realized. Generally, for the selection of the acquisition number of the key points of the outline of the light spot area, the number of the points to be measured is different according to the appearance of the measured object, and the total of the points to be measured is selected according to the external outline and the appearance complexity of the measured object, so that the higher the appearance complexity is, the more the number of the selected key points is, and the lowest key points of the design are not less than three points.
As an implementation mode of the invention, the calculation mode of the control module for obtaining the target adjustment quantity of the key point is as follows:
By the formula Calculating key point positionsTarget adjustment amount of (2)Wherein, the method comprises the steps of,Mapping functions for actual position to measured position transformations; Is the point location Is set, is a preset position coefficient of (a).
In the above technical solution, the control module obtains the target adjustment amount of the key point position by a method of formula calculation. Specifically, by the formulaCalculating key point positionsTarget adjustment amount of (2)According to the analysisDeviation of actual positions of individual light spotsAnd the conversion functions of the actual position and the measured position are set to adjust the amount of adjustment to be controlled, thereby realizing the acquisition of the target adjustment amount.
It should be further noted that the mapping functionThe specific form of a calculation function set in the process of mapping the two-dimensional data of the actual position deviation value to the three-dimensional space for conversion is complex, but the calculation can be generally performed by capturing characteristics of the acquired data through the characteristic space by the existing kernel function, and the details are not described herein.
And fifthly, the execution module is used for calibrating the position of the reflecting surface according to the control instruction of the control module, and executing fine adjustment of the reflecting surface according to the instruction of the control module, so that the accuracy of the spot position is ensured, and the measurement accuracy of the whole telescope system is ensured.
As one embodiment of the present invention, the process of calibrating the position of the reflecting surface by the execution module according to the control instruction includes:
Starting a self-calibration mode;
According to the target adjustment amount Determining the measurement position information of each key point of the light spot to form a measurement position coordinate set;
Transmitting the three-dimensional coordinates measured by the light spots in the initial reflecting surface and the measured position coordinates into a control model of the controller for three-dimensional simulation, and outputting control parameters;
the controller controls the reflecting surface to conduct angle adjustment or position deviation according to the control parameters.
In the technical scheme, the execution module is used for calibrating to realize the response to the control instruction, and the specific calibration process comprises the steps of starting a self-calibration mode firstly, and then obtaining the target adjustment quantity according to calculationThe method comprises the steps of determining the measurement position information of each key point of the current light spot to form a measurement position coordinate set, transmitting the measurement position coordinate set and the three-dimensional coordinate measured by the light spot in the initial reflecting surface to a control model of a controller to perform machine calculation of three-dimensional simulation, outputting control parameters, and finally controlling the reflecting surface to perform angle adjustment or position deviation according to the control parameters by the controller.
It should be explained that, the control parameters received by the controller are a series of position determining processes performed after the self-calibration mode is started according to the control instruction, and the specific mode of selecting and controlling by the controller according to the control parameter size is preset according to the historical control size, which is not described in detail herein.
The invention further comprises a feedback module for transmitting the measured result of the reflecting surface adjusted by the feedback execution module to the signal control center.
In the above technical solution, in order to allow the measurement system to adjust the input according to the deviation between the actual output and the desired output, the stability and accuracy of the whole measurement system are ensured.
The feedback module in this embodiment generally includes a sensor, a signal processing circuit, and a communication interface. The sensor is used for collecting the actual output of the system or the state of the execution module and converting the information into electric signals, the signal processing circuit is used for amplifying, filtering, converting and the like the output signals of the sensor so as to adapt to the requirements of the control system, and the communication interface is used for sending the processed signals back to the signal control center.
In the signal control center, the feedback signal is compared with a reference input signal (desired output) to generate an error signal, and a control algorithm (e.g., PID controller) calculates control actions based on the error signal, which control actions adjust the behavior of the system by the execution module to reduce the error and bring the system output close to or to a desired state.
The reflection surface module, the camera module, the sensor module, the control module and the execution module which are designed by combining the measuring system can improve the anti-interference capability of the whole measuring system by setting a feedback mechanism of the feedback module, reduce the influence of external interference on the system performance and compensate the variation of the parameters of the measuring system and the deviation caused by aging to a certain extent. In addition, the feedback control can also realize the self-adaption and the optimization control of the system, and the overall control effect is improved.
Referring to fig. 2, the invention provides a telescope reflecting surface positioning measurement method based on a telescope reflecting surface positioning measurement system, which specifically comprises the following steps:
The method comprises the steps of firstly, collecting light of a measuring object and reflecting the light to a target focus to form a light spot, wherein a detector is arranged at the target focus;
Step two, calibrating and recording a current spot position measurement image through an industrial camera, and acquiring spot measurement position change parameters in a target time period;
Detecting and obtaining actual contour information of a reflecting surface light spot area, and determining actual position change parameters of the light spots by combining the light spot measurement position change parameters;
Generating a control instruction according to the actual position change parameters of the light spots and calculating a target adjustment quantity;
Fifthly, calibrating the position of the reflecting surface according to the control instruction;
and step six, transmitting the feedback-adjusted reflection surface measurement result to a signal control center.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus, devices, non-volatile computer storage medium embodiments, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the section of the method embodiments being relevant.
The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the attached documents. In some cases, the acts or steps recited in the present application may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
The foregoing is merely illustrative and explanatory of the principles of this application, as various modifications and additions may be made to the specific embodiments described, or similar arrangements may be substituted by those skilled in the art, without departing from the principles of this application or beyond the scope of this application as defined in the claims.
Claims (8)
1. A telescope reflective surface positioning measurement system, comprising:
The device comprises a reflecting surface module, a target focal point, a detector and a controller, wherein the reflecting surface module is used for collecting and reflecting light of a measuring object to the target focal point to form a light spot;
The camera module is used for calibrating and recording a current spot position measurement image through the industrial camera and acquiring a spot measurement position change parameter in a target time period;
the sensor module is used for detecting and acquiring actual contour information of the reflecting surface light spot area and determining actual light spot position change parameters by combining the light spot measurement position change parameters acquired by the camera module;
the control module is used for generating a control instruction according to the actual position change parameters of the light spots acquired by the sensor module and calculating a target adjustment quantity;
the control module includes:
By the formula Calculating to obtain adjustment coefficient;
Wherein, For the total number of focal spots,∈;Is in front ofActual position deviation of each light spot; Is in front of Standard deviation of the actual positions of the light spots; Is in front of Average value of the actual position deviation of each light spot; Is in front of The influence of the actual position deviation in the focus spots on the position deviation of the reflecting surface is preset by a weight coefficient; The method comprises the steps of setting an adjusting function for a preset;
The generation process of the control instruction comprises the following steps:
Will adjust the coefficient And preset adjustment coefficient thresholdAnd (3) performing comparison:
If it is ≥Judging that the focus position deviation of the reflecting surface is larger, and generating a control instruction;
If it is <Judging that the deviation of the focal position of the reflecting surface is smaller, and continuously executing the measuring process;
and the execution module is used for calibrating the position of the reflecting surface according to the control instruction of the control module.
2. The telescope reflective surface positioning measurement system according to claim 1, wherein the camera module comprises:
According to spot image matrixes obtained by detecting camera angular points in different directions, calculating camera parameters;
determining a current spot measurement position image according to the camera parameters and the three-dimensional model;
Acquiring position change data of a three-dimensional coordinate system of a light spot measurement contour in a target time period;
And inputting the three-dimensional coordinate system position change data set of the light spot measurement profile at different moments and the target time period information into a linear projection model to obtain a projection coefficient and outputting the light spot measurement position change parameters.
3. The telescope reflective surface positioning measurement system according to claim 2, wherein the sensor module determines the actual position change parameter of the light spot by:
acquiring an outline information electric signal of a reflecting surface light spot area through an optical sensor;
Converting the contour information electric signal into a contour digital signal parameter through a frequency domain;
And acquiring the light spot measurement position change parameters and the corresponding outline digital signal parameters, inputting the light spot measurement position change parameters and the corresponding outline digital signal parameters into a perspective projection simulation model, and outputting the light spot actual position change parameters.
4. A telescope reflective surface positioning measurement system according to claim 1, wherein said front faceDeviation of actual positions of individual light spotsThe acquisition method of (1) comprises the following steps:
By the formula Before calculationDeviation of actual positions of individual light spotsWhereinIs the total number of key points of the outline of the light spot area,∈;Is the target time period interval, and 0<<;The key point position coefficient of the outline of the current light spot area is; Is the first Spot area profile on spotActual position change parameters of the key points; Is the first Spot area profile on spotThe actual position change parameter standard values of the key points; To preset the first Spot area profile on spotParameter deviation values are changed for actual positions of the key points.
5. The telescope reflecting surface positioning measurement system according to claim 4, wherein the control module obtains the key point position target adjustment amount by the following calculation method:
By the formula Calculating key point positionsTarget adjustment amount of (2)Wherein, the method comprises the steps of,Mapping functions for actual position to measured position transformations; Is the point location Is set, is a preset position coefficient of (a).
6. The telescope reflector positioning measurement system of claim 5, wherein the calibration of reflector position by the execution module according to the control command comprises:
Starting a self-calibration mode;
According to the target adjustment amount Determining the measurement position information of each key point of the light spot to form a measurement position coordinate set;
Transmitting the three-dimensional coordinates measured by the light spots in the initial reflecting surface and the measured position coordinates into a control model of the controller for three-dimensional simulation, and outputting control parameters;
the controller controls the reflecting surface to conduct angle adjustment or position deviation according to the control parameters.
7. The telescope reflective surface positioning measurement system according to claim 1, further comprising a feedback module for transmitting the reflective surface measurement result adjusted by the feedback execution module to the signal control center.
8. A telescope reflective surface positioning measurement method, characterized in that it is based on a telescope reflective surface positioning measurement system according to any one of claims 1-7, said method comprising the steps of:
The method comprises the steps of firstly, collecting light of a measuring object and reflecting the light to a target focus to form a light spot, wherein a detector is arranged at the target focus;
Step two, calibrating and recording a current spot position measurement image through an industrial camera, and acquiring spot measurement position change parameters in a target time period;
Detecting and obtaining actual contour information of a reflecting surface light spot area, and determining actual position change parameters of the light spots by combining the light spot measurement position change parameters;
Generating a control instruction according to the actual position change parameters of the light spots and calculating a target adjustment quantity;
Fifthly, calibrating the position of the reflecting surface according to the control instruction;
and step six, transmitting the feedback-adjusted reflection surface measurement result to a signal control center.
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