Real-time tracking single photon feature recognition and real-time imaging system and use method

Abstract

The invention discloses a real-time tracking single photon feature recognition and real-time imaging system and a use method, and belongs to the technical field of laser radar, the system comprises a flight control module, an optical module, a control module and a detection module, the optical module is connected with the detection module, the optical module and the detection module are both installed on an unmanned aerial vehicle body, and the control module is connected with the control module. The control module is connected with the flight control module, the optical module and the detection module; the flight control module is used for controlling the unmanned aerial vehicle main body and the detection module; the optical module is used for covering a to-be-measured target with laser and collecting a single photon signal; the control module is used for controlling the flight control module, the optical module and the detection module; the detection module is used for detecting a single photon signal of the optical module mobile phone. The real-time tracking single photon feature recognition and real-time imaging system and the use method have the advantages of being light, portable, low in power consumption and high in performance, target information can be quickly captured and processed in a complex environment, and high-quality real-time tracking and imaging are achieved.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a real-time tracking single-photon feature recognition and real-time imaging system and a use method thereof. Background Art

[0002] Modern LiDAR systems play an important role in target detection and imaging. They transmit laser pulses and receive echoes to obtain the target's position and characteristics. However, single-photon detection technology, as a highly sensitive detection method that can process weak light signals, is particularly suitable for long-distance target detection. However, traditional systems face high costs, large size, and performance challenges in complex environments.

[0003] High-dynamic information targets, such as high-speed moving vehicles or aircraft, have rapid changes in speed and attitude, making it difficult for traditional systems to accurately capture their characteristics. Therefore, real-time tracking and imaging systems need to have high-speed data processing and algorithm optimization to ensure accurate tracking and imaging capabilities for high-dynamic targets. At the same time, atmospheric turbulence and changes in air quality interfere with the propagation and reception of laser signals, directly affecting the clarity and accuracy of target signals.

[0004] In recent years, compensation technologies for atmospheric effects have gradually matured, including adaptive optics and signal processing algorithms. These technological advances have significantly improved the performance of lidar systems under complex atmospheric conditions. However, existing lidar systems have high energy consumption, heavy and cumbersome equipment, and are inconvenient to quickly capture target information in complex environments. Therefore, it is necessary to design a single-photon feature recognition and real-time imaging system that can run in real time on drones. Summary of the invention

[0005] The purpose of the present invention is to provide a real-time tracking single-photon feature recognition and real-time imaging system and a method of use, which has the characteristics of being lightweight, portable, low power consumption, and high performance, can quickly capture and process target information in complex environments, and achieve high-quality real-time tracking and imaging.

[0006] To achieve the above-mentioned purpose, the present invention provides a real-time tracking single-photon feature recognition and real-time imaging system and a method of use, comprising a flight control module, an optical module, a control module and a detection module, wherein the optical module is connected to the detection module, and the optical module and the detection module are both installed on a drone body, and the control module is connected to the flight control module, the optical module and the detection module;

[0007] The flight control module is used to control the drone body and the detection module;

[0008] The optical module is used to cover the target to be measured with laser and collect single photon signals;

[0009] The control module is used to control the flight control module, the optical module and the detection module;

[0010] The detection module is used to detect the single photon signal of the optical module mobile phone.

[0011] Preferably, the optical module comprises a variable-focus collimator and a variable-focus lens, and the variable-focus lens is connected to the detection module.

[0012] Preferably, the flight control module includes a flight camera and a UAV flight control system, and the flight camera is connected to the UAV flight control system via electrical signals.

[0013] Preferably, the detection module includes a single photon array detector, and the variable focus lens is connected to the single photon array detector via an optical signal.

[0014] Preferably, the control module includes two 4G wireless transmitters, and the two 4G transmitters interact through electromagnetic wave signals, one of the 4G wireless transmitters interacts with the PC processor through electrical signals, and the other 4G wireless transmitter interacts with the UAV flight control system and the Raspberry Pi through electromagnetic wave signals and electrical signals respectively, the Raspberry Pi is connected to the automatic zoom device of the single-photon array detector receiving lens, the automatic zoom device of the laser emitting lens and the laser driving board through electrical signals, the Raspberry Pi interacts with the starter and stop device through electrical signals, the starter and stop device is connected to the single-photon array detector, the laser driving board, the automatic zoom device of the single-photon array detector receiving lens and the automatic zoom device of the laser emitting lens through electrical signals, the automatic zoom device of the single-photon array detector receiving lens is connected to the variable focus lens through electrical signals, and the automatic zoom device of the laser emitting lens is connected to the variable focus collimating lens.

[0015] The present invention provides a method for using a real-time tracking single photon feature recognition and real-time imaging system, comprising the following steps:

[0016] S1. The PC processor issues instructions, and the drone flies to the designated area and preliminarily adjusts the scene of single-photon imaging;

[0017] S2, the PC processor remotely controls the starter and stopper, starts the onboard real-time tracking single-photon feature recognition and real-time imaging system, and transmits back the field of view information of the drone flight camera;

[0018] S3, according to the field of view information transmitted back from the UAV flight camera, the automatic zoom device of the laser emission lens and the automatic zoom device of the single photon array detector receiving lens are remotely controlled via the PC processor to adjust the laser emission spot size and the field of view size of the single photon array detector so that the light receiving and light transmission paths are simultaneously aimed at the target to be measured;

[0019] S4, based on the data returned by the single photon array detector 4G wireless transmitter, it is uploaded to the host computer in the PC processor for analysis to complete the tracking feature recognition and real-time image display.

[0020] Preferably, S2 specifically includes the following steps:

[0021] S2.1. The PC processor sends instructions to the Raspberry Pi on the drone through a 4G wireless transmitter, and the Raspberry Pi processes the instructions sent by the PC processor.

[0022] S2.2. The starter receives the command from the Raspberry Pi and turns on the power of the onboard real-time tracking single-photon feature recognition and real-time imaging system equipment.

[0023] Preferably, S3 specifically includes the following steps:

[0024] S3.1. The PC processor issues a command to the Raspberry Pi on the drone through a 4G wireless transmitter. The Raspberry Pi analyzes the command content and issues a control command.

[0025] S3.2, after receiving the command from the Raspberry Pi, the automatic zoom device of the laser emission lens drives the automatic zoom device of the laser emission lens to adjust the size of the light spot so that the light spot emitted by the laser covers the target to be measured;

[0026] S3.3. After receiving the command from the Raspberry Pi, the automatic zoom device of the receiving lens of the single-photon array detector drives the motor of the automatic zoom device of the receiving lens of the single-photon array detector to adjust the receiving field of view so that the receiving and emitting light paths are simultaneously aligned with the target to be measured.

[0027] Preferably, the S4 specifically includes the following steps:

[0028] S4.1. In the feature recognition system, the laser emits laser light to the object, and the detection surface of the single-photon array detector receives the optical information emitted and returned by the laser, transmits it to the Raspberry Pi, and transmits it back to the PC processor through the 4G wireless transmitter. The upper computer in the PC processor parses the optical information and analyzes the information to lock the target characteristic frequency information, etc. In the subsequent returned information, the coordinates of the characteristic information in the field of view are parsed, and the PC processor completes the adjustment of the flight attitude to keep it always in the center of the field of view of the single-photon array detector;

[0029] S4.2. In the imaging system, the laser emits laser light onto the object. The detection surface of the single-photon array detector receives the optical information emitted by the laser and returned, which is transmitted into the Raspberry Pi and then transmitted back to the PC processor through the 4G wireless transmitter. The host computer in the PC processor analyzes the optical information according to the clock sequence of the TDC in the FPGA of the single-photon array detector and displays the real-time image in the software.

[0030] Preferably, the specific operation of analyzing the coordinates of the feature information in the field of view in S4.1 is as follows:

[0031] Set the field of view screen as a two-dimensional coordinate, with its center point (X, Y) being (0, 0). Since the channels of the single-photon array detector are 32×32, the entire field of view coordinates are: -15≤X≤16, -15≤Y≤16;

[0032] If X>0, first, select the direction, the tracking target is to the right, and the flight attitude turns to the right. Second, select the speed level. When 0<X≤5, select slow deflection; when 5<X≤16, select fast deflection;

[0033] If X<0, first, select the direction, the tracking target is to the left, and the flight attitude turns to the left. Second, select the speed level. When -5≤X<0, select slow deflection; when -15≤Y<5, select fast deflection;

[0034] If Y>0, first, select the direction, the tracking target is upward, and the flight attitude turns upward. Second, select the speed level. When 0<Y≤5, select slow deflection; when 5<Y≤16, select fast deflection;

[0035] If Y<0, first, select the direction, the tracking target is downward, and the flight attitude turns downward. Second, select the speed level. When -5≤Y<0, select slow deflection; when -15≤Y<5, select fast deflection.

[0036] Therefore, the present invention adopts the above-mentioned real-time tracking single-photon feature recognition and real-time imaging system and its usage method, and has the following beneficial effects:

[0037] (1) Through the airborne real-time tracking single-photon feature recognition and real-time imaging system, the present invention can meet the detection requirements in different environments, with lower cost and less maintenance.

[0038] (2) In order to improve the airborne flight time, the present invention reduces the system volume and weight through modular integration and compact space structure design.

[0039] (3) The present invention uses a laser and a single-photon array detector to complete active feature recognition under infrared light. Compared with general passive feature recognition, the feature analysis is more accurate and reliable.

[0040] (4) The present invention applies reinforcement learning technology in the single-photon array detection system to achieve real-time tracking and single-photon imaging of high-dynamic targets.

[0041] (5) The present invention has both feature recognition and imaging functions.

[0042] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a block diagram of a real-time tracking single photon feature recognition system according to an embodiment of a real-time tracking single photon feature recognition and real-time imaging system and a method of using the present invention;

[0044] Figure 2 It is a real-time imaging system block diagram of an embodiment of a real-time tracking single photon feature recognition and real-time imaging system and a method of using the present invention;

[0045] Figure 3 The present invention is a flow chart of a method of using a real-time tracking single photon feature recognition and real-time imaging system and a method of using the embodiment.

[0046] Reference numerals

[0047] 101. Flight control module; 102. Optical module; 103. Control module; 104. Detection module. DETAILED DESCRIPTION

[0048] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0049] Unless otherwise defined, technical or scientific terms used in the present invention shall have the common meanings understood by one having ordinary skills in the field to which the present invention belongs.

[0050] Embodiment 1

[0051] The present invention provides a real-time tracking single-photon feature recognition and real-time imaging system and a method of use, comprising a flight control module 101, an optical module 102, a control module 103 and a detection module 104, wherein the optical module 102 is connected to the detection module 104, and both the optical module 102 and the detection module 104 are installed on the main body of an unmanned aerial vehicle, and the control module 103 is connected to the flight control module 101, the optical module 102 and the detection module 104. The flight control module 101 is used to control the main body of the unmanned aerial vehicle and the detection module 104; the optical module 102 is used to cover the target to be measured with laser and collect single-photon signals; the control module 103 is used to control the flight control module 101, the optical module 102 and the detection module 104; the detection module 104 is used to detect the single-photon signal of the optical module 102.

[0052] The optical module 102 includes a variable focus collimator and a variable focus lens, and the variable focus lens is connected to the detection module 104. The variable focus collimator is used to emit laser light and adjust the light spot of the emitted laser light to cover the target object to be measured. The variable focus lens is used to receive single photon signals and adjust the field of view of the single photon array detector.

[0053] The flight control module 101 includes a flight camera and a UAV flight control system. The flight camera is connected to the UAV flight control system through electrical signals. The UAV flight control system is used to adjust the flight direction, flight distance and flight attitude of the UAV, and the flight camera is used for flight navigation and preliminary adjustment of the field of view of the subsequent single photon array detector.

[0054] The detection module 104 includes a single photon array detector, and the variable focus lens is connected to the single photon array detector through an optical signal. The single photon array detector has the characteristics of high resolution, high sensitivity, high response, and low power consumption, and can provide very high spatial resolution and time resolution, and can meet the relevant requirements of real-time tracking and feature recognition of high dynamic targets.

[0055] The control module 103 includes two 4G wireless transmitters, which interact with each other through electromagnetic wave signals. One of the 4G wireless transmitters interacts with the PC processor through electrical signals. The PC processor is used for flight control of the UAV, feature recognition and real-time imaging of the detected target, and for parsing the coordinate information of the target with single-photon characteristics. The other 4G wireless transmitter interacts with the UAV flight control system and the Raspberry Pi through electromagnetic wave signals and electrical signals respectively. The 4G wireless transmitter is used for information transmission and sending and receiving control instructions between the Raspberry Pi and the PC processor.

[0056] The Raspberry Pi is connected to the automatic zoom of the single-photon array detector receiving lens, the automatic zoom of the laser emitting lens, and the laser driver board through electrical signals. The Raspberry Pi interacts with the starter and stopper through electrical signals. The Raspberry Pi can control the starter and stopper, drive the motor of the automatic zoom of the laser emitting lens, adjust the voltage of the laser driver board, and drive the motor of the automatic zoom of the single-photon array detector receiving lens. The starter and stopper is used to turn on and off the airborne system, reduce power consumption, and extend the working time of the airborne system.

[0057] The starter and stopper are connected to the single-photon array detector, the laser driver board, the automatic zoom of the single-photon array detector receiving lens and the automatic zoom of the laser emitting lens through electrical signals. The automatic zoom of the single-photon array detector receiving lens is connected to the variable focus lens through electrical signals, and the automatic zoom of the laser emitting lens is connected to the variable focus collimating lens. The automatic zoom of the laser emitting lens adjusts the variable focus lens of the laser emission, the laser driver board is used to change the power of the laser diode, and the automatic zoom of the single-photon array detector receiving lens is used to adjust the variable focus lens of the receiving lens.

[0058] like Figure 1 As shown, in the feature recognition system, first, the PC processor sends instructions to the flight control module 101 through the 4G wireless transmitter. After the UAV flight control system in the flight control module 101 adjusts the flight attitude and the flight camera determines the preliminary field of view, the PC processor in the control module 103 sends instructions to the Raspberry Pi via the 4G wireless transmitter, turns on the starter, and powers the onboard devices. Secondly, the optical path module 101 first emits a light signal, then receives the returned light signal, and focuses the returned light signal on the detection surface of the single-photon array detector. The Raspberry Pi in the control module 103 drives the automatic zoom of the laser emission lens to change the variable focus collimating lens for emitting lasers, adjusts the spot size, drives the automatic zoom of the single-photon array detector receiving lens to change the variable focus lens for receiving single-photon signals, and adjusts the imaging field of view. The Raspberry Pi in the control module 103 changes the power of the laser driver board. The PC processor processes the target feature information in the imaging, analyzes the coordinates with target feature information in the imaging, and transmits the positioning information back to the UAV flight control system.

[0059] like Figure 2 As shown, in the imaging system, first, the PC processor sends instructions to the flight control module 101 through the 4G wireless transmitter. After the UAV flight control system in the flight control module 101 adjusts the flight attitude and the flight camera determines the preliminary field of view, the PC processor in the control module 103 sends instructions to the Raspberry Pi via the 4G wireless transmitter, turns on the starter, and powers the onboard devices. Secondly, the optical path module 101 first emits a light signal, then receives the returned light signal, and focuses the returned light signal on the detection surface of the single-photon array detector. The Raspberry Pi in the control module 103 drives the automatic zoom of the laser emission lens to change the variable focus collimating lens for emitting lasers, adjusts the spot size, drives the automatic zoom of the single-photon array detector receiving lens to change the variable focus lens for receiving single-photon signals, and adjusts the imaging field of view. The power of the laser driver board is changed by the Raspberry Pi in the control module 103. The data sent by the single-photon array detector is parsed by the host computer in the PC processor, and the image is displayed in real time in the host computer.

[0060] like Figure 3 As shown, the present invention provides a method for using a real-time tracking single photon feature recognition and real-time imaging system, which is characterized by comprising the following steps:

[0061] S1. The PC processor issues instructions, and the drone flies to the designated area and preliminarily adjusts the scene of single-photon imaging;

[0062] S2, the PC processor remotely controls the starter and stopper, starts the onboard real-time tracking single-photon feature recognition and real-time imaging system, and transmits back the field of view information of the drone flight camera;

[0063] S2.1. The PC processor sends instructions to the Raspberry Pi on the drone through a 4G wireless transmitter, and the Raspberry Pi processes the instructions sent by the PC processor.

[0064] S2.2. The starter receives the command from the Raspberry Pi and turns on the power of the onboard real-time tracking single-photon feature recognition and real-time imaging system equipment.

[0065] S3, according to the field of view information transmitted back from the UAV flight camera, the automatic zoom device of the laser emission lens and the automatic zoom device of the single photon array detector receiving lens are remotely controlled via the PC processor to adjust the laser emission spot size and the field of view size of the single photon array detector so that the light receiving and light transmission paths are simultaneously aimed at the target to be measured;

[0066] S3.1. The PC processor issues a command to the Raspberry Pi on the drone through a 4G wireless transmitter. The Raspberry Pi analyzes the command content and issues a control command.

[0067] S3.2, after receiving the command from the Raspberry Pi, the automatic zoom device of the laser emission lens drives the automatic zoom device of the laser emission lens to adjust the size of the light spot so that the light spot emitted by the laser covers the target to be measured;

[0068] S3.3. After receiving the command from the Raspberry Pi, the automatic zoom device of the receiving lens of the single-photon array detector drives the motor of the automatic zoom device of the receiving lens of the single-photon array detector to adjust the receiving field of view so that the receiving and emitting light paths are simultaneously aligned with the target to be measured.

[0069] S4, according to the data returned by the single photon array detector 4G wireless transmitter, it is uploaded to the host computer in the PC processor for analysis, and the tracking feature recognition and real-time image display are completed;

[0070] S4.1. In the feature recognition system, the laser emits laser light to the object, and the detection surface of the single-photon array detector receives the optical information emitted and returned by the laser, transmits it to the Raspberry Pi, and transmits it back to the PC processor through the 4G wireless transmitter. The upper computer in the PC processor parses the optical information and analyzes the information to lock the target characteristic frequency information, etc. In the subsequent returned information, the coordinates of the characteristic information in the field of view are parsed, and the PC processor completes the adjustment of the flight attitude to keep it always in the center of the field of view of the single-photon array detector;

[0071] The specific operations for parsing the coordinates of the feature information in the field of view are as follows:

[0072] Set the field of view image as two-dimensional coordinates, with its center point (X, Y) being (0, 0). Since the single-photon array detector channels are 32×32, the entire field of view coordinates are: -15 ≤ X ≤ 16, -15 ≤ Y ≤ 16;

[0073] If X > 0, first, select the direction. The tracking target is to the right, and the flight attitude turns to the right. Second, select the speed level. When 0 < X ≤ 5, select slow deflection. When 5 < X ≤ 16, select fast deflection;

[0074] If X < 0, first, select the direction. The tracking target is to the left, and the flight attitude turns to the left. Second, select the speed level. When -5 ≤ X < 0, select slow deflection. When -15 ≤ Y < 5, select fast deflection;

[0075] If Y > 0, first, select the direction. The tracking target is upward, and the flight attitude turns upward. Second, select the speed level. When 0 < Y ≤ 5, select slow deflection. When 5 < Y ≤ 16, select fast deflection;

[0076] If Y < 0, first, select the direction. The tracking target is downward, and the flight attitude turns downward. Second, select the speed level. When -5 ≤ Y < 0, select slow deflection. When -15 ≤ Y < 5, select fast deflection.

[0077] S4.2. In the imaging system, the laser emits laser light onto the object. The detection surface of the single-photon array detector receives the optical information emitted by the laser and returned, which is transmitted into the Raspberry Pi and then transmitted back to the PC processor through the 4G wireless transmitter. The upper computer in the PC processor analyzes the optical information according to the clock sequence of the TDC (Time-to-Digital Converter) of the FPGA (Field-Programmable Gate Array) in the single-photon array detector and displays the real-time image in the software.

[0078] Therefore, the present invention adopts the above real-time tracking single-photon feature recognition and real-time imaging system and its usage method, which has the characteristics of being lightweight, portable, low-power, and high-performance. It can quickly capture and process target information in complex environments, realizing high-quality real-time tracking and imaging.

[0079] 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 them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A real-time tracking single photon feature recognition and real-time imaging system, characterized in that: It includes a flight control module, an optical module, a control module and a detection module, wherein the optical module is connected to the detection module, the optical module and the detection module are both installed on the main body of the drone, and the control module is connected to the flight control module, the optical module and the detection module; The flight control module is used to control the drone body and the detection module; The optical module is used to cover the target to be measured with laser and collect single photon signals; The control module is used to control the flight control module, the optical module and the detection module; The detection module is used to detect the single photon signal of the optical module mobile phone.

2. A real-time tracking single photon feature recognition and real-time imaging system according to claim 1, characterized in that: The optical module includes a variable-focus collimator and a variable-focus lens, and the variable-focus lens is connected to the detection module.

3. The real-time tracking single photon feature recognition and real-time imaging system according to claim 1, characterized in that: The flight control module includes a flight camera and a UAV flight control system, and the flight camera is connected to the UAV flight control system through electrical signals.

4. The real-time tracking single photon feature recognition and real-time imaging system according to claim 1, characterized in that: The detection module includes a single photon array detector, and the variable focus lens is connected to the single photon array detector via an optical signal.

5. The real-time tracking single photon feature recognition and real-time imaging system according to claim 1, characterized in that: The control module includes two 4G wireless transmitters, which interact with each other through electromagnetic wave signals. One of the 4G wireless transmitters interacts with the PC processor through electrical signals, and the other 4G wireless transmitter interacts with the UAV flight control system and the Raspberry Pi through electromagnetic wave signals and electrical signals respectively. The Raspberry Pi is connected to the automatic zoom device of the single-photon array detector receiving lens, the automatic zoom device of the laser emitting lens and the laser driving board through electrical signals. The Raspberry Pi interacts with the starter and stop device through electrical signals. The starter and stop device is connected to the single-photon array detector, the laser driving board, the automatic zoom device of the single-photon array detector receiving lens and the automatic zoom device of the laser emitting lens through electrical signals. The automatic zoom device of the single-photon array detector receiving lens is connected to the variable focus lens through electrical signals, and the automatic zoom device of the laser emitting lens is connected to the variable focus collimating lens.

6. A method for using the real-time tracking single photon feature recognition and real-time imaging system as claimed in claims 1 to 5, characterized in that: The following steps are involved: S1. The PC processor issues instructions, and the drone flies to the designated area and preliminarily adjusts the scene of single-photon imaging; S2, the PC processor remotely controls the starter and stopper, starts the onboard real-time tracking single-photon feature recognition and real-time imaging system, and transmits back the field of view information of the drone flight camera; S3, according to the field of view information transmitted back from the UAV flight camera, the automatic zoom device of the laser emission lens and the automatic zoom device of the single photon array detector receiving lens are remotely controlled via the PC processor to adjust the laser emission spot size and the field of view size of the single photon array detector so that the light receiving and light transmission paths are simultaneously aimed at the target to be measured; S4, based on the data returned by the single photon array detector 4G wireless transmitter, it is uploaded to the host computer in the PC processor for analysis to complete the tracking feature recognition and real-time image display.

7. The method for using the real-time tracking single photon feature recognition and real-time imaging system according to claim 6, characterized in that: The S2 specifically includes the following steps: S2.

1. The PC processor sends instructions to the Raspberry Pi on the drone through a 4G wireless transmitter, and the Raspberry Pi processes the instructions sent by the PC processor. S2.

2. The starter receives the instruction from the Raspberry Pi and turns on the power of the on-board real-time tracking single-photon feature recognition and real-time imaging system device.

8. The method for using the real-time tracking single photon feature recognition and real-time imaging system according to claim 6, characterized in that: The specific steps in S3 are as follows: S3.

1. The PC processor issues an instruction and sends it to the Raspberry Pi on the drone through the 4G wireless transmitter. The Raspberry Pi analyzes the instruction content and issues a control instruction. S3.

2. After the auto-zoomer of the laser emission lens receives the instruction from the Raspberry Pi, it drives the auto-zoomer of the laser emission lens to adjust the spot size so that the spot emitted by the laser covers the target to be measured. S3.

3. After the auto-zoomer of the receiving lens of the single-photon array detector receives the instruction from the Raspberry Pi, it drives the motor of the auto-zoomer of the receiving lens of the single-photon array detector to complete the adjustment of the receiving field of view, so that the light emission and reception optical paths are simultaneously aligned with the target to be measured.

9. The method for using the real-time tracking single photon feature recognition and real-time imaging system according to claim 6, characterized in that: The specific steps in S4 are as follows: S4.

1. In the feature recognition system, the laser emits laser light onto the object. The detection surface of the single-photon array detector receives the optical information emitted by the laser and returned, which is transmitted into the Raspberry Pi and then transmitted back to the PC processor through the 4G wireless transmitter. The upper computer in the PC processor analyzes the optical information therein, locks the target feature frequency information, etc. In the subsequent transmitted information, the coordinates of this feature information in the field of view are analyzed, and the PC processor completes the adjustment of the flight attitude so that it always remains at the center of the field of view of the single-photon array detector. S4.

2. In the imaging system, the laser emits laser light onto the object. The detection surface of the single-photon array detector receives the optical information emitted by the laser and returned, which is transmitted into the Raspberry Pi and then transmitted back to the PC processor through the 4G wireless transmitter. The upper computer in the PC processor analyzes the optical information according to the clock sequence of the TDC of the FPGA in the single-photon array detector and displays the real-time image in the software.

10. The method for using the real-time tracking single photon feature recognition and real-time imaging system according to claim 9, characterized in that: The specific operation of analyzing the coordinates of the feature information in the field of view in S4.1 is as follows: Set the field of view screen as a two-dimensional coordinate, with its center point (X, Y) being (0, 0). Since the single-photon array detector has 32×32 channels, the entire field of view coordinates are: -15 ≤ X ≤ 16, -15 ≤ Y ≤ 16. If X > 0, first, select the direction. The tracking target is to the right, and the flight attitude turns to the right. Second, select the speed level. When 0 < X ≤ 5, select slow deflection; when 5 < X ≤ 16, select fast deflection. If X < 0, first, select the direction. The tracking target is to the left, and the flight attitude turns to the left. Second, select the speed level. When -5 ≤ X < 0, select slow deflection; when -15 ≤ Y < 5, select fast deflection. If Y > 0, first, select the direction. The tracking target is above, and the flight attitude turns upward. Second, select the speed level. When 0 < Y ≤ 5, select slow deflection; when 5 < Y ≤ 16, select fast deflection. If Y < 0, first, select the direction. The tracking target is below, and the flight attitude turns downward. Second, select the speed level. When -5 ≤ Y < 0, select slow deflection; when -15 ≤ Y < 5, select fast deflection.

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