CN-116233629-B - Aiming device and method based on two-dimensional code image, electronic equipment and storage medium

CN116233629BCN 116233629 BCN116233629 BCN 116233629BCN-116233629-B

Abstract

The invention provides a sighting device, method, electronic equipment and storage medium based on a two-dimensional code image, wherein the device comprises a receiving end and a sending end, the receiving end is used for generating the two-dimensional code image based on an incident light beam, the incident light beam is received through an optical communication receiving assembly, the sending end is used for determining a first coordinate based on the two-dimensional code image, the first coordinate is a world coordinate of a target point to be aimed relative to the center of a galvanometer, and the deflection angle of the galvanometer is controlled to aim based on the first coordinate. According to the sighting device and method based on the two-dimension code image, the information communication is carried out between the sending end and the receiving end in the form of the two-dimension code image under the condition that a traditional communication module is not used, so that a laser sighting process is realized, the problem of electromagnetic interference is avoided, and the response speed and the sensitivity are high.

Inventors

WANG KAN
ZHANG ZAICHEN
CHEN SHENGJIAN

Assignees

网络通信与安全紫金山实验室

Dates

Publication Date: 20260512
Application Date: 20221212

Claims (11)

1. The sighting device based on the two-dimensional code image is characterized by comprising a receiving end and a transmitting end; the receiving end is used for generating a two-dimensional code image based on an incident light beam, wherein the incident light beam is received by the optical communication receiving assembly; The transmitting end is configured to: Determining a first coordinate based on the two-dimensional code image, wherein the first coordinate is the world coordinate of a target point to be aimed relative to the center of the galvanometer; controlling the deflection angle of the vibrating mirror to aim based on the first coordinate; the transmitting end comprises a binocular camera, a second main control module and a galvanometer control module; The second main control module is specifically configured to: determining a second coordinate and a third coordinate based on the two-dimensional code image, wherein the third coordinate is an image pixel coordinate of a two-dimensional code center, and the second coordinate is an image pixel coordinate of a light spot center in a light spot image determined based on the incident light beam; Determining a fourth coordinate based on the third coordinate and the calibration parameters of the binocular camera, wherein the fourth coordinate is a camera coordinate system coordinate of a two-dimensional code center; And constructing a world coordinate system by taking the center of the vibrating mirror as an origin, and determining the first coordinate based on the fourth coordinate and the second coordinate.
2. The aiming device based on the two-dimensional code image according to claim 1, wherein the receiving end comprises a detection module, a first main control module and an LCD screen; The detection module is used for detecting a light spot image determined based on the incident light beam; the first main control module is used for generating a two-dimensional code image based on the facula image; the LCD screen is used for displaying the two-dimensional code image.
3. The two-dimensional code image-based aiming device according to claim 2, wherein the two-dimensional code image contains the following information: The serial number, the second coordinate and the ID of the receiving end, wherein the second coordinate is the image pixel coordinate of the light spot center.
4. The two-dimensional code image based sighting device of claim 3, wherein the detection module comprises a beam splitting prism cube, a light screen and a monocular camera; The beam splitting prism cube is used for determining a reflected light beam and a refracted light beam formed by the incident light beam; The light screen is used for displaying the light spot image formed by the reflected light beam; The monocular camera is used for acquiring the facula image.
5. The aiming device based on the two-dimensional code image according to claim 4, wherein the transmitting end comprises a binocular camera, a second main control module and a galvanometer control module; the binocular camera is used for identifying the two-dimensional code image according to the acquired image data; the second main control module is used for determining the first coordinate based on the two-dimensional code image; And the galvanometer control module is used for controlling the deflection angle of the galvanometer to aim based on the first coordinate.
6. The two-dimensional code image based aiming device according to claim 5, wherein the first coordinate has a calculation formula as follows: The method comprises the steps of (x o ,y o ,z o ) obtaining a first coordinate, (x q ,y q ,z q ) obtaining a fourth coordinate, (x c ,y c ,z c ) obtaining a world coordinate of a left-eye camera relative to the vibrating mirror, (x p ,y p ,z p ) obtaining a space coordinate of the target point to be aimed relative to the center of the two-dimensional code, (x s ,y s ) obtaining a second coordinate, (x ', y') obtaining an image pixel coordinate of the center of a light screen, and (d p ) obtaining a pixel point distance.
7. The two-dimensional code image based aiming device according to any one of claims 1 to 6, wherein, The receiving end updates the two-dimensional code image according to a preset frequency; the sending end updates the first coordinates based on the updated two-dimensional code image; And controlling the deflection angle of the vibrating mirror to aim based on the updated first coordinate.
8. The aiming method based on the two-dimensional code image is characterized by comprising the following steps of: generating a two-dimensional code image based on an incident light beam received by an optical communication receiving assembly; Determining a first coordinate based on the two-dimensional code image, wherein the first coordinate is the world coordinate of a target point to be aimed relative to the center of the galvanometer; controlling the deflection angle of the vibrating mirror to aim based on the first coordinate; the determining the first coordinate based on the two-dimensional code image includes: determining a second coordinate and a third coordinate based on the two-dimensional code image, wherein the third coordinate is an image pixel coordinate of a two-dimensional code center, and the second coordinate is an image pixel coordinate of a light spot center in a light spot image determined based on the incident light beam; Determining a fourth coordinate based on the third coordinate and calibration parameters of the binocular camera for identifying the two-dimensional code image, wherein the fourth coordinate is a camera coordinate system coordinate of the two-dimensional code center; And constructing a world coordinate system by taking the center of the vibrating mirror as an origin, and determining the first coordinate based on the fourth coordinate and the second coordinate.
9. The method of aiming based on two-dimensional code image according to claim 8, wherein after the aiming is performed by controlling the deflection angle of the galvanometer based on the first coordinate, further comprising: updating the two-dimensional code image according to a preset frequency; updating the first coordinate based on the updated two-dimensional code image; and controlling the deflection angle of the vibrating mirror to aim based on the updated first coordinate.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the two-dimensional code image-based targeting method according to claim 8 or 9 when executing the program.
11. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the two-dimensional code image-based targeting method according to claim 8 or 9.

Description

Aiming device and method based on two-dimensional code image, electronic equipment and storage medium Technical Field The invention relates to the technical field of wireless optical communication, in particular to a sighting device and method based on a two-dimensional code image, electronic equipment and a storage medium. Background Wireless optical communication is a communication technology that uses light for wireless transmission of data in free space. The wireless optical communication technology not only has rich spectrum and provides ultra-large capacity service, but also has the unique advantages of electromagnetic interference resistance, mutual interference, confidentiality and the like, and can be widely applied to various fields. The rapid and accurate capturing and aiming technology is crucial to realizing wireless optical communication, and determines the establishment speed and communication quality of a communication link. At present, a receiving end CCD array or a mechanical spiral/matrix scanning mode is generally adopted and combined with a traditional communication feedback mode to achieve capturing and aiming of a target, but in a larger visual field area, the scanning range is large in speed and slow in speed, and the capturing and aiming time is long. Meanwhile, feedback requires an additional communication device and is susceptible to atmospheric electromagnetic interference to affect the timeliness and accuracy of feedback information. Disclosure of Invention The invention provides a sighting device, a sighting method, electronic equipment and a storage medium based on a two-dimensional code image, which are used for solving the defect of long time consumption for capturing sighting in the prior art and realizing quick sighting. The invention provides a sighting device based on a two-dimensional code image, which comprises a receiving end and a transmitting end; the receiving end is used for generating a two-dimensional code image based on an incident light beam, wherein the incident light beam is received by the optical communication receiving assembly; The transmitting end is configured to: Determining a first coordinate based on the two-dimensional code image, wherein the first coordinate is the world coordinate of a target point to be aimed relative to the center of the galvanometer; and controlling the deflection angle of the vibrating mirror to aim based on the first coordinate. In some embodiments, the receiving end comprises a detection module, a first main control module and an LCD screen; The detection module is used for detecting a light spot image determined based on the incident light beam; the first main control module is used for generating a two-dimensional code image based on the facula image; the LCD screen is used for displaying the two-dimensional code image. In some embodiments, the two-dimensional code image includes the following information: The serial number, the second coordinate and the ID of the receiving end, wherein the second coordinate is the image pixel coordinate of the light spot center. In some embodiments, the detection module comprises a beam splitting prism cube, a light screen and a monocular camera; The beam splitting prism cube is used for determining a reflected light beam and a refracted light beam formed by the incident light beam; The light screen is used for displaying the light spot image formed by the reflected light beam; The monocular camera is used for acquiring the facula image. In some embodiments, the transmitting end comprises a binocular camera, a second main control module and a galvanometer control module; the binocular camera is used for identifying the two-dimensional code image according to the acquired image data; the second main control module is used for determining the first coordinate based on the two-dimensional code image; And the galvanometer control module is used for controlling the deflection angle of the galvanometer to aim based on the first coordinate. In some embodiments, the second main control module is specifically configured to: Determining the second coordinate and a third coordinate based on the two-dimensional code image, wherein the third coordinate is an image pixel coordinate of the two-dimensional code center; Determining a fourth coordinate based on the third coordinate and the calibration parameters of the binocular camera, wherein the fourth coordinate is a camera coordinate system coordinate of a two-dimensional code center; And constructing a world coordinate system by taking the center of the vibrating mirror as an origin, and determining the first coordinate based on the fourth coordinate and the second coordinate. In some embodiments, the first coordinate is calculated as follows: The method comprises the steps of (x o,yo,zo) obtaining a first coordinate, (x q,yq,zq) obtaining a fourth coordinate, (x c,yc,zc) obtaining a world coordinate of a left-eye camera relative to the vibrating mi