Coaxial laser aiming and printing integrated method

Abstract

The embodiment of the invention provides a coaxial laser aiming and printing integrated method, as shown in figure 1, according to the coaxial laser aiming and printing integrated method, an aiming and printing integrated machine is included, and the aiming and printing integrated machine comprises a laser, a scanning galvanometer, a camera 1, a coaxial assembly 1, a camera 2, a coaxial assembly 2 and a controller. And a laser light path emitted by the laser sequentially passes through the coaxial assembly 2, the incident end of the scanning galvanometer, the emergent end of the scanning galvanometer and the coaxial assembly 1 and is emitted to a target. The camera 2 enables the view field central axis of the camera 2 to be coaxial with the laser light path through the coaxial assembly 2, and because the scanning galvanometer can deflect the emergent angle of the laser and deflect the incident light of the environment, the center of the laser light path is always coaxial with the center of the view field of the camera 2, that is, the center of an image collected by the camera 2 is the light path position of the laser. If the target appears at the center of the image, the target is aimed, and if the target appears at other positions of the image, the galvanometer can be adjusted through an algorithm according to the relative position of the target and the center, so that the image of the target moves to the center position and is standardized. The camera 1 enables the view field center of the camera 1 to be coaxial with the center of the laser scanning range through the coaxial assembly 1, and coordinates in the view field correspond to coordinates of the galvanometer through an algorithm. The two cameras are coaxial with the center of the incident laser of the galvanometer and the center of the emergent view field of the galvanometer respectively, so that laser-following fine aiming and full-scene coarse aiming are achieved. The device can be used for the purposes of laser engraving, laser obstacle removal, laser mosquito striking, laser aircraft striking and the like.

Description

Technical Field

[0001] The invention relates to the field of laser aiming and striking, and in particular to a coaxial laser aiming and striking integrated method. Background Art

[0002] Lasers are widely used in laser marking and attacking aerial targets, including attacking aircraft and eliminating mosquitoes. There is a common key technology in these applications, which is how to make the laser track and aim at the target. The aiming technologies currently available can be divided into coaxial vision, pseudo-coaxial vision and paraxial vision.

[0003] The specific shortcomings are as follows.

[0004] For coaxial vision, the field of view is small and the entire scene lens must be pieced together through scanning. The full-scene image refreshes slowly, which is not conducive to tracking and aiming at the target.

[0005] For pseudo-coaxial vision, the field of view is large, but it is impossible to observe the area aimed by the galvanometer with high precision to obtain local target information.

[0006] For paraxial vision, the field of view is large, but it is also unable to observe local targets with high precision. In addition, the calibration is complex and it is difficult to aim with high precision. Summary of the invention

[0007] The embodiment of the present invention provides a coaxial laser aiming and striking method, which is used to provide a high-precision and fast-response aiming and striking method. The embodiment of the present invention uses two cameras to be coaxial with the incident laser of the galvanometer and the center of the outgoing field of view of the scanning galvanometer, respectively, to achieve fine aiming of the follow-up laser and coarse aiming of the entire scene. It can be used for laser engraving, laser obstacle removal, laser attack on mosquitoes, laser attack on aircraft, etc.

[0008] The embodiment of the present invention provides a coaxial laser aiming and striking method, such as Figure 1As shown, the coaxial laser aiming and shooting method includes an aiming and shooting machine, which includes: a laser, a scanning galvanometer, a camera 1, a coaxial component 1, a camera 2, a coaxial component 2 and a controller. The laser light path emitted by the laser passes through the coaxial component 2, the incident end of the scanning galvanometer, the exit end of the scanning galvanometer and the coaxial component 1 to the target in sequence. The camera 2 makes the center axis of the field of view of the camera 2 coaxial with the laser light path at the incident end of the scanning galvanometer through the coaxial component 2. Since the scanning galvanometer deflects the exit angle of the laser and also deflects the incident light from the environment, the center of the laser light path is always coaxial with the center of the field of view of the camera 2, that is, the center of the image captured by the camera 2 is the optical path position of the laser. If the target appears in the center of the image, it is aimed at. If the target appears at other positions in the image, the galvanometer can be adjusted by an algorithm according to the relative position of the target and the center, so that the image of the target is moved to the center position and is standardized. The center of the field of view of the camera 1 is coaxial with the center of the laser scanning range of the output end of the scanning galvanometer through the coaxial component 1, and the coordinates in the field of view correspond to the coordinates of the galvanometer through an algorithm.

[0009] The working process of a target-hitting machine is as follows.

[0010] In the first step, the controller controls the camera 1 to observe the entire scanning range of the entire scanning galvanometer through the coaxial component 1, and collects images and sends them to the controller.

[0011] In the second step, if the controller determines that there is a target, the controller controls the scanning galvanometer to point to the galvanometer coordinates corresponding to the coordinates of the target in the image. If there is no target, the first step and subsequent steps are repeated.

[0012] In the third step, the controller controls the camera 2 to collect a high-precision image of a smaller range pointed by the galvanometer through the coaxial component 2, the galvanometer and the coaxial component 1 and transmit it to the controller.

[0013] In the fourth step, the controller determines whether there is a target in the high-precision image. If there is a target, the coordinates of the target in the camera 2 are obtained, and the scanning galvanometer is further aligned with the target according to the relative position of the coordinates and the laser light path. If there is no target, the first step is repeated.

[0014] In step 5, the controller controls camera 2 to acquire an image again and transmit it to the controller.

[0015] In the sixth step, the controller determines whether the target coincides with the laser light path according to the image, that is, it is aimed. If it is aimed, the laser is controlled to output laser. If it is not aimed, the fifth step and subsequent steps are repeated.

[0016] The working process of a aiming and shooting machine through laser illumination is as follows.

[0017] In the first step, the controller adjusts the exposure time of camera 1 so that the exposure time of camera 1 is the same as the time it takes for the scanning galvanometer to scan the entire field of view.

[0018] In the second step, the controller controls the laser to output low-power laser, while the scanning galvanometer scans the entire field of view.

[0019] In the third step, the controller acquires an image from camera 1.

[0020] In the fourth step, the controller determines whether there is a target in the camera 1. If there is a target, the controller controls the scanning galvanometer to point to the galvanometer coordinates corresponding to the coordinates of the target in the image. If there is no target, the second step and subsequent steps are repeated.

[0021] In the fifth step, the controller controls the laser to continue to output low-power laser, and controls the galvanometer to scan and illuminate a small range around the coordinate.

[0022] In the sixth step, the controller controls the camera 2 to collect several high-precision images and transmit them to the controller.

[0023] In the seventh step, the controller combines the illuminated parts of several high-precision images into a complete image based on the galvanometer coordinates and the image content.

[0024] In the eighth step, the controller determines whether there is a target in the stitched image. If there is a target, the controller obtains the coordinates of the target in the camera 2, and further aligns the scanning galvanometer with the target according to the relative position of the coordinates and the laser light path. If there is no target, the first step and subsequent steps are repeated.

[0025] In the ninth step, the controller controls the laser to continue to output low-power laser, and controls the galvanometer to scan and illuminate a small range around the coordinate.

[0026] In the tenth step, the controller controls the camera 2 to collect several high-precision images and transmit them to the controller.

[0027] In the eleventh step, the controller combines the illuminated parts of several high-precision images into a complete image based on the galvanometer coordinates and the image content.

[0028] In the twelfth step, the controller determines whether the target coincides with the laser light path, that is, it has been aimed. If it is aimed, the laser is controlled to emit a high-power laser. If it is not aimed, the fifth step and subsequent steps are repeated.

[0029] Two coaxial cameras are used to perform full-view aiming and high-precision aiming respectively, so that the galvanometer can aim at the target in a short time. At the same time, the coaxial vision solution and the pseudo-coaxial vision solution are solved.

[0030] Two or more aiming and striking machines work together for aiming and striking.

[0031] For various laser tracking and aiming devices, an important task is to identify the correct target in a complex background image. This patent uses two or more aiming and aiming machines to coordinate aiming and aiming to complete this task. By encoding the laser illumination, the camera can distinguish the target from the background. The following is a method using two aiming and aiming machines to coordinate aiming and aiming as an example. Similarly, it can also be extended to multiple aiming and aiming machines to coordinate aiming and aiming.

[0032] like Figure 2 As shown, the fields of view of the aiming and shooting integrated machine 1 and the aiming and shooting integrated machine 2 overlap, and the target is in the overlapped part. The following description of scanning, recognition and other operations are all completed under the control of the main control unit.

[0033] The aiming and shooting integrated machine 2 emits a laser to scan the entire field of view, and the scanning laser is encoded 2 according to the coding signal sent by the main control unit.

[0034] The aiming integrated machine 1 acquires the field of view image, identifies the reflective object with the code 1, aims the galvanometer of the aiming integrated machine 1 at the target, and identifies the target in detail through the camera 2. If the target meets the characteristics, the laser is emitted.

[0035] The aiming and shooting integrated machine 1 emits a laser to scan the entire field of view, and the scanning laser is encoded 1 according to the encoding signal sent by the main control unit.

[0036] The aiming integrated machine 2 acquires the field of view image, identifies the reflective object with code 1, aims the galvanometer of the aiming integrated machine 2 at the target, identifies the target in detail through the camera 2, and emits laser if the target meets the characteristics. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiment of the present invention, the following briefly introduces the drawings required for use in the embodiment. The drawings described below are only one embodiment of the present invention. For ordinary technicians in this field, other drawings can also be obtained based on the drawings without creative work.

[0038] Figure 1 This is a schematic diagram of the structure of a coaxial laser aiming and shooting all-in-one machine: in: 1. Coaxial component 1 2. Camera 1 3. The output end of the scanning galvanometer 4. Scanning galvanometer 5. Scanning mirror incident end 6. Coaxial component 2 7. Camera 2 8. Laser.

[0039] Figure 2This is a coaxial laser aiming and shooting method where two aiming and shooting machines work together to aim and shoot: in: 1. Field of view of the aiming and shooting machine 2 2. Goals 3. Aim and print all-in-one machine 1 4. Aim and Print All-in-One Machine 2 5. Aim at the field of view of the integrated device 1.

Claims

1. A coaxial laser aiming and striking method, characterized in that: include: The aiming and striking all-in-one machine comprises: a laser, a scanning galvanometer, a camera 1, a coaxial component 1, a camera 2, a coaxial component 2 and a controller; The camera 1 includes a lens and a visual sensor; The camera 2 includes a lens and a visual sensor; The optical path of the laser passes through the coaxial component 2 and is coaxial with the field of view of the camera 2, and then enters the incident end of the scanning galvanometer; The central axis of the output end of the scanning galvanometer is coaxial with the field of view of the camera 1 through the coaxial component 1; The controller includes a computing unit, a storage unit, a control unit and a communication unit; The control unit controls the laser and the camera 1; The field of view of the camera 1 includes the entire laser reachable area, and the target is found; The camera 2 is coaxial with the laser light path at the incident end of the scanning galvanometer, and the field of view follows the movement of the galvanometer to observe the target details; Aiming method: The camera 1 acquires the coordinates of the target and sends them to the controller. The controller controls the scanning galvanometer to point to the corresponding target. The camera 2 acquires the target detail image and transmits it to the controller. The controller determines whether it is the target. If it is the target, the galvanometer is controlled to point to the coordinates of the target in the camera 2. The controller collects the image again through the camera 2 to confirm that the target coincides with the laser optical path, and then controls the laser to emit laser.

2. The coaxial laser aiming and striking method according to claim 1, characterized in that: include: Two or more aiming and striking all-in-one machines, including aiming and striking all-in-one machine 1 and aiming and striking all-in-one machine 2; A main control unit, the main control unit includes a computing unit, a storage unit, and a communication unit, and the communication unit communicates with two or more aiming and shooting machines; The method for coordinating aiming and striking of two or more aiming and striking integrated machines includes: An aiming and striking all-in-one machine 1, wherein the aiming and striking all-in-one machine 1 is one of the networked aiming and striking all-in-one machines; The aiming and striking all-in-one machine 2 is one of the networked aiming and striking all-in-one machines; The main control unit communicates with the aiming and shooting all-in-one machine 1 and the aiming and shooting all-in-one machine 2 to form a network; The main control unit sends a command scanning instruction to the aiming and typing all-in-one machine 1 and the aiming and typing all-in-one machine 2, wherein the scanning instruction includes coding information 1 and coding information 2; The aiming and shooting integrated machine 2 emits a laser scan to the field of view, the scanning laser carries the coded information 2, and the target reflects light after being irradiated by the laser; The aiming and shooting integrated machine 1 obtains a full-view image and a target detail image, and sends them to the controller. The controller filters the image according to the coded information 2, identifies the target in the image and its coordinates, and controls the aiming and shooting integrated machine 1 to emit a laser to the coordinates. The laser carries the coded information 1, and the target reflects light after being irradiated by the laser. The aiming and shooting integrated machine 2 obtains a full-view image and a target detail image, and sends them to the controller, and the controller filters the image according to the coded information 1 to identify the target in the image and its coordinates; The aiming and striking all-in-one machine 1 and the aiming and striking all-in-one machine 2 emit lasers toward the target.

3. The coaxial laser aiming and striking method according to claim 1, characterized in that: The laser can emit high power laser and low power laser The camera 2 captures an image of the vicinity of the low-power laser emitted by the laser through the coaxial component 2 and transmits the image to the controller. The controller identifies the shape of the object in the image and determines whether it is a target of attack.

4. The coaxial laser aiming and striking method according to claim 1, characterized in that: The camera 2 captures images near the high-power laser emitted by the laser through the coaxial component 2 and transmits the images to the controller. The controller evaluates the damage effect and stops attacking the target when the damage effect reaches the requirement.

5. The coaxial laser aiming and striking method according to claim 1, characterized in that: The main control unit forms 3D point cloud data based on the data returned by the networked aiming and shooting integrated machine, and obtains the motion trajectory of the target.

6. The coaxial laser aiming and striking method according to claim 5, characterized in that: The type of the moving target is inferred based on the 3D point cloud data and the motion trajectory.

7. The coaxial laser aiming and striking method according to claim 2, characterized in that: The encoding method of the encoding is a combination encoding using different wavelengths of laser light.

8. The coaxial laser aiming and striking method according to claim 2, characterized in that: The coding is performed by turning the laser on and off.

9. The coaxial laser aiming and striking method according to claim 2, characterized in that: The coding is performed by the intensity of the laser.

10. The coaxial laser aiming and striking method according to claim 2, characterized in that: The controller transmits the image back to the main control unit, and the main control unit determines whether it is a target.

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