Laser striking device and control method thereof

Abstract

The present invention is designed in the field of anti-UAV defense, and specifically relates to a laser strike device and a control method thereof, including: a first tracking unit performs a first tracking on a strike target, a control unit performs a first target identification on the first tracking, and obtains a first target identification result; the control unit adjusts the position of the first tracking unit through a rotating unit according to the first target identification result, so that the strike target is located at a preset angle of the first tracking unit; the control unit performs a second tracking on the strike target through a second tracking unit; and the laser parameters are adjusted based on the second target identification result to strike the strike target. The overall volume of the present invention is small and easy to carry; the first tracking unit and the second tracking unit are based on photoelectric detection guidance, and radar guidance is not required; the first tracking unit is used to detect and discover the strike target; the second tracking unit is used to accurately locate the strike target, and the control beam adjustment unit guides the laser beam to perform a damaging strike, and the strike accuracy is high.

Description

Technical Field

[0001] The present invention is designed for the field of anti-UAV defense, and specifically relates to a laser strike device and a control method thereof. Background Art

[0002] The laser strike device is a directed energy weapon that uses a laser beam emitted in a certain direction to attack targets. It has excellent performance such as speed, flexibility, precision and resistance to electromagnetic interference. Based on these many advantages, the laser strike device will be widely used in anti-aircraft, anti-missile, anti-satellite and destruction of enemy information systems.

[0003] Compared with traditional missile or artillery interception systems, laser strike devices have lower operating costs and do not require frequent replacement of ammunition. At the same time, laser strike devices can be used continuously when there is sufficient energy and are not limited by the amount of ammunition stored. Laser strike devices have no noise or smoke and are concealed.

[0004] According to different deployment methods, the current laser strike devices can be divided into ground-based laser strike devices, ship-borne laser strike devices, airborne laser strike devices and space-based laser strike devices. These laser strike devices generally require radar guidance, are large in size, heavy in mass, and cannot be deployed quickly. Summary of the invention

[0005] 1. Purpose of the invention

[0006] The purpose of the present invention is to provide a laser striking device which is small in size, easy to carry, and can be used quickly without radar guidance, and a control method thereof.

[0007] (II) Technical solution

[0008] To solve the above problems, the present invention provides a laser striking device, comprising: a rotating unit, an optical emitting unit, a beam adjusting unit, a first tracking unit, a second tracking unit and a control unit;

[0009] The rotating unit, the optical emitting unit, the light beam adjusting unit, the first tracking unit, and the second tracking unit are electrically connected to the control unit respectively;

[0010] The optical emitting unit, the light beam adjustment unit, the first tracking unit, the second tracking unit and the control unit are all fixedly connected to the rotating unit;

[0011] The first tracking unit performs a first tracking on the strike target, and the control unit performs a first target recognition on the first tracking result to obtain a first target recognition result;

[0012] The control unit adjusts the angle of the first tracking unit through the rotation unit according to the first target recognition result, so that the strike target is located at a preset angle in the field of view of the first tracking unit;

[0013] After the control unit locks the angle of the first tracking unit through the rotating unit;

[0014] The control unit performs a second tracking on the strike target through the second tracking unit, and the control unit performs a second target recognition on the second tracking result to obtain a second target recognition result;

[0015] The optical emission unit generates laser light;

[0016] The beam adjustment unit adjusts the parameters of the laser to strike the target based on the second target recognition result.

[0017] In another aspect of the present invention, preferably, the beam adjustment unit comprises a fast reflection mirror unit, a focusing mirror unit and a beam expansion mirror unit;

[0018] The laser generated by the optical emitting unit passes through the beam expanding mirror unit, the focusing mirror unit and the fast reflection mirror unit in sequence;

[0019] The beam expander unit collimates the laser and expands the beam, and emits the laser in the form of a parallel beam;

[0020] The focusing mirror unit focuses the laser light after passing through the beam expanding mirror unit to a target position;

[0021] The quick-reflection mirror unit directs the laser light after passing through the focusing mirror unit.

[0022] In another aspect of the present invention, preferably,

[0023] Also includes a distance measuring unit;

[0024] The control unit measures the distance between the striking target and the laser striking device through the distance measuring unit.

[0025] In another aspect of the present invention, preferably, the field of view angle of the first tracking unit is 3-7 times the field of view angle of the second tracking unit.

[0026] In another aspect of the present invention, preferably, the first tracking unit performs a first tracking on the strike target, and the control unit performs a first target recognition on the first tracking result to obtain a first target recognition result;

[0027] The control unit adjusts the angle of the first tracking unit through the rotation unit according to the first target recognition result, so that the strike target is located at a preset angle in the field of view of the first tracking unit;

[0028] After the control unit locks the angle of the first tracking unit through the rotating unit;

[0029] The control unit performs a second tracking on the strike target through the second tracking unit, and the control unit performs a second target recognition on the second tracking result to obtain a second target recognition result;

[0030] The optical emission unit generates laser light;

[0031] The beam adjustment unit adjusts the parameters of the laser to strike the target based on the second target recognition result.

[0032] In another aspect of the present invention, preferably, the first tracking unit performs a first tracking on the strike target, the control unit performs a first target recognition on the first tracking result, and obtaining the first target recognition result includes:

[0033] The control unit performs median filtering on the original image to obtain a first image;

[0034] Using a gradient algorithm, converting the first image into a second image;

[0035] Using an adaptive threshold method, binarization of the second image is performed to obtain a third image;

[0036] Performing sky segmentation on the third image to obtain a fourth image of the sky area;

[0037] After dilating the fourth image using a dilation algorithm;

[0038] Detect the strike target and obtain a candidate frame of the strike target;

[0039] Target tracking is performed in the candidate frame of the strike target, and the coordinates of the strike target are output, where the coordinates of the strike target are the first target recognition result.

[0040] In another aspect of the present invention, preferably, the median filtering is expressed by the following formula:

[0041] ;

[0042] Among them, I (x, y) represents the original image, represents the first image, W represents the window, L(W) represents the window size, median represents the median calculation, k represents the radius of the filter window, i represents the row offset in the window, and j represents the column offset in the window.

[0043] In another aspect of the present invention, preferably, the gradient algorithm is expressed by the following formula:

[0044] ;

[0045] Among them, G (x, y) represents the second image, represents the first image, G x Indicates the horizontal gradient of the setting, G y Indicates the vertical gradient of the setting. Indicates the gradient direction.

[0046] In another aspect of the present invention, preferably, the adaptive threshold method is expressed by the following formula:

[0047] ;

[0048] Among them, Th is the calculated threshold, Max is the maximum value of pixels in the second image, Mean is the mean value of pixels in the second image, λ is the parameter adjustment coefficient, I out (x, y) represents the third image, and G(x, y) represents the second image.

[0049] In another aspect of the present invention, preferably, the expansion algorithm is expressed using the following formula:

[0050] ;

[0051] in, Indicates that the fourth image is expanded, S indicates the set structural element, (S)z indicates the position when the center of the structural element S is located at point z, represents the intersection operation, Indicates that the intersection is non-empty.

[0052] (III) Beneficial effects

[0053] The above technical solution of the present invention has the following beneficial technical effects:

[0054] The components of the laser striking device of the present invention are concentrated on the rotating unit, and the overall volume is small and easy to carry; the first tracking unit and the second tracking unit of the present invention are based on photoelectric detection guidance and do not require radar guidance; the tracking method of the first tracking unit and the second tracking unit is adopted, the first tracking unit is used to detect and discover the strike target; the second tracking unit is used to accurately locate the strike target, and the beam adjustment unit is controlled to guide the laser beam to carry out damaging strikes, with high strike accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is an overall schematic diagram of an embodiment of the present invention;

[0056] Figure 2 A front schematic diagram of an embodiment of the present invention;

[0057] Figure 3 A schematic diagram of a rotating unit according to an embodiment of the present invention;

[0058] Figure 4 It is a front view schematic diagram of an embodiment of the present invention except for the rotating unit;

[0059] Figure 5 A schematic top view of an embodiment of the present invention except for the rotating unit;

[0060] Figure 6 A bottom view schematic diagram of a load excluding a rotating unit according to an embodiment of the present invention;

[0061] Figure 7 It is a schematic diagram of the left side view of an embodiment of the present invention excluding the rotating unit;

[0062] Figure 8 It is a schematic side view of the right side of an embodiment of the present invention except for the rotating unit;

[0063] Fig. 9 is an overall flow chart of an embodiment of the present invention;

[0064] Reference numerals:

[0065] 101: Rotation unit, 102: First tracking unit, 103: Distance measuring unit, 104: Second tracking unit, 105: Quick response mirror unit, 106: Focusing mirror unit, 107: Control unit, 108: Beam expanding mirror unit, 109: Optical transmitting unit. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0067] The accompanying drawings show schematic diagrams of layer structures according to embodiments of the present invention. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clarity. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0068] Obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0069] In the description of the present invention, it should be noted that the terms “first”, “second” and “third” are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0070] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0071] The present invention will be described in more detail below with reference to the accompanying drawings. In each of the accompanying drawings, the same elements are represented by similar reference numerals. For the sake of clarity, the various parts in the accompanying drawings are not drawn to scale.

[0072] Embodiment 1

[0073] A laser striking device, Figure 1 An overall schematic diagram of an embodiment of the present invention is shown; Figure 2 A front schematic diagram of an embodiment of the present invention is shown; Figure 1 and Figure 2 As shown,

[0074] It includes: a rotating unit 101, an optical emitting unit 109, a beam adjusting unit, a first tracking unit 102, a second tracking unit 104 and a control unit 107;

[0075] The rotating unit 101, the optical transmitting unit 109, the beam adjusting unit, the first tracking unit 102, and the second tracking unit 104 are electrically connected to the control unit 107 respectively;

[0076] The optical transmitting unit 109, the light beam adjusting unit, the first tracking unit 102, the second tracking unit 104 and the control unit 107 are all fixedly connected to the rotating unit 101;

[0077] It also includes a distance measuring unit 103; the distance measuring unit 103 is arranged between the first tracking unit 102 and the second tracking unit 104; the control unit 107 measures the distance between the striking target and the laser striking device through the distance measuring unit 103.

[0078] In this embodiment, the rotation unit 101 includes a rotation component, a platform and a housing. The rotation unit 101 is a two-dimensional rotation unit, which can realize horizontal and pitch azimuth rotation. The horizontal scanning range is ±90°, the pitch scanning range is -10°~60°, the payload is about 6Kg, the maximum angular velocity is 60° / s, the maximum angular acceleration in azimuth is 90° / s, and the maximum angular acceleration in pitch is 90° / s.

[0079] Figure 3 A schematic diagram showing an embodiment of the present invention except for the rotating unit; Figure 4A front schematic diagram showing an embodiment of the present invention excluding the rotating unit; Figure 5 A schematic top view showing an embodiment of the present invention except for the rotating unit; Figure 6 A bottom view schematic diagram showing a load excluding a rotating unit according to an embodiment of the present invention; Figure 7 A schematic diagram of a left side view of an embodiment of the present invention excluding the rotating unit is shown; Figure 8 FIG. 2 shows a right side schematic diagram of an embodiment of the present invention except for the rotating unit; Figure 3-Figure 8 As shown, the ranging unit 103, the first tracking unit 102, the optical emitting unit 109, the light beam adjustment unit, the second tracking unit 104 and the control unit 107 are arranged on the upper and lower surfaces of the platform, the ranging unit 103, the first tracking unit 102, the second tracking unit 104 and the control unit 107 are arranged on the lower surface of the platform; the optical emitting unit 109 and the light beam adjustment unit are arranged on the upper surface of the platform; the rotating component is fixedly connected to the platform, and the rotating component can rotate under the control command of the control unit 107, the ranging unit 103, the first tracking unit 102, the optical emitting unit 109, the light beam adjustment unit, the second tracking unit 104 and the control unit 107 are all or partially arranged in the hollow accommodating cavity of the shell, and the shell has a plurality of through holes for the above components to communicate with the outside.

[0080] The first tracking unit 102 performs a first tracking on the strike target, and the control unit 107 performs a first target recognition on the first tracking result to obtain a first target recognition result;

[0081] The control unit 107 adjusts the angle of the first tracking unit 102 through the rotation unit 101 according to the first target recognition result, so that the strike target is located at a preset angle of the first tracking unit 102;

[0082] After the control unit 107 locks the angle of the first tracking unit 102 through the rotating unit 101;

[0083] The control unit 107 performs second tracking on the strike target through the second tracking unit 104, and the control unit 107 performs second target recognition on the second tracking result to obtain a second target recognition result;

[0084] The field of view of the first tracking unit 102 is 3-7 times the field of view of the second tracking unit 104 .

[0085] Further, the first tracking unit 102 is a large-field-of-view visible light camera, specifically, a resolution of 2048×2048, 4 million pixels, output via a Cameralink interface, a pixel size of 5.5 μm×5.5 μm, a 40 mm short-focus lens, and a field of view of about 15°;

[0086] When the rotating unit 101 drives the first tracking unit 102 to rotate, the first tracking unit 102 and the rotating unit 101 stabilize the strike target at the central one-fifth position of the field of view of the first tracking unit 102 under the control instruction of the control unit 107, so as to facilitate further tracking and identification.

[0087] The second tracking unit 104 is a small-field visible light camera with a resolution of 2048×2048, 4 million pixels, output via a Cameralink interface, a pixel size of 5.5μm×5.5μm, a 200mm telephoto lens, and a field of view of about 3°;

[0088] The optical emitting unit 109 generates laser. In this embodiment, the optical emitting unit 109 is a fiber laser, adopts a QBH interface, and has a laser power of 2000W.

[0089] The beam adjustment unit adjusts the parameters of the laser based on the second target recognition result to strike the target. The parameters of the laser here include the direction of the laser, the collimation and beam expansion of the laser, and the laser focusing position, etc. The specific content of the beam adjustment unit is not limited here. In this embodiment, the beam adjustment unit includes a fast-reflection mirror unit 105, a focusing mirror unit 106, and a beam expansion mirror unit 108; the laser generated by the optical emission unit 109 passes through the beam expansion mirror unit 108, the focusing mirror unit 106, and the fast-reflection mirror unit 105 in sequence; the beam expansion mirror unit 108 collimates the laser and expands the beam, and emits the laser in the form of a parallel beam; in this embodiment, the beam expansion mirror unit 108 collimates the laser emitted by the fiber laser, and expands the beam to 5 times, and converts it into parallel light emission.

[0090] The focusing mirror unit 106 focuses the laser beam after passing through the beam expansion mirror unit to the target position; in this embodiment, the focusing mirror body has a stroke of 0-6 mm, corresponding to a focusing distance of 200-300 meters, and can focus the parallel beam of the laser after collimation and beam expansion to any position between 200 and 300 meters. The focusing mirror unit 106 cooperates with the ranging unit 103 to control the laser beam to focus on the target position and strike the target;

[0091] The quick-reflection mirror unit 105 adjusts the direction of the laser after passing through the focusing mirror unit. In this embodiment, the quick-reflection mirror body is driven by a voice coil motor, and the quick-reflection mirror controller is used to control the precise pointing of the laser. The quick-reflection mirror is placed in the laser light path, and the direction of the incident light can be changed by using the mirror deflection. The second tracking result calculated by the second tracking unit 104 can accurately point the laser beam to the target.

[0092] The components of the laser striking device of the present invention are concentrated on the rotating unit, and the overall volume is small and easy to carry; the first tracking unit and the second tracking unit of the present invention are based on photoelectric detection guidance and do not require radar guidance; the tracking method of the first tracking unit and the second tracking unit is adopted, the first tracking unit is used to detect and discover the strike target; the second tracking unit is used to accurately locate the strike target, and the beam adjustment unit is controlled to guide the laser beam to carry out damaging strikes, with high strike accuracy.

[0093] Embodiment 2

[0094] A control method for a laser striking device, Fig. 9 A flow chart of an embodiment of the present invention is shown as follows: Fig. 9 As shown, the control method is applicable to the laser striking device as described above, and the control method includes:

[0095] The first tracking unit 102 performs a first tracking on the strike target, and the control unit 107 performs a first target recognition on the first tracking result to obtain a first target recognition result;

[0096] In daily monitoring, the laser strike device finds the strike target drone through the first tracking unit 102. The first tracking unit 102 is a large-field visible light camera that can monitor a large range. Since the drone is far away and occupies fewer pixels on the image, the strike target is first tracked and first identified. Obtaining the first target identification result includes: performing median filtering on the original image to obtain the first image;

[0097] Using a gradient algorithm, converting the first image into a second image;

[0098] Using an adaptive threshold method, binarization of the second image is performed to obtain a third image;

[0099] Performing sky segmentation on the third image to obtain a fourth image of the sky area;

[0100] After dilating the fourth image using a dilation algorithm;

[0101] Detect the strike target and obtain a candidate frame of the strike target;

[0102] Target tracking is performed in the candidate frame of the strike target, and the coordinates of the strike target are output, where the coordinates of the strike target are the first target recognition result.

[0103] The control unit 107 adjusts the angle of the first tracking unit 102 through the rotation unit 101 according to the first target recognition result, so that the strike target is located at a preset angle in the field of view of the first tracking unit 102; the preset angle is such that the strike target can be stabilized at one-fifth of the center of the imaging; when the target is stabilized at one-fifth of the center of the imaging of the first tracking unit 102, the first tracking unit 104 can capture the strike target, and at this time the outline and scale of the strike target are relatively clear;

[0104] After the control unit 107 locks the angle of the first tracking unit 102 through the rotating unit 101;

[0105] The control unit 107 performs second tracking on the strike target through the second tracking unit 104, and the control unit 107 performs second target recognition on the second tracking result to obtain a second target recognition result; the second target recognition includes target detection and target recognition.

[0106] The optical emitting unit generates laser light, which, through the coordinated action of the ranging unit 103 and the beam adjustment unit, completes the damaging strike on the target.

[0107] The beam adjustment unit adjusts the parameters of the laser to strike the target based on the second target recognition result.

[0108] Furthermore, in this embodiment, the median filtering is expressed by the following formula:

[0109] ;

[0110] Among them, I (x, y) represents the original image, Represents the first image, W represents the window, L(W) represents the window size, median represents the median calculation, k represents the radius of the filter window, i represents the row offset in the window; j represents the column offset in the window. The radius of the filter window defines the size of the filter window. The size of the window is L(W)=(2k+1)*(2k+1). Then k determines how many pixels the window expands. For example: for a 3×3 window, k=1, because the window expands one pixel outward from the center. For a 5×5 window, k=2, because the window expands one pixel outward from the center. In this embodiment, k takes the value of 2. i and j represent index variables used to traverse each pixel in the filter window. The values ​​of i and j range from -k to k, indicating the pixel position from the upper left corner to the lower right corner of the window.

[0111] For example, median filtering is performed on a 3x3 window:

[0112] Original window:

[0113] ;

[0114] Sort pixel values: The median value is 15, so the window center pixel value 50 is replaced by 15.

[0115] Perform median filtering on the original image to remove salt and pepper noise from the original image while retaining the edge details of the image. This is achieved by replacing the value of each pixel in the image with the median value of the pixel values ​​in its neighborhood. The median filter eliminates isolated high-frequency noise points and does not cause image blurring like the mean filter. Salt and pepper noise is a common type of image noise, usually appearing as random white spots (salt noise) and black spots (pepper noise) in the image. This noise is usually caused by sensor failure, transmission errors, or other problems in the digital image acquisition and processing process. Salt and pepper noise is randomly distributed and usually appears randomly in the image in the form of white and black pixels.

[0116] Further, in this embodiment, the gradient algorithm is expressed by the following formula:

[0117] ;

[0118] Among them, G (x, y) represents the second image, represents the first image, G x Indicates the horizontal gradient of the setting, G y Indicates the vertical gradient of the setting. Indicates the gradient direction. The gradient represents the rate of change of the image in the spatial domain and is used to detect the edges and contours in the image. In this embodiment, the horizontal gradient is set :

[0119] ;

[0120] Vertical gradient :

[0121] ;

[0122] Furthermore, in this embodiment, the adaptive threshold method is expressed by the following formula:

[0123] ;

[0124] Among them, Th is the calculated threshold, Max is the maximum value of pixels in the second image, Mean is the mean value of pixels in the second image, λ is the parameter adjustment coefficient, I out (x, y) represents the third image, and G(x, y) represents the second image.

[0125] Furthermore, in this embodiment, the expansion algorithm is expressed by the following formula:

[0126] ;

[0127] in, Indicates that the fourth image is expanded, S indicates the set structural element, (S)z indicates the position when the center of the structural element S is located at point z, represents the intersection operation, Indicates that the intersection is not empty, that is, at least one foreground pixel overlaps. In this embodiment, the structure element S is set to a 3×3 square structure element:

[0128] ;

[0129] Place the structure element on the fourth image: Go through each pixel in the fourth image and place the center of the structure element at the current pixel location.

[0130] Check the overlapping area: Check whether there are foreground pixels (pixel value 1) within the area covered by the structure element.

[0131] Update pixel value: If there is a foreground pixel in the structure element coverage area, set the current pixel value to the foreground pixel (1); otherwise, keep the background pixel (0).

[0132] Dilation is used to expand the white area or foreground objects in the image. The dilation operation “expands” the foreground pixels in the image by convolving the structure element with the image, which is beneficial for edge connection.

[0133] The control method of this embodiment can realize the rapid discovery, tracking, aiming and striking of the strike target, and provide a faster and more accurate attack method.

[0134] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or the equivalent forms of such scope and boundaries.

[0135] In the above description, the technical details of patterning and etching of each layer are not described in detail. However, those skilled in the art should understand that various means in the prior art can be used to form layers, regions, etc. of desired shapes. In addition, in order to form the same structure, those skilled in the art can also design methods that are not completely the same as the methods described above.

[0136] The present invention has been described above with reference to the embodiments of the present invention. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. Without departing from the scope of the present invention, a person skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

[0137] Although the embodiments of the present invention have been described in detail, it should be understood that the various changes, substitutions, and alterations could be made hereto without departing from the spirit and scope of the invention.

[0138] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A control method for a laser striking device, characterized in that: The laser striking device comprises: a rotating unit (101), an optical emitting unit (109), a light beam adjusting unit, a first tracking unit (102), a second tracking unit (104) and a control unit (107); The rotating unit (101), the optical emitting unit (109), the light beam adjusting unit, the first tracking unit (102), and the second tracking unit (104) are electrically connected to the control unit (107) respectively; The optical emission unit (109), the light beam adjustment unit, the first tracking unit (102), the second tracking unit (104) and the control unit (107) are all fixedly connected to the rotating unit; The first tracking unit (102) performs a first tracking on the strike target, and the control unit (107) performs a first target recognition on the first tracking result to obtain a first target recognition result; The control unit (107) adjusts the angle of the first tracking unit (102) through the rotation unit (101) according to the first target recognition result, so that the strike target is located at a preset angle in the field of view of the first tracking unit (102); After the control unit (107) locks the angle of the first tracking unit (102) through the rotating unit (101); The control unit (107) performs second tracking on the strike target through the second tracking unit (104), and the control unit (107) performs second target recognition on the second tracking result to obtain a second target recognition result; The optical emission unit (109) generates laser light; The beam adjustment unit adjusts the parameters of the laser to strike the target based on the second target recognition result; The control method comprises: the first tracking unit (102) performs a first tracking on the strike target, and the control unit (107) performs a first target recognition on the first tracking result to obtain a first target recognition result; The control unit (107) adjusts the angle of the first tracking unit (102) through the rotation unit (101) according to the first target recognition result, so that the strike target is located at a preset angle in the field of view of the first tracking unit (102); After the control unit (107) locks the angle of the first tracking unit (102) through the rotating unit (101); The control unit (107) performs second tracking on the strike target through the second tracking unit (104), and the control unit (107) performs second target recognition on the second tracking result to obtain a second target recognition result; The optical emission unit (109) generates laser light; The beam adjustment unit adjusts the parameters of the laser to strike the target based on the second target recognition result; The first tracking unit (102) performs a first tracking on the strike target, and the control unit (107) performs a first target identification on the first tracking result. Obtaining the first target identification result includes: The control unit (107) performs median filtering on the original image to obtain a first image; Using a gradient algorithm, converting the first image into a second image; Using an adaptive threshold method, binarization of the second image is performed to obtain a third image; Performing sky segmentation on the third image to obtain a fourth image of the sky area; After dilating the fourth image using a dilation algorithm; Detect the strike target and obtain a candidate frame of the strike target; Target tracking is performed in the candidate frame of the strike target, and the coordinates of the strike target are output, where the coordinates of the strike target are the first target recognition result.

2. The control method according to claim 1, characterized in that: The light beam adjustment unit comprises a fast-reflecting mirror unit (105), a focusing mirror unit (106) and a beam expanding mirror unit (108); The laser light generated by the optical emission unit (109) passes through the beam expanding mirror unit (108), the focusing mirror unit (106) and the fast reflection mirror unit (105) in sequence; The beam expander mirror unit (108) collimates the laser and expands the beam, and emits the laser in the form of a parallel beam; The focusing mirror unit (106) focuses the laser light after passing through the beam expanding mirror unit to a target position; The quick reflection mirror unit (105) directs the laser light after passing through the focusing mirror unit.

3. The control method according to claim 2, characterized in that: Also includes a distance measuring unit (103); The control unit (107) measures the distance between the striking target and the laser striking device through the distance measuring unit (103).

4. The control method according to claim 3, characterized in that: The field of view angle of the first tracking unit (102) is 3-7 times the field of view angle of the second tracking unit (104).

5. The control method according to claim 1, characterized in that: The median filtering is expressed using the following formula: ； Among them, I (x, y) represents the original image, represents the first image, W represents the window, L(W) represents the window size, median represents the median calculation, k represents the radius of the filter window, i represents the row offset in the window, and j represents the column offset in the window.

6. The control method according to claim 5, characterized in that: The gradient algorithm is expressed by the following formula: ； Among them, G (x, y) represents the second image, represents the first image, G x Indicates the horizontal gradient of the setting, G y Indicates the vertical gradient of the setting. Indicates the gradient direction.

7. The control method according to claim 6, characterized in that: The adaptive threshold method is expressed using the following formula: ； Among them, Th is the calculated threshold, Max is the maximum value of pixels in the second image, Mean is the mean value of pixels in the second image, λ is the parameter adjustment coefficient, I out (x, y) represents the third image, and G(x, y) represents the second image.

8. The control method according to claim 7, characterized in that: The expansion algorithm is expressed using the following formula: ； in, Indicates that the fourth image is expanded, S indicates the set structural element, (S)z indicates the position when the center of the structural element S is located at point z, represents the intersection operation, Indicates that the intersection is non-empty.

Images