Mobile laser denial defense system

Abstract

The embodiments of the present disclosure disclose a mobile laser denial defense system. A specific implementation of the mobile laser denial defense system includes: a camera is communicatively connected with an image processing device and a control device for real-time monitoring and target identification; the laser is fixed on a pan-tilt platform and connected to the laser host through a retractable optical fiber, and the laser is communicatively connected to the control device; the cooling system is connected to the laser for cooling and dissipating the laser; the control device connects the camera and the laser, identifies the target, and controls the laser to perform laser strikes, and the control device is also connected to the cooling system to monitor the temperature status of the cooling system in real time; the automatic cruise and obstacle avoidance system is integrated in the mobile base, and the surrounding environment is detected by sensors, and the data is transmitted to the control device to adjust the route. The laser denial system of this implementation can effectively interfere with and deny the target in a short time.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of mobile laser defense, and in particular to a mobile laser denial defense system. Background Art

[0002] In order to protect the safety of important facilities, a variety of protective equipment will be set up to deny and interfere with potential threats. At present, the identification and denial of threat targets are usually carried out by detecting threat targets through radar and then using protective equipment for interference and protection. However, this method is only suitable for large threat targets. For small threat targets, the reaction speed is slow, and the traditional protective equipment is inconvenient to operate, which affects the interference efficiency of threat targets.

[0003] The above information disclosed in this Background section is only for enhancement of understanding of the background of the inventive concept and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art. Summary of the invention

[0004] The content of this disclosure is used to introduce concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of this disclosure is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0005] Some embodiments of the present disclosure provide a mobile laser denial defense system to solve one or more of the technical problems mentioned in the above background technology section.

[0006] In a first aspect, some embodiments of the present disclosure provide a mobile laser denial defense system, which includes: a mobile base trolley, a pan-tilt head, a camera, an image processing device, a laser host, a laser, a cooling system, a control device, an automatic cruise and obstacle avoidance system; characterized in that the mobile base on the mobile base trolley is used to carry the pan-tilt head, the camera, the laser host, the laser, the cooling system, the control device, the automatic cruise and obstacle avoidance system, wherein the mobile base trolley is equipped with omnidirectional wheels or tracks, and a mobile base is provided on the mobile base trolley, the mobile base trolley supports the mobile base to move and turn in multiple directions, and the laser host is provided on the mobile base; the pan-tilt head is installed on the mobile base for installing the camera and the laser, wherein the pan-tilt head is provided with a laser light source, a first hole position and a second hole position, the camera is installed on the first hole position, the laser is connected to the laser light source via a retractable optical fiber, and is installed on the second hole position of the pan-tilt head; the camera and the image processing device , the above-mentioned control device is communicatively connected for real-time monitoring and target identification, and transmits the captured image data to the image processing device for image detection, and the image processing device transmits the detected image data to the control device for processing; the above-mentioned laser is fixed on the pan-tilt head and connected to the laser host through a retractable optical fiber, and the above-mentioned laser is communicatively connected to the above-mentioned control device; the above-mentioned cooling system is connected to the above-mentioned laser for cooling and dissipating the heat of the laser, wherein the above-mentioned cooling system is connected to the above-mentioned laser through a coolant pipeline, and the coolant in the coolant pipeline circulates between the laser and the cooling system; the above-mentioned control device is connected to the camera and the laser, processes the image data transmitted by the camera in real time, identifies the target and controls the laser to perform laser strikes, and the above-mentioned control device is also connected to the cooling system to monitor the temperature status of the cooling system in real time; the above-mentioned automatic cruise and obstacle avoidance system is integrated in the mobile base, detects the surrounding environment through sensors, and transmits data to the control device to adjust the route to achieve automatic cruise and obstacle avoidance.

[0007] Optionally, the above-mentioned mobile laser denial defense system also includes: a power supply system and a communication module, wherein the power supply system provides power to each component through a power line, and the communication module is connected to each component through a bus or wireless communication to realize real-time transmission of information and remote control.

[0008] Optionally, the above-mentioned control device is configured to: initialize the power supply system, gimbal, camera, laser, lidar, cooling system, automatic cruise and obstacle avoidance system; send status query instructions to each component through the communication module, detect whether the power supply system is normal, detect whether the automatic cruise and obstacle avoidance system can provide data, detect whether the status of the gimbal, camera, and laser is normal, and detect whether the operation of the cooling system is normal; in response to determining that the automatic cruise and obstacle avoidance system is normal, send cruise instructions to the above-mentioned automatic cruise and obstacle avoidance system.

[0009] Optionally, the camera is configured to: collect image data in real time, and transmit the collected image data to the image processing device; and the image processing device is configured to: denoise, grayscale, and normalize the collected image data to obtain processed image data; use a pre-trained target detection model to perform target detection and recognition on the processed image data to obtain a target recognition result, and send the target recognition result to the control device; and the control device is configured to: receive the target recognition result sent by the image processing device, and determine whether the target recognition result represents a threat object in the blacklist based on the target recognition result; if the target recognition result represents a threat object in the blacklist, control the laser to perform a laser strike; if the target recognition result represents a whitelist object, continue to instruct the automatic cruise and obstacle avoidance system to cruise; if it cannot be determined, control the associated alarm device to send a warning signal and record the target recognition result.

[0010] Optionally, the above-mentioned control device is also configured to: calculate the center point coordinates and distance of the target according to the target position information included in the above-mentioned target recognition result; determine the actual distance and relative position of the target through parameters such as the focal length and field of view angle of the camera; send rotation and pitch adjustment instructions to the gimbal to align the laser transmitter head with the center position of the target; adjust the output power of the laser according to the actual distance, and send a strike instruction to the above-mentioned laser.

[0011] Optionally, the automatic cruise and obstacle avoidance system includes: a laser radar, a sensor and an obstacle avoidance device, the laser radar, the sensor and the obstacle avoidance device are communicatively connected, wherein the laser radar and the sensor scan the surrounding environment in real time, and transmit the environmental scanning data to the obstacle avoidance device; and the obstacle avoidance device is configured to: analyze the environmental scanning data to detect the position and distance of the obstacle in front; if the distance of the obstacle is less than a set safety threshold, mark the obstacle position as the obstacle direction; in response to determining that an obstacle is in front and the number of obstacles is greater than or equal to a first preset number, determine the direction in which the number of obstacles on the left or right is less than or equal to a second preset number as the direction of passage, and send the direction of passage to the above-mentioned control device; in response to determining that the number of obstacles in front is less than or equal to the first preset number, and the distance of the obstacle in front is greater than the preset distance, generate a deceleration instruction, and send the deceleration instruction to the above-mentioned control device.

[0012] Optionally, the control device is configured to: in response to receiving a direction of travel sent by an obstacle avoidance device, control the mobile base vehicle to travel in the direction of travel; in response to receiving a deceleration instruction sent by the obstacle avoidance device, control the mobile base vehicle to decelerate; in response to determining that the mobile base vehicle has completed obstacle avoidance, control the mobile base vehicle to resume cruising state.

[0013] The above-mentioned embodiments of the present disclosure have the following beneficial effects: through the mobile laser denial defense system of some embodiments of the present disclosure, efficient regional monitoring and defense are achieved, and potential threats are discovered and handled in a timely manner; flexible mobility is provided to adapt to various terrains and environments; advanced cameras and image processing algorithms can identify and track targets in real time, and can even distinguish different types of threats. With the help of artificial intelligence technology, automated threat assessment and response strategies can be implemented. The combination of predetermined routes and dynamic obstacle avoidance functions ensures that the system covers the protection area efficiently. The new laser technology provides higher power and efficiency, and can more effectively deny or destroy targets. The base trolley is more flexible in design and can adapt to a variety of terrains, including flat land, slopes, grass and sand, etc., to ensure that the system can operate normally in various environments. The new system has significant improvements in energy management and heat dissipation, and adopts a more efficient cooling system to ensure long-term and efficient operation. Modern lasers have high-precision, long-range strike capabilities and can be deployed quickly. Compared with traditional protective equipment, the laser denial system can effectively interfere with / deny targets in a short time. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale.

[0015] Figure 1 is a schematic system architecture diagram of a mobile laser denial defense system according to the present disclosure;

[0016] Figure 2 It is an example of an application scenario framework diagram of a mobile base vehicle in a mobile laser denial defense system;

[0017] Figure 3 This is an application scenario diagram of an internal test device for the first hole position and the second hole position of the pan / tilt platform in the mobile laser denial defense system disclosed in the present invention. DETAILED DESCRIPTION

[0018] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0019] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0020] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0021] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0022] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0023] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0024] Figure 1 The system architecture of the mobile laser denial defense system according to the present disclosure is shown. The mobile laser denial defense system includes: a mobile base vehicle 1, a pan / tilt 2, a camera 3, an image processing device 4, a laser host 5, a laser 6, a cooling system 7, a control device 8, and an automatic cruise and obstacle avoidance system 9.

[0025] In some embodiments, the mobile base on the mobile base trolley is used to carry a pan / tilt head, a camera, a laser host, a laser, a cooling system, a control device, an automatic cruise and obstacle avoidance system, wherein the mobile base trolley is equipped with omnidirectional wheels or tracks, and a mobile base is arranged on the mobile base trolley. The mobile base trolley supports the mobile base to move and turn in multiple directions, and the laser host is arranged on the mobile base.

[0026] Among them, the mobile base trolley 1 may refer to a chassis universal mobile trolley. The chassis (mobile base) is the basic structure of the entire system. It is installed on a trolley that can move in all directions. It adopts an omnidirectional wheel or track structure and can achieve multi-directional movement, including forward, backward, left and right lateral movement, and rotation on the spot. The working principle of the mobile base trolley 1 is as follows: the wheels or tracks of the trolley are driven by an electric motor to achieve movement and positioning; the built-in control device controls the driving route of the trolley by receiving signals from the automatic cruise and obstacle avoidance system and the obstacle avoidance device. The functions of the mobile base trolley 1 are as follows: providing the system with mobility, enabling the system to move flexibly within the specified area and cover more protection ranges; the obstacle avoidance device ensures that the trolley avoids colliding with obstacles during movement.

[0027] As an example, Figure 2 The example shows an application scenario framework diagram of the mobile base trolley 1. The mobile base trolley 1 may include a profile bracket 201, a rear electrical panel 202, and a battery compartment 203. The profile bracket 201 may represent a bracket for fixing the pan / tilt head on the mobile base trolley 1. The rear electrical panel 202 may represent the electrical panel of the mobile base trolley 1, which may include: ‌Power knob‌: used to control the power switch of the trolley, turn right to turn on the power, turn left to turn off the power, manual / auto button‌, left turn button‌, right turn button, emergency stop button. The battery compartment 203 may be used to place the power system.

[0028] The pan / tilt 2 is a bracket that can rotate and pitch, and is used to install the camera 3 and the laser 6. The camera 3 is used for monitoring and target identification, and the laser 6 is used to emit laser for denial. The image processing device 4 and the laser host 5 can also be set on the side where the camera 3 and the laser 6 are installed; the image processing device 4 can be an image processor built into the camera 3, which can be used for target identification. The laser host 5 can be a controller set inside the laser 6, which is used to control the laser to emit laser. The laser 6 is a box plus a laser head, which is connected in the middle by a retractable optical fiber.

[0029] The working principle of the pan-tilt 2 can be as follows: the pan-tilt is controlled by a motor to achieve full rotation and pitch to track and locate the target; the camera captures the video and identifies the target position and characteristics through the image processing algorithm; the laser emits a high-energy laser beam after receiving the command to deny or interfere with the target. The functions of the pan-tilt 2 equipped with the camera 3 and the laser 6 can be as follows: the camera monitors the surrounding environment in real time, identifies and locates potential threats; the laser emits a high-energy laser to warn, interfere with or destroy the target. For example, the system parameters of the pan-tilt 2 can be: pan-tilt rotation angle: 360 degrees; pan-tilt pitch angle: -45 degrees to +45 degrees; camera resolution: 1080p; laser power: 500 W.

[0030] The cooling system 7 can be used to dissipate heat to ensure that the laser and other electronic components remain within a safe temperature range when operating at high power. The working principle of the cooling system 7 is as follows: the coolant is circulated through the heat sinks of the laser and electronic components by a water pump to take away excess heat; the radiator and fan release the absorbed heat into the air. That is, the cooling system 7 can include a water pump, a coolant, a heat dissipation fan, and a fan. The functions of the cooling system 7 are as follows: maintain the operating temperature of the laser and electronic components to prevent overheating from causing system damage or performance degradation; improve the working efficiency and life of the system.

[0031] The control device 8 may refer to an edge computing box (control module), which is connected to the camera and the laser, processes the image data transmitted by the camera in real time, identifies the target and issues a laser strike command; is connected to the power system and the cooling system, monitors the power and temperature status of the system in real time, and ensures the normal operation of the system. For example, the control device 8 may be an Nvidia XavierNX edge computing box.

[0032] The automatic cruise and obstacle avoidance system 9 is integrated in the chassis of the trolley. The automatic cruise and obstacle avoidance device is used for autonomous navigation and obstacle avoidance, ensuring that the system automatically patrols within the set area. The working principle of the automatic cruise and obstacle avoidance system 9 can be as follows: automatic cruise is achieved through GPS and inertial navigation systems, and moves according to the predetermined route; laser radar or ultrasonic sensors detect surrounding obstacles in real time, and the control equipment adjusts the route in time to avoid obstacles. The working principle of the automatic cruise and obstacle avoidance system 9 can be as follows: automatic patrol, improve area coverage and protection efficiency; obstacle avoidance function ensures safe operation of the system to avoid collision and damage. For example, the system parameters of the automatic cruise and obstacle avoidance system 9 can be as follows: navigation accuracy: ±0.5 meters; obstacle avoidance distance: 0.5-2 meters.

[0033] In some embodiments, the pan-tilt platform is mounted on a mobile base for mounting a camera and a laser, wherein a laser light source, a first hole and a second hole are provided on the pan-tilt platform, the camera is mounted on the first hole, and the laser is connected to the laser light source via a retractable optical fiber and mounted on the second hole of the pan-tilt platform.

[0034] As an example, Figure 3 This is an actual device application scenario diagram of an internal test of the first hole position 301 and the second hole position 302 on the pan-tilt. When making the model, the box needs to be fixed on the mobile base trolley 1, and the laser needs to pass through the first hole position of the pan-tilt, that is, the first hole position of the pan-tilt is the camera, and the second hole position is the laser.

[0035] In some embodiments, the camera is connected to the image processing device and the control device for real-time monitoring and target recognition, and the captured image data is transmitted to the image processing device for image detection, and the image processing device transmits the detected image data to the control device for processing. The image processing device can use image recognition and machine learning algorithms to analyze the image data transmitted by the camera to identify whether the target is threatening (such as illegal intruders, wild animals, drones, etc.).

[0036] In some embodiments, the laser is fixed on a pan-tilt platform and connected to a laser host via a retractable optical fiber, and the laser is communicatively connected to the control device.

[0037] In some embodiments, the cooling system is connected to the laser to cool and dissipate heat from the laser. The cooling system is connected to the laser via a coolant pipeline, and the coolant in the coolant pipeline circulates between the laser and the cooling system. The cooling system is connected to the laser and is responsible for dissipating heat from the laser and other electronic components to ensure the stability of the system when operating at high power. The coolant circulates between the laser and the cooling device through a pipeline to ensure that the laser is maintained within a safe temperature range.

[0038] In some embodiments, the control device is connected to a camera and a laser, processes image data transmitted by the camera in real time, identifies the target and controls the laser to perform laser strikes. The control device is also connected to a cooling system to monitor the temperature status of the cooling system in real time.

[0039] In some embodiments, the above-mentioned automatic cruise and obstacle avoidance system is integrated into a mobile base, detects the surrounding environment through sensors, and transmits data to a control device to adjust the route to achieve automatic cruise and obstacle avoidance.

[0040] Optionally, the mobile laser denial defense system further includes: a power supply system and a communication module, wherein the power supply system provides power to each component through a power line, and the communication module is connected to each component through a bus or wireless communication to achieve real-time information transmission and remote control. The communication module supports dual-channel data transmission via GPRS and short messages; and supports multi-center data communication.

[0041] It should be noted that the camera captures the target image and transmits it to the control device for analysis. After identifying the target, the control device instructs the gimbal to adjust the laser to strike. The power system provides power to the entire system, and the cooling system ensures that the laser maintains a normal temperature when working. The automatic cruise and obstacle avoidance system ensures that the system can autonomously avoid obstacles while moving and complete regional defense. The power system can be used to provide a stable power supply for the system, including a battery pack and a charging management system to ensure that the system can still operate normally in the event of a power outage. The working principle of the power system can be: under normal power supply, power and charge the system; when the power is interrupted, automatically switch to battery power mode to ensure continuous operation of the system.

[0042] Optionally, the above-mentioned control device is configured to: initialize the power supply system, gimbal, camera, laser, lidar, cooling system, automatic cruise and obstacle avoidance system; send status query instructions to each component through the communication module, detect whether the power supply system is normal, detect whether the automatic cruise and obstacle avoidance system can provide data, detect whether the status of the gimbal, camera, and laser is normal, and detect whether the operation of the cooling system is normal; in response to determining that the automatic cruise and obstacle avoidance system is normal, send cruise instructions to the above-mentioned automatic cruise and obstacle avoidance system.

[0043] Therefore, in order to deal with different types of threats, modern systems integrate multiple sensors, such as lidar, thermal imaging, ultrasonic sensors, etc., and improve the ability of environmental perception and target recognition through data fusion.

[0044] The system startup and cruising logic are as follows:

[0045] The first step is initialization: When the system starts, the control device initializes all components, including the power system, gimbal, camera, laser, lidar, ultrasonic sensor, etc., to ensure that each module is in standby mode.

[0046] In the second step, the control device sends status query instructions to each component through the communication module to detect whether the power supply is normal, whether the sensor can provide data, and whether the status of the laser and gimbal is good, to ensure the reliability of system operation.

[0047] In the third step, the mobile base car receives the cruise command from the control device and starts cruising along the preset route. During the cruising process, the laser radar and ultrasonic sensor (automatic cruise and obstacle avoidance system) scan the environment ahead in real time and monitor obstacles.

[0048] For example, after the system is powered on, the mobile base on the mobile base trolley starts to perform automatic cruising tasks. The cruising path is controlled by a pre-set navigation system (such as GPS, inertial navigation, and visual navigation), and the system moves within the set area based on real-time location information.

[0049] Optionally, the camera is configured to: collect image data in real time, and transmit the collected image data to the image processing device.

[0050] Optionally, the image processing device is configured to: denoise, grayscale, and normalize the collected image data to obtain processed image data; use a pre-trained target detection model to perform target detection and recognition on the processed image data to obtain a target recognition result, and send the target recognition result to the control device. The camera starts to monitor the surrounding environment in real time and transmits the video data to the image processing device for processing. The image processing device uses image recognition and machine learning algorithms to analyze the image data transmitted by the camera to identify whether the target is threatening (such as illegal intruders, wild animals, drones, etc.).

[0051] The image processing logic is as follows: The PTZ camera acquires image data in real time and transmits it to the image processing device. The image processing device performs pre-processing such as denoising, grayscale, and normalization on the acquired images to extract effective features of the images. The image processing device uses a pre-trained deep learning model (such as YOLOv5) to detect and identify targets, and sends the detection results (including the location, category, size, etc. of the target) to the control device.

[0052] Optionally, the control device is configured to: receive the target recognition result sent by the image processing device, and determine whether the target recognition result represents a threat object in the blacklist based on the target recognition result; if the target recognition result represents a threat object in the blacklist, control the laser to perform a laser strike; if the target recognition result represents a whitelist object, continue to instruct the automatic cruise and obstacle avoidance system to cruise; if it cannot be determined, control the associated alarm device to send a warning signal and record the target recognition result.

[0053] It should be noted that a whitelist is an allowed list that contains objects or entities that are recognized by the system as trustworthy and safe. In a mobile laser denial defense system, the whitelist usually includes friendly personnel, friendly equipment, authorized vehicles, etc. The working principle of the whitelist is as follows: the system uses a variety of recognition technologies (such as face recognition, RFID, Bluetooth beacons, etc.) to verify whether the object entering the protection area is in the whitelist; when the system detects an object in the whitelist, it will automatically ignore or record the activity of the object and will not trigger an alarm or defense measures. The functions of the whitelist are as follows: 1. Anti-false alarm: Reduce misidentification and interference of friendly targets to ensure the normal operation of the system without affecting daily activities; 2. Efficiency improvement: By excluding objects in the whitelist, resources and attention can be focused on potential threats, improving the work efficiency of the system.

[0054] A blacklist is a rejection list that contains objects or entities that are identified by the system as potential threats or unwelcome. In mobile laser denial defense systems, blacklists usually include known intruders, unauthorized vehicles or devices, etc. The working principle of the blacklist is as follows: the system monitors the protection area in real time through cameras, sensors and other devices to identify whether there are objects on the blacklist; once an object on the blacklist is detected, the system will immediately trigger an alarm and activate defense measures, such as emitting lasers for denial or notifying security personnel. The functions of the blacklist are as follows: 1. Enhanced security: timely detection and response to potential threats, prevent unauthorized entry and sabotage; 2. Automatic response: automatic processing of blacklist objects, improve the response speed and efficiency of the system, and reduce human intervention.

[0055] Data management of whitelists and blacklists: 1. Dynamic update: Whitelist and blacklist data can be dynamically updated and maintained through the management platform. The list content is continuously updated through real-time data analysis and threat assessment; 2. Data synchronization: The system supports data synchronization with external databases or other security systems to ensure the timeliness and accuracy of the list.

[0056] Security policies for whitelists and blacklists: 1. Rule setting: Administrators can set different rules based on different security policies, such as allowing certain specific personnel to enter during working hours, or triggering stricter monitoring and defense measures under specific circumstances; 2. Permission management: Set different levels of permission management to ensure that only authorized personnel can access and modify whitelists and blacklists to prevent data from being maliciously tampered with.

[0057] In some embodiments, target detection and recognition may include the following processing steps:

[0058] The first step is model loading: Use the YOLOv5 model for target detection. The model can be trained locally to identify specific types of targets.

[0059] The second step is camera capture: read the real-time camera image through OpenCV.

[0060] The third step is target detection: In each frame, the YOLO model is used to detect the target and extract the location and category of the target.

[0061] Step 4: Target screening: According to the detected target category, determine whether it belongs to the blacklist target. And by calculating the size of the target border, a simple distance estimation is performed.

[0062] Step 5, laser control: If the target is within the strike distance threshold, call the laser control function control_laser to execute the laser strike.

[0063] Step 6: Display the image: mark the target and display it on the image.

[0064] Step 7: Distance estimation: By using the camera calibration parameters, a more accurate target distance can be obtained using triangulation.

[0065] Step 8: Target tracking: Tracking algorithms (such as Deep SORT) can be used to track the target and adjust the laser strike position in combination with motion prediction.

[0066] Step 9: Multi-sensor fusion: Combine data from lidar, thermal imaging and other sensors to achieve more comprehensive target recognition and tracking.

[0067] As an example, the code corresponding to target detection and recognition is as follows:

[0068] {import cv2

[0069] import torch

[0070] import numpy as np

[0071] # Load the pre-trained YOLOv5 model

[0072] model = torch.hub.load('ultralytics / yolov5', 'yolov5s') # You can change to a more suitable model

[0073] # Camera capture

[0074] cap = cv2.VideoCapture(0) # 0 means using the default camera

[0075] # Whitelist and Blacklist

[0076] whitelist = ["authorized_personnel"]

[0077] blacklist = ["intruder"]

[0078] # Initialize the target tracker

[0079] tracker = cv2.TrackerKCF_create()

[0080] # Set the distance threshold of laser strike and laser launch head control

[0081] laser_distance_threshold = 100 # Set the distance threshold for attack

[0082] def control_laser(x, y, distance):

[0083] # Laser positioning control logic

[0084] if distance < laser_distance_threshold:

[0085] print(f"Target at ({x}, {y}), distance: {distance} - Engaginglaser!")

[0086] # Call the laser system interface code to activate the laser

[0087] else:

[0088] print(f"Target at ({x}, {y}), distance: {distance} - Targetout of range")

[0089] # Main loop

[0090] while True:

[0091] ret, frame = cap.read()

[0092] if not ret:

[0093] break

[0094] # Image processing and object detection

[0095] results = model(frame)

[0096] detections = results.xyxy[0].numpy() # Detection results: x1, y1, x2, y2,conf, class

[0097] # Target screening and processing

[0098] for *bbox, conf, cls in detections:

[0099] x1, y1, x2, y2 = map(int, bbox)

[0100] label = model.names[int(cls)]

[0101] # Check if it is in the blacklist

[0102] if label in blacklist:

[0103] # Calculate the target center position and distance (simplified distance estimation)

[0104] center_x, center_y = (x1 + x2) / / 2, (y1 + y2) / / 2

[0105] distance = np.sqrt((x2 - x1) ** 2 + (y2 - y1) ** 2) # Simplified to estimate the distance of the border size

[0106] # Draw the border

[0107] cv2.rectangle(frame, (x1, y1), (x2, y2), (0, 0, 255), 2)

[0108] cv2.putText(frame, f"{label} {conf:.2f}", (x1, y1 - 10),cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 2)

[0109] # Laser strike judgment and control

[0110] control_laser(center_x, center_y, distance)

[0111] else:

[0112] # Non-blacklisted targets are marked green

[0113] cv2.rectangle(frame, (x1, y1), (x2, y2), (0, 255, 0), 2)

[0114] # Display the processed image

[0115] cv2.imshow('Laser Defense System', frame)

[0116] # Exit conditions

[0117] if cv2.waitKey(1) & 0xFF == ord('q'):

[0118] break

[0119] cap.release()

[0120] cv2.destroyAllWindows()}.

[0121] Optionally, the above-mentioned control device is also configured to: calculate the center point coordinates and distance of the target according to the target position information included in the above-mentioned target recognition result; determine the actual distance and relative position of the target through parameters such as the focal length and field of view angle of the camera; send rotation and pitch adjustment instructions to the gimbal to align the laser transmitter head with the center position of the target; adjust the output power of the laser according to the actual distance, and send a strike instruction to the above-mentioned laser.

[0122] The operating logic of laser aiming and striking is as follows:

[0123] In the first step, the control device calculates the center point coordinates and distance of the target based on the target position information provided by the image processing device; and determines the actual distance and relative position of the target through parameters such as the focal length and field of view of the camera.

[0124] In the second step, the control device sends rotation and pitch adjustment commands to the gimbal to align the laser transmitter head with the center of the target; the two axes of the gimbal are precisely adjusted according to the target coordinates to achieve aiming without blind spots.

[0125] The third step is to control the device to adjust the output power of the laser according to the target distance to achieve the optimal strike effect.

[0126] The fourth step is that when the target position, distance, laser power and other conditions meet the preset strike requirements, the control device issues a laser strike command, the laser starts, and strikes the target.

[0127] Optionally, the automatic cruise and obstacle avoidance system includes: a laser radar, a sensor and an obstacle avoidance device, and the laser radar, the sensor and the obstacle avoidance device are communicatively connected, wherein the laser radar and the sensor scan the surrounding environment in real time and transmit the environmental scanning data to the obstacle avoidance device.

[0128] Optionally, the obstacle avoidance device is configured to: analyze the environmental scanning data to detect the position and distance of the obstacle ahead; if the distance of the obstacle is less than a set safety threshold, mark the obstacle position as the obstacle direction; in response to determining that an obstacle is ahead and the number of obstacles is greater than or equal to a first preset number, determine the direction in which the number of obstacles on the left or right is less than or equal to a second preset number as the direction of travel, and send the direction of travel to the control device; in response to determining that the number of obstacles ahead is less than or equal to the first preset number and the distance of the obstacle ahead is greater than the preset distance, generate a deceleration instruction, and send the deceleration instruction to the control device.

[0129] Optionally, the control device is configured to: in response to receiving a direction of travel sent by an obstacle avoidance device, control the mobile base vehicle to travel in the direction of travel; in response to receiving a deceleration instruction sent by the obstacle avoidance device, control the mobile base vehicle to decelerate; in response to determining that the mobile base vehicle has completed obstacle avoidance, control the mobile base vehicle to resume cruising state.

[0130] The obstacle avoidance logic is as follows:

[0131] The first step is real-time environmental perception: LiDAR and ultrasonic sensors scan the surrounding environment in real time and transmit distance data to the obstacle avoidance module.

[0132] The second step is obstacle detection: the obstacle avoidance module analyzes the sensor data to detect the position and distance of the obstacle in front. If the obstacle distance is less than the set safety threshold, its position is marked as the obstacle direction.

[0133] The third step is obstacle avoidance decision: the control module executes obstacle avoidance logic according to the obstacle position:

[0134] 1. If there are many obstacles ahead, determine whether there are fewer obstacles on the left or right side, and then choose to avoid the side with fewer obstacles.

[0135] 2. If there are few obstacles and they are far away, slow down and move forward.

[0136] 3. When the obstacle is avoided successfully, resume the original cruising route.

[0137] Step 4: Path adjustment: The obstacle avoidance module sends the results of the obstacle avoidance decision to the control module, which then adjusts the direction and speed of the mobile chassis to ensure that the system continues to cruise after bypassing the obstacle.

[0138] In some embodiments, obstacle avoidance logic may include:

[0139] In the first step, the obstacle avoidance device reads the data from the lidar or ultrasonic sensor to obtain the distance information of the surrounding environment.

[0140] In the second step, the obstacle avoidance device identifies the direction and distance of the obstacle ahead by analyzing the distance information provided by the sensor.

[0141] In the third step, if the distance in a certain direction ahead is less than the safety distance threshold, the obstacle avoidance device determines that there is an obstacle in that direction.

[0142] In the fourth step, the obstacle avoidance device selects the appropriate direction to avoid the obstacle based on its location and distance.

[0143] In the fifth step, the control device adjusts the movement path of the mobile base vehicle according to the location of the obstacle and changes the direction to bypass the obstacle.

[0144] Step 6: The control device controls the movement of the car, bypassing the obstacle and then returning to the original route.

[0145] As an example, the code corresponding to the obstacle avoidance logic is as follows:

[0146] {import numpy as np

[0147] # Set the safety distance threshold

[0148] SAFE_DISTANCE = 0.5 # Unit: meter

[0149] # LiDAR scanning angle range (assuming 360 degrees)

[0150] SCAN_ANGLE = 360

[0151] # Simulate the distance data of the laser radar (unit: meter), the array length is equal to the scanning angle range

[0152] # Here it is assumed that each element represents the distance value of the laser radar in one direction

[0153] lidar_distances = np.random.uniform(0.3, 5.0, SCAN_ANGLE) # Simulate lidar data

[0154] # Obstacle Avoidance Algorithm

[0155] def obstacle_avoidance(lidar_distances):

[0156] # Find the direction that is less than the safe distance, indicating that there is an obstacle

[0157] obstacles = np.where(lidar_distances < SAFE_DISTANCE)[0]

[0158] # Determine the number of obstacles ahead

[0159] if len(obstacles) == 0:

[0160] print("The path is clear, keep going.")

[0161] return 'forward' # No obstacles, keep moving forward

[0162] # Find the direction with the most obstacles (as the direction to avoid)

[0163] obstacle_direction = np.mean(obstacles)

[0164] # Choose the direction to go around obstacles

[0165] if 0 <= obstacle_direction < 180:

[0166] # The obstacle is on the left, avoid it to the right

[0167] print(f"The obstacle is on the left ({obstacle_direction} degrees), avoid it to the right.")

[0168] return 'right'

[0169] else:

[0170] # The obstacle is on the right, turn left to avoid it

[0171] print(f"The obstacle is on the right ({obstacle_direction} degrees), avoid it to the left.")

[0172] return 'left'

[0173] # Simulate obstacle avoidance decision

[0174] direction = obstacle_avoidance(lidar_distances)

[0175] # Control the direction of the car's movement

[0176] def control_vehicle(direction):

[0177] if direction == 'forward':

[0178] print("Forward")

[0179] # Call the mobile control interface to perform the forward operation

[0180] elif direction == 'left':

[0181] print("Turn left")

[0182] # Call the mobile control interface to perform a left turn

[0183] elif direction == 'right':

[0184] print("Turn right")

[0185] # Call the mobile control interface to perform a right turn

[0186] # Execute obstacle avoidance control

[0187] control_vehicle(direction)}.

[0188] As a result, the system obtains environmental information and target status in real time and dynamically adjusts the working status of each component. It realizes automatic cruising, target recognition, strike, obstacle avoidance and feedback adjustment, reducing human intervention. Through deep learning models, LiDAR and multi-sensor fusion, it ensures the accuracy of target recognition and the efficiency of obstacle avoidance.

[0189] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure.

Claims

1. A mobile laser denial defense system, the mobile laser denial defense system comprising: Mobile base car, pan / tilt, camera, image processing equipment, laser host, laser, cooling system, control equipment, automatic cruise and obstacle avoidance system, power supply system and communication module; characterized in that, The mobile base on the mobile base trolley is used to carry the pan / tilt, camera, laser host, laser, cooling system, control equipment, automatic cruise and obstacle avoidance system, wherein the mobile base trolley is equipped with omnidirectional wheels or tracks, a mobile base is arranged on the mobile base trolley, the mobile base trolley supports the mobile base to move and turn in multiple directions, and the laser host is arranged on the mobile base; The pan-tilt platform is mounted on a mobile base and is used to mount a camera and a laser, wherein a laser light source, a first hole position and a second hole position are provided on the pan-tilt platform, the camera is mounted on the first hole position, and the laser is connected to the laser light source via a retractable optical fiber and is mounted on the second hole position of the pan-tilt platform; The camera is in communication with the image processing device and the control device for real-time monitoring and target recognition, and transmits captured image data to the image processing device for image detection, and the image processing device transmits the detected image data to the control device for processing; The laser is fixed on the pan-tilt platform and connected to the laser host through a retractable optical fiber, and the laser is communicatively connected to the control device; The cooling system is connected to the laser and is used to cool and dissipate heat for the laser, wherein the cooling system is connected to the laser through a cooling liquid pipeline, and the cooling liquid in the cooling liquid pipeline circulates between the laser and the cooling system; The control device is connected to the camera and the laser, processes the image data transmitted by the camera in real time, identifies the target, and controls the laser to perform laser strikes. The control device is also connected to the cooling system to monitor the temperature status of the cooling system in real time; The automatic cruise and obstacle avoidance system is integrated in the mobile base, detects the surrounding environment through sensors, and transmits data to the control device to adjust the travel route to achieve automatic cruise and obstacle avoidance; Among them, the power system provides power to each component through the power line, and the communication module is connected to each component through a bus or wireless communication to achieve real-time transmission of information and remote control; Wherein, the control device is configured to: Initialize the power system, gimbal, camera, laser, lidar, cooling system, automatic cruise and obstacle avoidance system; Send status query instructions to each component through the communication module to detect whether the power system is normal, whether the automatic cruise and obstacle avoidance system can provide data, whether the status of the gimbal, camera, and laser are normal, and whether the cooling system is operating normally; In response to determining that the automatic cruise and obstacle avoidance system is normal, sending a cruise instruction to the automatic cruise and obstacle avoidance system; Wherein, the camera is configured to: collect image data in real time, and transmit the collected image data to the image processing device; The image processing device is configured to: De-noising, gray-scaling and normalizing the collected image data to obtain processed image data; Using a pre-trained target detection model, performing target detection and recognition on the processed image data, obtaining a target recognition result, and sending the target recognition result to the control device; And the control device is configured to: receive the target recognition result sent by the image processing device, and determine whether the target recognition result represents a threat object in the blacklist according to the target recognition result; if the target recognition result represents a threat object in the blacklist, control the laser to perform laser strike; if the target recognition result represents a whitelist object, continue to instruct the automatic cruise and obstacle avoidance system to cruise; if it cannot be determined, control the associated alarm device to send a warning signal and record the target recognition result; The control device is also configured to: Calculate the center point coordinates and distance of the target according to the target position information included in the target recognition result; Determine the actual distance and relative position of the target through the focal length and field of view parameters of the camera; Send rotation and pitch adjustment commands to the gimbal to align the laser transmitter head with the center of the target; According to the actual distance, the output power of the laser is adjusted, and a striking instruction is sent to the laser.

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