CN-121995353-A - Laser intelligent observation instrument light path fine adjustment system with automatic calibration function

CN121995353ACN 121995353 ACN121995353 ACN 121995353ACN-121995353-A

Abstract

The invention relates to the technical field of intelligent laser measurement, and discloses a fine adjustment system of an optical path of an intelligent laser observer with an automatic calibration function, the real-time monitoring and automatic accurate adjustment of the optical path of the laser observer are realized by combining multi-dimensional sensor monitoring, intelligent optical path analysis, self-adaptive compensation algorithm and accurate mechanical adjustment. The system adopts a self-adaptive Kalman filtering algorithm to process four-quadrant photoelectric detector signals, establishes a multi-sensor timestamp alignment mechanism and a layered data fusion architecture to obtain high-precision fused sensor data, adopts an edge calculation architecture and a special FPGA chip to conduct real-time light path deviation analysis, adopts a hybrid drive adjustment mechanism to coarsely adjust a voice coil motor, finely adjust a piezoelectric ceramic stack to achieve nanoscale adjustment precision, establishes a multi-target distance calibration verification mechanism, and adopts a physical target and virtual target cross verification calibration effect. The invention can automatically calibrate in real time in the normal working process of the equipment.

Inventors

LI DI
LV JUNPING
BI DUYAN
LIU TAO

Assignees

西安杰邦科技股份有限公司
杭州杰之邦智慧视觉科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260128

Claims (10)

1. Laser intelligent observation appearance light path fine tuning system that possesses automatic calibration function, its characterized in that includes: The sensor monitoring module is used for acquiring an original signal and environment change data of the laser intelligent observer, and performing multi-source data fusion on the original signal by adopting self-adaptive Kalman filtering to obtain optical path state data; The data processing module is used for carrying out real-time optical path deviation analysis on the optical path state data by adopting a distributed processing method based on an edge computing architecture to obtain an optical path deviation analysis result; The hybrid drive adjusting module is used for realizing rapid optical path adjustment on the optical path deviation analysis result by adopting hybrid drive adjustment to obtain an optical path adjustment result; The calibration verification module is used for obtaining the light path adjustment result, and performing multi-target distance verification on the ranging performance of the adjusted laser intelligent observer to obtain a full-range calibration verification result; the reliability evaluation module is used for acquiring a full-range calibration verification result, combining historical operation data of the intelligent laser observer, and establishing a reliability model by adopting a digital twin technology to obtain guarantee data; And the intelligent control module is used for acquiring an intelligent optimized environment self-adaptive calibration strategy by adopting the association relation between the long-short-term memory network learning environment and the performance according to the guarantee data and the environment change history.
2. The system for fine adjustment of optical path of intelligent laser observer with automatic calibration function according to claim 1, wherein the adaptive kalman filtering is used for the original signal, comprising: Acquiring the photocurrent signal intensity values of four quadrants as observed quantity; Carrying out state prediction, and calculating Kalman gain based on the state estimation value of the previous moment and the state value of the predicted current moment; updating the state estimation, correcting and updating the state through residual error between the observed value and the predicted state value.
3. The system for fine adjustment of optical paths of intelligent laser observers with automatic calibration function according to claim 1, wherein the multi-source data fusion in the sensor monitoring module further comprises: establishing a multi-sensor time stamp alignment mechanism, uniformly triggering a main controller, recording original time stamps by all sensors, compensating response delay, and obtaining alignment time stamps; And constructing a sensor fault detection and isolation mechanism, calculating the average value and standard deviation of all the sensor measured values, and judging and eliminating the abnormality if the deviation of the sensor measured values and the average value exceeds three times of the standard deviation.
4. The system for fine adjustment of optical paths of intelligent laser observers with automatic calibration function according to claim 1, wherein the multi-source data fusion process in the sensor monitoring module adopts a layered fusion architecture: The first layer carries out similar sensor data fusion, carries out weighted average on the data of a plurality of temperature sensors, and carries out weighted fusion after the weight normalization of each sensor; And the second layer performs heterogeneous sensor data fusion, performs normalization processing and temperature compensation processing on various sensor data, and performs weighted fusion after distributing fusion weights according to the measurement accuracy of the sensor.
5. The system for fine adjustment of optical paths of intelligent laser observers with automatic calibration function according to claim 1, wherein the distributed processing method based on the edge computing architecture comprises the following steps: Establishing a layered processing architecture, wherein a main processor is responsible for overall coordination and decision making, a special FPGA chip is responsible for high-speed signal processing, and a DSP chip is responsible for digital filtering and numerical calculation; parallel data exchange is realized, and each processing unit exchanges data through a high-speed bus to realize parallel calculation; designing an FPGA internal processing core, integrating a plurality of parallel processing cores in the FPGA, wherein each core is responsible for the calculation task of the core; the method comprises the steps of constructing a pipeline architecture, wherein the calculation process of the centroid position of the light spot is divided into three stages of data preprocessing, centroid calculation and coordinate conversion, and each stage is executed in parallel.
6. The system for fine adjustment of optical path of intelligent laser observer with automatic calibration function according to claim 1, wherein the real-time optical path deviation analysis in the data processing module comprises: Constructing a rapid detection algorithm of the light path deviation: establishing a change rate calculation method, obtaining angle deviation values of the current moment and the previous moment, and calculating to obtain the light path deviation change rate through the angle deviation change quantity and the time interval; the angle deviation is calculated by the arc tangent function relation between the light spot position offset and the equivalent focal length of the receiving optical system; Implementing a dynamic threshold adjustment mechanism, and automatically adjusting a deviation detection threshold according to environmental conditions; And establishing an optical path deviation type recognition algorithm, and dividing the deviation into three types of angle deviation, position deviation and power deviation according to the directivity, periodicity and amplitude characteristics of the deviation.
7. The system for fine adjustment of optical paths of a laser intelligent observer with an automatic calibration function according to claim 1, wherein the mixing driving adjustment in the mixing driving adjustment module comprises: the method comprises the steps of designing a hybrid driving structure, driving a voice coil motor in rough adjustment, and driving a piezoelectric ceramic stack in fine adjustment; The method comprises the steps of establishing a double closed-loop control system, wherein an outer ring is a position control ring, and a deviation between a target position and an actual position is taken as an input; And implementing a predictive control algorithm to obtain current control output, calculating the change rate of the control output, setting a predictive coefficient and a predictive time according to the response characteristic of the system, obtaining a predictive compensation quantity according to the change rate of the control output, the predictive coefficient and the predictive time, and obtaining final predictive control output according to the current control output and the predictive compensation quantity.
8. The system for fine adjustment of optical paths of intelligent laser observers with automatic calibration function according to claim 1, wherein the multi-target distance verification in the calibration verification module comprises: designing a variable-distance built-in calibration target system, which comprises an electric guide rail, a standard reflecting plate and a position encoder; establishing a virtual target calibration method, and simulating laser echo signals with different distances by using an optical fiber delay line; obtaining the refractive index parameter of the optical fiber, obtaining the actual propagation speed of the optical signal in the optical fiber based on the refractive index parameter, and outputting the required optical fiber delay line length; the optical fiber delay line system is constructed by coupling laser signals into an optical fiber by a laser coupler, providing a required delay length by an optical fiber disc, and converting the delayed optical signals into electric signals by a photoelectric detector.
9. The system for fine adjustment of optical paths of a laser intelligent observer with an automatic calibration function according to claim 1, wherein the calibration verification module further comprises: constructing a cross verification mechanism, and simultaneously using a physical target and a virtual target to perform calibration verification; Consistency evaluation is realized, the ranging results of the two methods are compared, and the consistency of the calibration effect is evaluated by adopting a correlation coefficient method to obtain a correlation coefficient; And (3) implementing a statistical analysis algorithm, evaluating the calibration stability through the statistical characteristics of multiple measurements, and obtaining a ranging stability index according to the average value and the variance of multiple ranging results.
10. The system for fine adjustment of optical paths of intelligent laser observers with automatic calibration function according to claim 1, wherein the digital twinning technique in the reliability evaluation module comprises: Establishing a digital twin model of equipment, and constructing a comprehensive digital model comprising an optical system model, a mechanical system model, an electronic system model and an environmental impact model; Constructing a mechanical wear prediction model, and predicting the wear degree and the residual life of key components by adopting a Weibull distribution model based on the use frequency, the load size and the environmental conditions of an adjusting mechanism; designing a self-adaptive calibration strategy, and dynamically adjusting calibration parameters and calibration frequency according to the equipment aging degree and the performance change trend; establishing a performance degradation compensation mechanism, and reducing slow degradation of hardware performance through the hardware compensation mechanism; and establishing a device health state evaluation system, calculating a device health degree score through comprehensive analysis, and outputting a system reliability evaluation result and maintenance advice.

Description

Laser intelligent observation instrument light path fine adjustment system with automatic calibration function Technical Field The invention relates to the technical field of intelligent laser measurement, in particular to a light path fine adjustment system of an intelligent laser observer with an automatic calibration function. Background The laser intelligent observer is used as modern precise optical measuring equipment and plays an important role in the fields of military reconnaissance, target positioning, shooting correction, civil ranging and the like. The traditional laser observer adopts a pulse laser ranging technology, and calculates the target distance by measuring the flight time of laser pulses. However, in the actual use process, due to the influence of factors such as environmental temperature change, mechanical vibration, laser aging, expansion caused by heat and contraction caused by cold of an optical element, the laser emission light path and the receiving light path are easy to deviate, so that the ranging precision is reduced, and the reliability and the use effect of the equipment are seriously influenced. The prior art mainly adopts a manual calibration or periodic factory return maintenance mode to solve the problem of light path offset. Manual calibration requires a professional to operate with standard targets, and the calibration process is complex and time-consuming and cannot be performed in real time during the use of the device. The regular factory returning maintenance can thoroughly solve the problems, but has long maintenance period and high cost, and can not respond to the change of the optical path in time. The traditional methods have the problems of incapability of real-time calibration, dependence on professionals and limited calibration precision, and cannot meet the requirements of modern laser observation equipment on high precision, high reliability and high intellectualization. The existing automatic calibration technology solves the problem of manual calibration to a certain extent, but still has the technical defects of insufficient calibration precision, poor environmental adaptability and low intelligent degree, and a new technical scheme capable of realizing real-time unattended automatic calibration is urgently needed. Disclosure of Invention The invention provides a laser intelligent observer light path fine adjustment system with an automatic calibration function, which solves the technical problems of insufficient calibration precision, poor environmental adaptability and low intelligent degree in the related technology. The invention provides a laser intelligent observer light path fine tuning system with an automatic calibration function, which comprises: The sensor monitoring module is used for acquiring an original signal and environment change data of the laser intelligent observer, and performing multi-source data fusion on the original signal by adopting self-adaptive Kalman filtering to obtain optical path state data; The data processing module is used for carrying out real-time optical path deviation analysis on the optical path state data by adopting a distributed processing method based on an edge computing architecture to obtain an optical path deviation analysis result; The hybrid drive adjusting module is used for realizing rapid optical path adjustment on the optical path deviation analysis result by adopting hybrid drive adjustment to obtain an optical path adjustment result; The calibration verification module is used for obtaining the light path adjustment result, and performing multi-target distance verification on the ranging performance of the adjusted laser intelligent observer to obtain a full-range calibration verification result; the reliability evaluation module is used for acquiring a full-range calibration verification result, combining historical operation data of the intelligent laser observer, and establishing a reliability model by adopting a digital twin technology to obtain guarantee data; And the intelligent control module is used for acquiring an intelligent optimized environment self-adaptive calibration strategy by adopting the association relation between the long-short-term memory network learning environment and the performance according to the guarantee data and the environment change history. In a preferred embodiment, said applying an adaptive kalman filter to the original signal comprises: Acquiring the photocurrent signal intensity values of four quadrants as observed quantity; Carrying out state prediction, and calculating Kalman gain based on the state estimation value of the previous moment and the state value of the predicted current moment; updating the state estimation, correcting and updating the state through residual error between the observed value and the predicted state value. In a preferred embodiment, the multi-source data fusion in the sensor monitoring module further comprises: establishing a