CN114184181B - Active target device with infrared tracking and beacon light pointing functions - Google Patents
Active target device with infrared tracking and beacon light pointing functions Download PDFInfo
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- CN114184181B CN114184181B CN202111481477.2A CN202111481477A CN114184181B CN 114184181 B CN114184181 B CN 114184181B CN 202111481477 A CN202111481477 A CN 202111481477A CN 114184181 B CN114184181 B CN 114184181B
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- light
- reflector
- energy beam
- beacon
- infrared
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/02—Means for marking measuring points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B17/00—Systems with reflecting surfaces, with or without refracting elements
- G02B17/08—Catadioptric systems
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/10—Beam splitting or combining systems
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optics & Photonics (AREA)
- Manufacturing & Machinery (AREA)
- Optical Communication System (AREA)
Abstract
An active target device with infrared tracking and beacon light pointing functions belongs to the technical field of mechanical engineering, and aims to solve the technical problem that the furthest-spaced active beacon light emission of 2 meters under the airborne condition cannot be realized in the prior art; after the infrared tracking unit finds out the host, the host is tracked, and meanwhile, the position information is transmitted to the beacon light pointing unit, and the beacon light pointing unit transmits beacon light to the host according to the transmitted information. The invention adopts the tracking turntable with the infrared detection function to realize tracking, and realizes the pointing function of the host according to the information of the infrared tracking turntable.
Description
Technical Field
The invention relates to an active target device with infrared tracking and beacon light pointing functions, and belongs to the field of mechanical engineering.
Background
The infrared tracking and beacon light pointing function device provides five paths of beacon light with the farthest distance of 2 meters and the parallelism better than 0.3 degree for the host, the device mainly completes capturing and stable tracking of the host under the airborne condition, and after the host is successfully tracked, the device emits the beacon light which is actively pointed, and provides a group of five beacon lights which are actively pointed in real time for the host.
The scheme needs to meet the tracking under the condition of whole day, the device needs to have an infrared tracking function, the infrared tracking and the emission of the beacon light in the prior art scheme are integrated in the tracking turntable, the requirement that the farthest interval between the emission of the beacon light is 2 meters cannot be met, the emission power of the beacon light is high, and the optical fiber cable is damaged when working for a long time along with the rotation of the turntable.
Disclosure of Invention
The invention provides an active target device with infrared tracking and beacon light pointing functions, which aims to solve the technical problems that the furthest-spaced active beacon light emitting for 2m under the airborne condition cannot be realized by the prior art, the beacon light emitting power is high, the optical fiber cable works for a long time along with the rotation of a turntable to damage an optical fiber, and the multi-optical axis calibration is realized.
The technical scheme of the invention is as follows:
the active target device with the infrared tracking and beacon light pointing functions comprises an infrared tracking unit, a beacon light pointing unit, a self-calibration light path, a mounting frame and a shock absorber, wherein the infrared tracking unit is fixed under the mounting frame, the beacon light pointing unit is fixed at the left end and the right end of the mounting frame, the self-calibration light path is arranged in the infrared tracking unit and the mounting frame, the lower end of the shock absorber is connected with the upper end of the mounting frame, and the shock absorber is connected with an airplane; after the infrared tracking unit finds out the host, the host is tracked, and meanwhile, the position information is transmitted to the beacon light pointing unit, and the beacon light pointing unit transmits beacon light to the host according to the transmitted information.
The infrared tracking unit includes: the system comprises an infrared detector, a calibration light source, a first energy beam splitter and a spherical turntable, wherein the infrared detector interprets host equipment and then sends information to the spherical turntable, and the spherical turntable drives the posture change of the infrared detector to complete real-time tracking of the host; the calibration light source is arranged on the infrared detector, the optical axis of the calibration light source is parallel to the optical axis of the infrared detector, the first refraction reflecting mirror forms an angle of 45 degrees with the calibration light source, and the light beam of the calibration light source passes through the spherical turntable through the refraction reflecting mirror and enters the self-calibration light path.
The beacon light direction unit includes: the device comprises a reflector, a two-axis turntable, a collimating mirror group, an optical fiber and a test reflector, wherein light rays sequentially pass through the optical fiber and the collimating mirror group to emit a certain beam of scattered angle beacon light, then pass through the reflector, adjust the angle of the reflector through the two-axis turntable to change the direction of the light rays, direct the beacon light to a host according to the information of an infrared tracking unit, and the test reflector is arranged on the back of the reflector and is parallel to the back of the reflector.
The self-calibrating optical path includes: the second energy beam splitter, the first energy beam splitter, the second energy beam splitter, the third energy beam splitter, the fourth beam splitter and five PSD detectors, the five PSD detectors respectively correspond to the five beacon light pointing units; the light beam of the calibration light source enters the self-calibration light path through the first refraction reflecting mirror, part of the light beam is reflected by the third energy beam splitting sheet and enters the fourth energy beam splitting, the light beam enters the corresponding test reflecting mirror through the reflection of the fourth energy beam splitting sheet, and the light beam is reflected on the target surface of the PSD detector; the light beam transmitted by the fourth energy beam splitting sheet passes through a fourth turning reflector, and the light beam enters a corresponding test reflector on the target surface of a corresponding PSD detector after being reflected by the fourth turning reflector; the light beam of the calibration light source enters a third energy beam splitting piece of the self-calibration light path through a first refraction reflecting mirror, the other part of light beam is transmitted into the third refraction reflecting mirror and then enters a second energy beam splitting piece after being reflected, the light beam is reflected by the second energy beam splitting piece partially and then is beaten on a corresponding PSD detector through a test reflecting mirror; the light beam transmitted by the second energy beam splitting sheet enters the first energy beam splitting sheet, one part of the light passing through the first energy beam splitting sheet is reflected to the corresponding test reflector and is beaten on the corresponding PSD detector, and the other part of the light is transmitted to the second turning reflector and is beaten on the PSD detector through the corresponding test reflector.
The beneficial effects of the invention are as follows:
the tracking turntable with the infrared detection function is adopted to realize tracking, the beacon light emission is respectively realized by five reflector turntables according to the information of the infrared tracking turntable to realize the pointing function of a host, the five reflector turntables can be reasonably arranged on a frame structure according to the distance requirement, the pointing is realized by reflecting laser by the two-axis reflector turntables, the optical fiber does not move along with the turntable, the infrared light axis and the beacon optical axis can realize the initial calibration function of the optical axis through the PSD detector in the self-calibration optical path, and the device effectively solves the problems of insufficient beacon light interval, risk caused by the rotation of the optical fiber along with the turntable, and parallelism errors of different beacon light emission optical axes caused by temperature, installation and transportation.
Drawings
Fig. 1 is a schematic diagram of an active target device with infrared tracking and beacon light pointing functions according to the present invention.
Fig. 2 is a schematic diagram of the composition of the infrared tracking unit according to the present invention, and fig. 2 (b) is a sectional view taken along the direction of fig. 2 (a).
Fig. 3 is a schematic diagram of the composition of the beacon light directing unit according to the present invention.
Fig. 4 (a) is a schematic diagram of the self-calibration optical path composition according to the present invention, and fig. 4 (b) is a cross-sectional view taken along the direction of fig. 4 (a).
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, an active target device with infrared tracking and beacon light directing functions comprises an infrared tracking unit 1, a beacon light directing unit 2, a self-calibration light path 3, a mounting frame 4 and a damper 5, wherein the infrared tracking unit 1 is fixed under the mounting frame 4, the beacon light directing unit 2 is fixed at the left end and the right end of the mounting frame 4, the distance between the farthest two beacon emitting units is greater than 2m, the self-calibration light path 3 is arranged inside the infrared tracking unit 1 and the mounting frame 4, the lower end of the damper 5 is connected with the fixed upper end of the mounting frame 4, and the damper 5 is connected with an airplane. After the infrared tracking unit 1 finds the host, the host is tracked, and meanwhile, the position information of the spherical turntable 1-4 is transmitted to the beacon light directing unit 2, and the beacon light directing unit 2 adjusts the two-axis turntable 2-2 to emit beacon light to the host according to the transmitted information.
As shown in fig. 2 (a) and (b), the infrared tracking unit 1 includes: the infrared detector 1-1, the calibration light source 1-2, the first turning mirror 1-3 and the spherical turntable 1-4. The infrared detector 1-1 interprets the host equipment, then sends information to the spherical turntable 1-4, and the spherical turntable 1-4 drives the posture of the infrared detector 1-1 to change so as to complete real-time tracking of the host; the calibration light source 1-2 is arranged on the infrared detector 1-1, the optical axis of the calibration light source 1-2 is parallel to the optical axis of the infrared detector 1-1, the first turning reflector 1-3 forms an angle of 45 degrees with the calibration light source 1-2, and the light beam of the calibration light source 1-2 passes through the spherical turntable 1-4 through the turning reflector 1-3 and enters the self-calibration light path 3.
As shown in fig. 3, the beacon light direction unit 2 includes: the optical fiber testing device comprises a reflecting mirror 2-1, a two-axis turntable 2-2, a collimating lens group 2-3, an optical fiber 2-4 and a testing reflecting mirror 2-5. The light emits a certain beam of scattered angle beacon light through the optical fiber 2-4 and the collimating lens group 2-3, then passes through the reflecting mirror 2-1, the angle of the reflecting mirror 2-1 is adjusted through the two-axis turntable 2-2 to change the direction of the light, the beacon light is directed to the host according to the information of the infrared tracking unit 1, and the testing reflecting mirror 2-5 is arranged on the back of the reflecting mirror 2-1 and is parallel to the reflecting mirror 2-1.
As shown in fig. 4 (a) and (b), the self-calibrating optical path 3 includes: the device comprises a second turning reflector 3-1, a first energy beam splitter 3-2, a second energy beam splitter 3-3, a third turning reflector 3-4, a third energy beam splitter 3-5, a fourth energy beam splitter 3-6, a fourth turning reflector 3-7 and five PSD detectors 3-8, wherein the five PSD detectors 3-8 respectively correspond to five beacon light directing units 2. The light beam of the calibration light source 1-2 enters the self-calibration light path 3 through the first refraction reflecting mirror 1-3, part of the light beam is reflected by the third energy beam splitting sheet 3-5 and enters the fourth energy beam splitting sheet 3-6, and the light beam enters the corresponding test reflecting mirror 2-5 after being reflected by the fourth energy beam splitting sheet 3-6 and is reflected on the target surface of the PSD detector 3-8; the light beam transmitted by the fourth energy beam splitter 3-6 passes through the fourth turning reflector 3-7, and the light beam enters the corresponding test reflector 2-5 through the reflection of the fourth turning reflector 3-7 and strikes the target surface of the corresponding PSD detector 3-8; the light beam of the calibration light source 1-2 enters a third energy beam splitting sheet 3-5 in the self-calibration light path 3 through a first refraction reflecting mirror 1-3, the other part of the light beam is transmitted into a third refraction reflecting mirror 3-4 and enters a second energy beam splitting sheet 3-3 after being reflected, and the light beam is reflected by a part of the second energy beam splitting sheet 3-3 and then is transmitted to a corresponding PSD detector 3-8 through a test reflecting mirror 2-5; the light beam transmitted by the second energy beam splitter 3-3 enters the first energy beam splitter 3-2, one part of the first energy beam splitter 3-2 is reflected to the test reflector 2-5 to strike the corresponding PSD detector 3-8, and the other part is transmitted to the second turning reflector 3-1 to strike the PSD detector 3-8 through the test reflector 2-5.
The initial pointing position of the beacon light pointing unit 2 is determined according to the adjustment precision and the tracking precision of the infrared unit 1, the tracking precision of the infrared unit 1 is higher, the initial parallelism error of the 5 beacon light pointing units 2 mainly determines the pointing error of the beacon light pointing unit 2, the optical axis of the infrared unit 1 and the 5 beacon light pointing units 2 can be adjusted to be higher precision by using a theodolite and a light pipe, and the optical axes of the infrared unit 1, the 5 beacon light pointing units 2 and the optical axis of the calibration light source 1-2 are parallel after the adjustment of the whole device is completed; the calibration light source 1-2 is parallel to the optical axis of the infrared unit 1, the equipment structure distribution is centralized, the calibration light source 1-2 is less affected by the outside, the optical axis of the calibration light source 1-2 can represent the optical axis of the infrared detector 1-1, at the moment, the calibration light source 1-2 emits light to pass through the reflecting mirror and the light splitting sheet, the calibration light source 1-2 can strike on the PSD detector 3-8 corresponding to the 5 beacon emission units 2, the PSD detector can detect two angle variable quantities of light spots, and the position of the light spots on the PSD detector 3-8 is recorded after the equipment is assembled; the device is transported, the parallelism of each optical axis of the beacon pointing unit 2 and the optical axis of the infrared unit 1 can be changed due to temperature change and other factors, beacon pointing errors are generated, the calibration optical path 3 is used for calibrating the optical axis position before the beacon emitting unit 2 works, the calibration light source 1-2 is turned on, at the moment, the corresponding PSD detector 3-8 of the beacon emitting unit 2 generates light spots, the light spots are compared with the positions of the light spots which are previously adjusted, the two-axis turntable 2-2 is adjusted, the test reflector 2-5 rotates along with the light spots, the light spots are adjusted to the positions when the corresponding PSD detector 3-8 is adjusted, and the system errors caused by transportation, temperature and the like can be rapidly and accurately eliminated through the method.
Claims (1)
1. The active target device with the infrared tracking and beacon light pointing functions is characterized by comprising an infrared tracking unit (1), a beacon light pointing unit (2), a self-calibration light path (3), a mounting frame (4) and a shock absorber (5), wherein the infrared tracking unit (1) is fixed under the mounting frame (4), the beacon light pointing unit (2) is fixed at the left end and the right end of the mounting frame (4), the self-calibration light path (3) is arranged inside the infrared tracking unit (1) and the mounting frame (4), the lower end of the shock absorber (5) is connected with the upper end of the mounting frame (4), and the shock absorber (5) is connected with an airplane; after the infrared tracking unit (1) finds out a host, the host is tracked, meanwhile, the position information is transmitted to the beacon light pointing unit (2), and the beacon light pointing unit (2) transmits beacon light to the host according to the transmitted information;
the infrared tracking unit (1) comprises: the infrared detector (1-1), the calibration light source (1-2), the first turning reflector (1-3) and the spherical turntable (1-4), wherein the infrared detector (1-1) interprets host equipment and then sends information to the spherical turntable (1-4), and the spherical turntable (1-4) drives the posture change of the infrared detector (1-1) to complete real-time tracking of the host; the method comprises the steps that a calibration light source (1-2) is arranged on an infrared detector (1-1), the optical axis of the calibration light source (1-2) is parallel to the optical axis of the infrared detector (1-1), a first refraction reflecting mirror (1-3) forms an angle of 45 degrees with the calibration light source (1-2), and a light beam of the calibration light source (1-2) passes through a spherical turntable (1-4) through the first refraction reflecting mirror (1-3) to enter a self-calibration light path (3);
the beacon light direction unit (2) includes: the device comprises a reflector (2-1), a two-axis turntable (2-2), a collimating lens group (2-3), an optical fiber (2-4) and a test reflector (2-5), wherein light rays sequentially pass through the optical fiber (2-4) and the collimating lens group (2-3) to emit a certain beam of scattered angle beacon light, then the beacon light passes through the reflector (2-1), the angle of the reflector (2-1) is adjusted through the two-axis turntable (2-2) to change the direction of the light rays, the beacon light is directed to a host according to the information of an infrared tracking unit (1), and the test reflector (2-5) is arranged on the back of the reflector (2-1) and is parallel to the reflector;
the self-calibrating optical path (3) comprises: the device comprises a second turning reflector (3-1), a first energy beam splitter (3-2), a second energy beam splitter (3-3), a third turning reflector (3-4), a third energy beam splitter (3-5), a fourth energy beam splitter (3-6), a fourth turning reflector (3-7) and five PSD detectors (3-8), wherein the five PSD detectors (3-8) respectively correspond to five beacon light directing units (2); the light beam of the calibration light source (1-2) enters the self-calibration light path (3) through the first refraction reflecting mirror (1-3), part of the light beam is reflected by the third energy beam splitting sheet (3-5) and enters the fourth energy beam splitting sheet (3-6), and the light beam enters the corresponding test reflecting mirror (2-5) through the reflection of the fourth energy beam splitting sheet (3-6) and is reflected on the target surface of the PSD detector (3-8); the light beam transmitted by the fourth energy beam splitting sheet (3-6) passes through the fourth turning reflector (3-7), and the light beam enters the corresponding test reflector (2-5) to strike the target surface of the corresponding PSD detector (3-8) through the reflection of the light beam by the fourth turning reflector (3-7); the light beam of the calibration light source (1-2) enters a third energy beam splitting sheet (3-5) in the self-calibration light path (3) through a first refraction reflecting mirror (1-3), the other part of the light beam is transmitted into a third refraction reflecting mirror (3-4) and enters a second energy beam splitting sheet (3-3) after being reflected, the light beam is partially reflected by the second energy beam splitting sheet (3-3), and then is beaten on a corresponding PSD detector (3-8) through a test reflecting mirror (2-5); the light beam transmitted by the second energy beam splitting sheet (3-3) enters the first energy beam splitting sheet (3-2), part of the light transmitted by the first energy beam splitting sheet (3-2) is reflected to the corresponding test reflector (2-5) and is transmitted to the corresponding PSD detector (3-8), and the other part of the light is transmitted to the second turning reflector (3-1) and is transmitted to the PSD detector (3-8) through the corresponding test reflector (2-5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111481477.2A CN114184181B (en) | 2021-12-06 | 2021-12-06 | Active target device with infrared tracking and beacon light pointing functions |
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| CN202111481477.2A CN114184181B (en) | 2021-12-06 | 2021-12-06 | Active target device with infrared tracking and beacon light pointing functions |
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| CN114184181A CN114184181A (en) | 2022-03-15 |
| CN114184181B true CN114184181B (en) | 2023-08-01 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115388713A (en) * | 2022-08-22 | 2022-11-25 | 长春理工大学 | Multifunctional dynamic target detection system |
| CN115479103A (en) * | 2022-09-13 | 2022-12-16 | 长春理工大学 | Shock absorption supporting structure and optical system design method thereof |
| CN115508910A (en) * | 2022-09-21 | 2022-12-23 | 长春理工大学 | Image quality detection device, method, equipment and medium for optical system |
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| CN1447130A (en) * | 2003-03-21 | 2003-10-08 | 孔鹏 | Infrared self direction system |
| US7292319B1 (en) * | 2005-05-24 | 2007-11-06 | Lockheed Martin Corp. | Optical tracking device employing a three-axis gimbal |
| CN104246535A (en) * | 2012-09-19 | 2014-12-24 | 法罗技术股份有限公司 | Method for using a handheld appliance to select, lock onto, and track a retroreflector with a laser tracker |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US8462323B2 (en) * | 2007-03-27 | 2013-06-11 | Metrolaser, Inc. | Integrated multi-sensor surveilance and tracking system |
| EP2801841B1 (en) * | 2013-05-10 | 2018-07-04 | Leica Geosystems AG | Laser tracker with a target detecting unit for a target tracking system and orientation detection |
| US10555781B2 (en) * | 2017-11-15 | 2020-02-11 | Stryker Corporation | High bandwidth and low latency hybrid communication techniques for a navigation system |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1447130A (en) * | 2003-03-21 | 2003-10-08 | 孔鹏 | Infrared self direction system |
| US7292319B1 (en) * | 2005-05-24 | 2007-11-06 | Lockheed Martin Corp. | Optical tracking device employing a three-axis gimbal |
| CN104246535A (en) * | 2012-09-19 | 2014-12-24 | 法罗技术股份有限公司 | Method for using a handheld appliance to select, lock onto, and track a retroreflector with a laser tracker |
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