Teaching demonstration system and demonstration method for actively scanning and detecting concealed optoelectronic targets

Abstract

The present invention provides a teaching demonstration system and a demonstration method for actively scanning and detecting concealed optoelectronic targets. The system includes: a 3D base, a data acquisition card, a power supply, a hollow reflector, a CCD detector, a host computer, and a simulated concealed optoelectronic target. An X-axis stepping motor, a Y-axis stepping motor, a laser, an X-direction galvanometer, and a Y-axis direction galvanometer are arranged on the 3D base. The problem of the direction follow-up between the detector and the laser is solved through the hollow reflector. The system operates in the red light visible light band, and the scanning and detection processes are more intuitive and convenient for classroom demonstrations. The entire system operation process can be controlled in real time, facilitating the demonstration of any step and the entire process of laser active scanning and detecting concealed optoelectronic targets.

Description

Technical Field

[0001] This document relates to the field of concealed optoelectronic target detection technology, and particularly to a teaching demonstration system and demonstration method for actively scanning and detecting concealed optoelectronic targets. Background Art

[0002] In various scenarios, various fire strike weapon systems, snipers, surveillance equipment, etc. are all equipped with high-performance, high-magnification optoelectronic aiming and observation systems. With the cooperation of stealth and concealment technologies, these concealed weapon systems or devices directly threaten the lives or information security of relevant personnel. Therefore, the detection of concealed optoelectronic systems has gradually become a research hotspot and an important part of the teaching of optoelectronic courses in universities.

[0003] Currently, there are mainly two ways to reconnoiter concealed optoelectronic systems: one is passive reconnaissance, and the other is active reconnaissance. Passive detection technology mainly uses acoustic wave detection or infrared detection. Acoustic wave detection is achieved by dispersing multiple sound detectors at a series of valley positions, detecting the sound waves generated by the bullets and shells of weapons, and comparing the time intervals of the signals received by multiple detectors to reverse-deduce the firing position. Infrared detection is a method of observing and recording the thermal radiation trajectories of bullets and shells during and after leaving the barrel by an infrared thermal imager, and then reverse-calculating the flight trajectory of the projectiles to detect the position of the shooting or launching point. There are already many mature products for passive detection technology, such as the anti-sniper "bullet location" detection system in the United States and the "AN / AAR-65" missile thermal infrared warning system, etc.

[0004] Active detection technology mainly detects concealed optoelectronic targets based on the "cat-eye effect". The so-called "cat-eye effect" is the phenomenon that a cat's eyes emit green light at night. This is because there is a special type of cell at the bottom of a cat's eye that can form a reflective layer like a mirror, efficiently reflecting incident light in a certain direction. The lens at the front end of the cat's eye is like a converging lens, converging the reflected light from the bottom of the cat's eye and projecting it back along the original path, making the cat's eyes look very bright. During active detection, various reflective components (such as reticles, PIN diodes, photomultiplier tubes, cathode ray tubes, etc.) on the focal plane of the internal optical system of various optoelectronic targets are similar to the reflective cell layer at the bottom of a cat's eye, and will reflect the incident detection laser, causing the detection laser to be converged by the optical system and emitted back along the original optical path, making the optoelectronic target as bright as a "cat's eye", that is, the echo signal intensity is 2 - 4 orders of magnitude higher than that of the surrounding diffuse reflection targets. In this way, combined with image processing algorithms, the concealed optoelectronic targets can be distinguished. This is the principle of detecting concealed optoelectronic targets based on the "cat-eye effect".

[0005] A portable laser active detection system generally emits laser light from a near-infrared laser to search for optical targets with the "cat's eye effect" in a fixed-angle area. The CCD detects the laser echo of the target, and after subsequent image processing, the target is identified and displayed on a monitor (Zhao Penghao, "Design and Implementation of an Anti-Optical Detection System Based on the 'Cat's Eye Effect'", Yangzhou University, Master's Thesis, 2020). The vehicle-mounted / large field-of-view laser active detection system needs to add a three-dimensional turntable on the basis of a structure similar to that of the portable laser active detection system to expand the field of view or scanning range ("Experiment on a Large Field-of-View Laser Active Detection System", Shi Guang et al., Infrared and Laser Engineering, Vol. 42, No. 4, 2013, 890-894). When developing a control system for an air-search lidar, it was proposed that appropriate scanning techniques can be combined to scan and detect air targets over a large range (Song Ziyi, "Research and Design of a Control System for an Air-Search Lidar", Xidian University, Master's Thesis, 2019).

[0006] The portable laser active detection system does not contain an automatic scanning mechanism, requires manual scanning, has a long debugging time, and mostly uses non-visible light, making it difficult to intuitively present the entire process of laser active target search within the limited time of a classroom. The vehicle-mounted / large field-of-view laser active detection system with a three-dimensional turntable is often large in size and expensive, more suitable for scientific research or large platform weapon systems, and inconvenient for classroom carrying and rapid setup by teachers in non-related research fields. The control system for an air-search lidar has even higher professional requirements, not only requiring distance information and synchronization technology, but also having very high requirements for scanning accuracy. Therefore, it generally needs to be equipped with expensive high-precision laser ranging modules, imported double galvanometer scanning mechanisms and drive motors, and imported avalanche photodiodes and other basic components. Therefore, it is even less suitable for the construction and popularization of ordinary teaching demonstration systems. Therefore, it is necessary to propose a teaching demonstration system for actively scanning and detecting concealed optoelectronic targets suitable for ordinary teaching demonstrations. Summary of the Invention

[0007] The present invention provides a teaching demonstration system and a demonstration method for actively scanning and detecting concealed optoelectronic targets, aiming to solve the above problems.

[0008] The present invention provides a teaching demonstration system for actively scanning and detecting concealed optoelectronic targets, including:

[0009] A 3D base, a data acquisition card, a power supply, a hollow mirror, a CCD detector, a host computer, and a simulated concealed optoelectronic target. An X-axis stepper motor, a Y-axis stepper motor, a laser, an X-direction galvanometer, and a Y-axis direction galvanometer are arranged on the 3D base;

[0010] The host computer, connected to the data acquisition card and the CCD detector, is used to send the motor rotation parameters to the data acquisition card, receive the reflected laser echo image sent by the CCD detector and analyze it;

[0011] The data acquisition card, connected to the host computer, the X-axis stepper motor and the Y-axis stepper motor, is used to receive the motor rotation parameters from the host computer, perform analog-to-digital conversion and then send them to the X-axis stepper motor and the Y-axis stepper motor;

[0012] The X-axis stepper motor, connected to the acquisition card and the X-axis galvanometer, is used to rotate in the X-axis direction according to the motor rotation parameters sent by the acquisition card;

[0013] The Y-axis stepper motor, connected to the acquisition card and the Y-axis galvanometer, is used to rotate in the Y-axis direction according to the motor rotation parameters sent by the acquisition card;

[0014] The laser, disposed opposite to the X-axis stepper motor, is used to emit laser light to the simulated optoelectronic target through the laser emission port;

[0015] The hollow mirror, disposed at the front end of the laser emission port and set at an angle of 45° with the laser transmission direction, is used to reflect the reflected laser echo of the simulated optoelectronic target;

[0016] The CCD detector, communicatively connected to the host computer, is disposed above the laser and perpendicular to the laser, and is used to receive the laser echo image reflected by the simulated optoelectronic target through the hollow mirror and transmit the laser echo image to the host computer;

[0017] The X-axis galvanometer, connected to the X-axis stepper motor, is used to rotate according to the motor rotation parameters under the control of the X-axis stepper motor and refract the laser emitted by the laser to the Y-axis galvanometer;

[0018] The Y-axis galvanometer, connected to the Y-axis stepper motor, is used to rotate according to the motor rotation parameters under the control of the Y-axis stepper motor and refract the laser refracted by the X-axis to the simulated optoelectronic target;

[0019] The simulated optoelectronic target is used to generate a reflected laser echo under the action of the laser emitted by the laser;

[0020] The power supply is used to provide voltage for the X-axis stepper motor and the Y-axis stepper motor.

[0021] The present invention provides a teaching demonstration method for actively scanning and detecting concealed optoelectronic targets, including:

[0022] S1. The host computer sends the motor rotation parameters to the data acquisition card. The data acquisition card receives the motor rotation parameters from the host computer, performs analog-to-digital conversion and then sends them to the X-axis stepper motor and the Y-axis stepper motor;

[0023] S2. The X-axis stepper motor rotates in the X-axis direction according to the motor rotation parameters sent by the acquisition card; the Y-axis stepper motor rotates in the Y-axis direction according to the motor rotation parameters sent by the acquisition card.

[0024] S3. The laser emitter emits laser through the laser emission port. The laser passes through the hollow mirror and then irradiates the X-axis galvanometer and the Y-axis galvanometer in sequence, and under the drive of the X-axis stepper motor and the Y-axis stepper motor, irradiates the two-dimensional plane where the concealed optoelectronic target is located.

[0025] S4. The laser echo generated by the concealed optoelectronic target enters the CCD detector after passing through the Y-axis galvanometer, the X-axis galvanometer, and the hollow mirror in sequence.

[0026] S5. The CCD detector receives the laser echo image and transmits it to the host computer, and the host computer analyzes the laser echo image and issues an alarm message.

[0027] In the embodiment of the present invention, the hollow mirror not only ingeniously solves the problem of the direction follow-up between the detector and the laser emitter, but also has a simple structure and is easy to implement. All devices are common devices, such as ordinary semiconductor lasers, CCD detectors, NI data acquisition cards, stepper motors, reflecting lenses, etc.

[0028] The 3D base is printed by a 3D printer and can be designed and printed according to the number of system components and placement requirements. It has a compact structure and low cost. The two-dimensional laser galvanometer is composed of two small motors and a reflecting mirror and is directly controlled by the human-computer interaction interface, which is easy to implement. A semiconductor laser in the visible light band is selected for intuitive demonstration. Intuitively demonstrate the process of active laser scanning and detecting concealed optoelectronic targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in one or more embodiments or the prior art of this specification, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in this specification. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0030] Figure 1 It is a schematic diagram of a teaching demonstration system for actively scanning and detecting concealed optoelectronic targets according to an embodiment of the present invention;

[0031] Figure 2 It is a flowchart of a teaching demonstration method for actively scanning and detecting concealed optoelectronic targets according to an embodiment of the present invention;

[0032] Figure 33D base and assembly diagram of each component according to the embodiment of the present invention;

[0033] Figure 4 Stepper motor scanning control interface diagram according to the embodiment of the present invention;

[0034] Figure 5 Circuit design diagram according to the embodiment of the present invention;

[0035] Figure 6 Schematic diagram of the hardware interface of the stepper motor driver according to the embodiment of the present invention;

[0036] Figure 7 Schematic diagram of the multi-purpose USB desktop power supply according to the embodiment of the present invention;

[0037] Figure 8 Schematic diagram of each port of the acquisition card according to the embodiment of the present invention. Detailed implementation manners

[0038] In order to enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the following will clearly and completely describe the technical solutions in one or more embodiments of this specification with reference to the accompanying drawings in one or more embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this document.

[0039] System embodiment

[0040] The embodiment of the present invention provides a teaching demonstration system for actively scanning and detecting concealed optoelectronic targets, Figure 1 Schematic diagram of a teaching demonstration system for actively scanning and detecting concealed optoelectronic targets according to the embodiment of the present invention. According to Figure 1 As shown, a teaching demonstration system for actively scanning and detecting concealed optoelectronic targets according to the embodiment of the present invention specifically includes: a 3D base, a data acquisition card, a power supply, a hollow reflector, a CCD detector, a host computer, and an analog concealed optoelectronic target. An X-axis stepper motor, a Y-axis stepper motor, a laser, an X-direction galvanometer, and a Y-axis direction galvanometer are arranged on the 3D base;

[0041] The host computer, connected to the data acquisition card and the CCD detector, is used to send motor rotation parameters to the data acquisition card, receive the reflected laser echo image sent by the CCD detector, and perform analysis;

[0042] The data acquisition card, connected to the host computer, the X-axis stepper motor, and the Y-axis stepper motor, is used to receive the motor rotation parameters from the host computer, perform analog-to-digital conversion, and then send them to the X-axis stepper motor and the Y-axis stepper motor;

[0043] The X-axis stepper motor is connected to the acquisition card and the galvanometer in the X-axis direction, and is used to rotate in the X-axis direction according to the motor rotation parameters sent by the acquisition card;

[0044] The Y-axis stepper motor is connected to the acquisition card and the galvanometer in the Y-axis direction, and is used to rotate in the Y-axis direction according to the motor rotation parameters sent by the acquisition card;

[0045] The laser is arranged opposite to the X-axis stepper motor, and is used to emit laser light to the simulated optoelectronic target through the laser emission port;

[0046] The hollow mirror is arranged at the front end of the laser emission port and is arranged at an angle of 45° with the laser transmission direction, and is used to reflect the reflected laser echo of the simulated optoelectronic target;

[0047] The CCD detector is communicatively connected to the host computer, is arranged above the laser, and is vertically placed with respect to the laser, and is used to receive the laser echo image reflected by the simulated optoelectronic target through the hollow mirror and transmit the laser echo image to the host computer;

[0048] The galvanometer in the X-axis direction is connected to the X-axis stepper motor, and is used to rotate according to the motor rotation parameters under the control of the X-axis stepper motor and refract the laser emitted by the laser to the galvanometer in the Y-axis direction;

[0049] The galvanometer in the Y-axis direction is connected to the Y-axis stepper motor, and is used to rotate according to the motor rotation parameters under the control of the Y-axis stepper motor and refract the laser refracted by the X-axis to the simulated optoelectronic target;

[0050] The simulated optoelectronic target is used to generate a reflected laser echo under the action of the laser emitted by the laser;

[0051] The power supply is used to provide voltage for the X-axis stepper motor and the Y-axis stepper motor.

[0052] In the embodiment of the present invention, an ordinary red light semiconductor laser is selected for the laser, and Table 1 is the parameter table of the laser used in the embodiment of the present invention;

[0053] Table 1 Laser Parameter Table

[0054] Specification 12mm * 35mm Wavelength 650nm Power 5mw Voltage 3-5v Current 20 - 30mA Light emission Red dot light, line thickness can be adjusted Weight 14g Red wire Positive electrode Black wire Negative electrode Wire length 13.5cm

[0055] The X-axis stepper motor and the Y-axis stepper motor can select a 42 stepper motor and an Emm_V3.6.x stepper closed-loop drive board, wherein, Figure 6 is the schematic diagram of the hardware interface of the stepper motor driver in the embodiment of the present invention;

[0056] The galvanometer mirrors in the X-axis direction and Y-axis direction are selected with high-reflectivity glass lenses corresponding to the wavelength of the laser. Table 2 is the galvanometer parameter table of the embodiments of the present invention;

[0057] Table 2 Galvanometer Parameter Table

[0058]

[0059] The acquisition card selects the NI USB-6218 type acquisition card, and other data acquisition cards can also be selected. Figure 8 Figure 11 is a schematic diagram of each port of the acquisition card of the embodiments of the present invention. The NI USB-6218 acquisition card is a multi-functional DAQ device with isolation, which can provide 32 channels of AI (16 bits, 250 ks / s), 2 channels of AO (250 ks / s), 8 channels of DI, and 8 channels of DIO. The ports used in the present invention are its output ports, namely ports 6, 7, 8, 9, 10, and 11, and the uses of its ports are as Figure 8 shown.

[0060] The multi-power supply mainly provides voltage for the stepper motor, such as the XY-MUP type multi-purpose USB desktop power supply. Figure 7 Figure 18 is a schematic diagram of the multi-purpose USB desktop power supply of the embodiments of the present invention.

[0061] The hollow mirror allows the laser to pass through unobstructed and deflects the laser reflected by the "cat's eye target" by 90 degrees.

[0062] The CCD detector can select a small CCD array corresponding to the laser wavelength, with a size on the centimeter scale. The upper computer can use a personal ordinary notebook / computer. The two-dimensional scanning plane of the simulated optoelectronic target uses a camouflage net or leaves as the background, and a small optical lens is blocked to simulate a concealed "cat's eye" target.

[0063] The 3D printed multi-functional base is printed by a 3D printer and is mainly used to place components such as stepper motors, galvanometer mirrors, lasers, hollow lenses, and detectors. As Figure 3 Figure 29 shows the 3D base and the assembly diagram of each component of the embodiments of the present invention.

[0064] The two-dimensional galvanometer scanning system is the mechanical core of the entire system, mainly composed of a scanning galvanometer in the X direction, a scanning galvanometer in the Y direction, stepper motors for controlling the X axis and Y axis, a data acquisition card, and a host computer PC. The positions of each component are as Figure 3 shown. The two stepper motors are placed vertically, and the front end of the rotating shaft has a 45° inclined plane, on which a galvanometer mirror is pasted. Figure 4 Figure 36 is a schematic diagram of the scanning control interface of the stepper motor of the embodiments of the present invention.

[0065] The user human-machine interface on the PC drives the stepper motor to rotate at the set angle and angular velocity through the NI acquisition card, so that the laser beam can be along Figure 1It irradiates the scanning plane in the direction of the arrow shown and completes the scanning of the two-dimensional plane according to the internal program. Among them, the human-machine interaction interface is made with Labview software, and its typical control parameters are as follows: the motor X-axis (scanning) angle is set to 20, the angular velocity is set to 36, the subdivision is set to 256, the direction port is set to line2, and the pulse port is set to ctr0; the Y-axis (stepping) angle is set to 0.2, the angular velocity is set to 360, the subdivision is set to 256, the direction port is set to line3, and the pulse port is set to ctr1.

[0066] The hollow mirror is the core device of the system, which is used to ensure that the detector receives the laser echo reflected back along the original path of the "cat-eye target". It is placed in front of the laser emission port of the laser and is placed at a 45-degree angle to the laser transmission direction. The small hollow in the middle of the mirror allows the narrow emitted laser beam to pass through, and the surrounding mirror part deflects most of the laser echo reflected back along the original path of the "cat-eye target" upward by 90 degrees and irradiates it onto the CCD detector.

[0067] The semiconductor laser is placed opposite to the X-axis direction stepping motor, so that the laser directly irradiates the X-direction scanning galvanometer after passing through the hollow mirror.

[0068] The CCD detector is placed above the laser and is placed perpendicular to the laser to receive the laser echo reflected by the "cat-eye target" deflected upward by the hollow mirror. The detector is connected to the host computer through a data cable.

[0069] The multi-purpose USB desktop power supply directly powers the closed-loop stepping motor and the NI acquisition card, and indirectly provides +5V voltage for the laser through the 10th port of the NI acquisition card, as Figure 5 Shown is the circuit design diagram of the embodiment of the present invention; in addition, the two closed-loop stepping motors are connected by a stepping motor and a closed-loop drive board, and their direction input signals are provided by the 6th and 7th ports of the NI acquisition card, and the pulse input signals are provided by the 8th and 9th ports of the NI acquisition card.

[0070] The acquisition card communicates with the host computer through a serial port, and controls the rotation speed, rotation angle and rotation direction of the stepping motor in combination with the human-machine interaction interface.

[0071] By adopting the embodiment of the present invention, the following beneficial effects are achieved:

[0072] The device selection is common and the cost is low, which is convenient for construction and promotion; the simple and practical hollow mirror structure ingeniously solves the problem of the follow-up of the directions of the detector and the laser; the 3D printed multi-functional base replaces the usual 3D adjustment bracket, with a more compact structure, lower cost, more flexible customization, and richer load-bearing; the laser scanning is controlled by a two-dimensional galvanometer, and the scanning parameters can be set under the human-computer interaction interface, with convenient overall control and relatively simple interface development; the system operates in the red light, i.e., the visible light band, and the scanning and detection processes are more intuitive and convenient for classroom demonstrations; the whole system can be controlled in real time during the working process, which is convenient for demonstrating any step and the whole process of laser active scanning and detecting hidden "cat's eye" targets.

[0073] Method Embodiment

[0074] An embodiment of the present invention provides a teaching demonstration system for actively scanning and detecting hidden optoelectronic targets. Figure 2 It is a flowchart of a teaching demonstration method for actively scanning and detecting hidden optoelectronic targets according to an embodiment of the present invention. According to Figure 2 As shown, a teaching demonstration method for actively scanning and detecting hidden optoelectronic targets according to an embodiment of the present invention specifically includes:

[0075] S1. The host computer sends motor rotation parameters to the data acquisition card, and the data acquisition card receives the motor rotation parameters of the host computer, performs analog-to-digital conversion, and then sends them to the X-axis stepper motor and the Y-axis stepper motor.

[0076] S2. The X-axis stepper motor rotates in the X-axis direction according to the motor rotation parameters sent by the acquisition card; the Y-axis stepper motor rotates in the Y-axis direction according to the motor rotation parameters sent by the acquisition card.

[0077] S3. The laser is emitted through the laser emission port of the laser, passes through the hollow mirror, and then irradiates onto the X-axis galvanometer and the Y-axis galvanometer in sequence, and under the drive of the X-axis stepper motor and the Y-axis stepper motor, the laser is irradiated onto the two-dimensional plane where the hidden optoelectronic target is located.

[0078] S4. The laser echo generated by the hidden optoelectronic target passes through the Y-axis galvanometer, the X-axis galvanometer, and the hollow mirror in sequence and then enters the CCD detector.

[0079] S5. The CCD detector receives the laser echo image and transmits it to the host computer, and the host computer analyzes the laser echo image and issues an alarm message.

[0080] The host computer adjusts the parameters of the stepper motor rotation through the human-computer interaction interface, and then, through the analog-to-digital conversion of the acquisition card, inputs the analog control signal into the closed-loop drive board of the closed-loop stepper motor, thereby controlling the two stepper motors to drive the two galvanometers to rotate according to the set angles, angular velocities, and directions.

[0081] After the laser emitted by the laser passes through the hollow mirror, it irradiates the galvanometer mirrors in the X-axis direction and the Y-axis direction in sequence, and under the drive of two stepping motors, it irradiates the two-dimensional plane where the concealed optoelectronic target is located, scans the two-dimensional plane according to a preset program, and the direction of the emitted laser is as Figure 1 shown by the solid line.

[0082] The laser echo generated by the background or "cat's eye" target on the two-dimensional plane passes through the galvanometer mirror in the Y-axis direction, the galvanometer mirror in the X-axis direction, and the hollow mirror in sequence, and then enters the CCD detector. The specific direction is as Figure 1 shown by the dashed line.

[0083] The detector collects the laser echo image at the same frequency as the stepping motor and sends it to the upper computer in real time through the data line.

[0084] The upper computer completes the processing and recognition of the collected images, and alarms through the alarm interface when a "cat's eye target" is found. The specific method is that the upper computer performs data processing such as grayscale processing, matrix processing, and comparison threshold on each collected image according to the criterion that the laser echo intensity generated by the "cat's eye" target is much greater than the background echo. Once it is determined as a "cat's eye target", it immediately controls the interface to flash "Cat's eye target found" three times to give an alarm.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A teaching demonstration system for actively scanning and detecting concealed optoelectronic targets, characterized in that, it includes: a 3D base, a data acquisition card, a power supply, a hollow mirror, a CCD detector, a host computer, and a simulated concealed optoelectronic target. An X-axis stepper motor, a Y-axis stepper motor, a laser, an X-axis galvanometer, and a Y-axis galvanometer are arranged on the 3D base; the host computer is connected to the data acquisition card and the CCD detector, and is used to send motor rotation parameters to the data acquisition card, receive the reflected laser echo image sent by the CCD detector, and perform analysis; the data acquisition card is connected to the host computer, the X-axis stepper motor, and the Y-axis stepper motor, and is used to receive the motor rotation parameters from the host computer, perform analog-to-digital conversion, and then send them to the X-axis stepper motor and the Y-axis stepper motor; the X-axis stepper motor is connected to the acquisition card and the X-axis galvanometer, and is used to rotate in the X-axis direction according to the motor rotation parameters sent by the acquisition card; the Y-axis stepper motor is connected to the acquisition card and the Y-axis galvanometer, and is used to rotate in the Y-axis direction according to the motor rotation parameters sent by the acquisition card; the laser is arranged opposite to the X-axis stepper motor, and is used to emit laser through the laser emission port to the simulated concealed optoelectronic target; the hollow mirror is arranged at the front end of the laser emission port and is set at an angle of 45° to the laser transmission direction, and is used to reflect the reflected laser echo of the simulated concealed optoelectronic target; the CCD detector is communicatively connected to the host computer, is arranged above the laser, and is placed perpendicular to the laser, and is used to receive the laser echo image reflected by the simulated concealed optoelectronic target through the hollow mirror, and transmit the laser echo image to the host computer; the X-axis galvanometer is connected to the X-axis stepper motor, and is used to rotate according to the motor rotation parameters under the control of the X-axis stepper motor in the X-axis direction, and refract the laser emitted by the laser to the Y-axis galvanometer; the Y-axis galvanometer is connected to the Y-axis stepper motor, and is used to rotate according to the motor rotation parameters under the control of the Y-axis stepper motor in the Y-axis direction, and refract the laser refracted by the X-axis to the simulated concealed optoelectronic target; the simulated concealed optoelectronic target is used to generate a reflected laser echo under the action of the laser emitted by the laser; the power supply is used to provide voltage for the X-axis stepper motor and the Y-axis stepper motor.

2. The system according to claim 1, characterized in that, the X-axis stepper motor and the Y-axis stepper motor are vertically arranged on the 3D base. The front ends of the rotating shafts of the X-axis stepper motor and the Y-axis stepper motor are both set as inclined surfaces at an angle of 45°. The X-axis galvanometer is arranged on the inclined surface of the X-axis stepper motor, and the Y-axis galvanometer is arranged on the inclined surface of the Y-axis stepper motor.

3. The system according to claim 1, characterized in that, The hollow mirror specifically includes a hollow part and a planar part. The hollow part is used to directly irradiate the laser emitted by the laser on the galvanometer in the X-axis direction, and the planar part is used to fold the reflected laser echo of the simulated concealed optoelectronic target upward by 90° and then irradiate it on the CCD detector.

4. The system according to claim 1, characterized in that, the acquisition card communicates with the host computer through a serial port.

5. The system according to claim 1, characterized in that, the host computer is specifically used for: adjusting the rotation parameters of the stepper motor through a human-computer interaction interface, and the rotation parameters include: angle, angular velocity and direction; receiving the laser echo image sent by the CCD detector, converting the laser echo image into a grayscale image and putting it into a two-dimensional matrix, and comparing the values of each element of the matrix with a preset threshold; when the values of each element of a specific number of matrices are higher than the threshold, the host computer issues an alarm message.

6. The system according to claim 1, characterized in that, the frequency of the CCD detector for collecting the laser echo image is the same as the rotation frequencies of the X-axis stepper motor and the Y-axis stepper motor.

7. The system according to claim 1, characterized in that, the galvanometer mirrors in the X-axis direction and the Y-axis direction select high-reflectivity glass lenses corresponding to the wavelength of the laser.

8. A teaching demonstration method for actively scanning and detecting concealed optoelectronic targets, characterized in that, based on the teaching demonstration system for actively scanning and detecting concealed optoelectronic targets according to any one of claims 1-7, including: S1. The host computer sends motor rotation parameters to the data acquisition card, and the data acquisition card receives the motor rotation parameters of the host computer, performs analog-to-digital conversion, and then sends them to the X-axis stepper motor and the Y-axis stepper motor; S2. The X-axis stepper motor rotates in the X-axis direction according to the motor rotation parameters sent by the acquisition card; the Y-axis stepper motor rotates in the Y-axis direction according to the motor rotation parameters sent by the acquisition card; S3. The laser is emitted through the laser emission port of the laser, and the laser passes through the hollow mirror and is sequentially irradiated on the galvanometer in the X-axis direction and the galvanometer in the Y-axis direction, and under the drive of the X-axis stepper motor and the Y-axis stepper motor, the laser is irradiated on the two-dimensional plane where the concealed optoelectronic target is located; S4. The laser echo generated by the concealed optoelectronic target passes through the galvanometer in the Y-axis direction, the galvanometer in the X-axis direction, and the hollow mirror in sequence and then enters the CCD detector; S5. The CCD detector receives the laser echo image and transmits it to the host computer, and the host computer analyzes the laser echo image and issues an alarm message.

9. The method according to claim 8, characterized in that, the host computer receiving the reflected laser echo image sent by the CCD detector, analyzing it and issuing an alarm message specifically includes: converting the laser echo image into a grayscale image and putting it into a two-dimensional matrix, and comparing the values of each element of the matrix with a preset threshold; when the values of each element of a specific number of matrices are higher than the threshold, the host computer issues an alarm message.

10. The method according to claim 8, characterized in that, The host computer sending the motor rotation parameters to the data acquisition card specifically includes: The host computer controls the motor rotation parameters through a human-machine interaction interface. The motor rotation parameters specifically include: the angles, angular velocities, and microstep divisions of the X-axis stepper motor and the Y-axis stepper motor.

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