Multi-target photoelectric laser detection system and method

Abstract

The invention provides a multi-target photoelectric laser detection system and a multi-target photoelectric laser detection method. The multi-target photoelectric laser detection system comprises a laser detector, a photoelectric detector and a scanning swing mirror, the photoelectric detector comprises a visible light detector and an infrared detector; the scanning oscillating mirror is mounted at the front end of the laser measuring and illuminating device; the photoelectric detector sends detected position information of a target to the laser detector and the scanning swing mirror, and the scanning swing mirror deflects according to the position information so as to adjust the optical axis of the laser detector. The multi-target photoelectric laser detection system of the scheme has the functions of auxiliary illumination, tracking distance measurement and searching distance measurement at the same time.

Description

Technical Field

[0001] The present invention relates to the field of photoelectric measurement technology, and in particular to a multi-target photoelectric laser detection system and method. Background Art

[0002] The laser tracking measurement system is a large-scale space measuring instrument. It combines high-precision laser ranging, precision angle measurement and tracking control technologies to perform spatial position tracking measurement of space targets and rapid surface measurement of planes / curved surfaces. It has the advantages of no guide rails, dynamic and rapid measurement, high measurement accuracy, large measurement range, and easy installation and movement. It is an important means of large-scale industrial measurement and scientific measurement.

[0003] In traditional optoelectronic systems, since the laser light finder has a fixed optical axis, it can only achieve a single coaxial tracking ranging or a single off-axis search ranging, resulting in relatively single functions of the traditional optoelectronic system. As the demand for optoelectronic systems increases, the functions become more complex, and the system integration gradually increases, a multi-target optoelectronic laser detection system and method is needed. Summary of the invention

[0004] The invention provides a multi-target photoelectric laser detection system and method, which has the functions of auxiliary lighting, tracking ranging and searching ranging.

[0005] In the first aspect, the present invention provides a multi-target photoelectric laser detection system, comprising: a laser light meter, a photoelectric detector and a scanning oscillating mirror; the photoelectric detector comprises a visible light detector and an infrared detector; the scanning oscillating mirror is installed at the front end of the laser light meter; the photoelectric detector sends the position information of the detected target to the laser light meter and the scanning oscillating mirror, and the scanning oscillating mirror deflects according to the position information to adjust the optical axis of the laser light meter.

[0006] Preferably, the system includes a search ranging mode, a tracking ranging mode and an auxiliary lighting mode.

[0007] Preferably, the system further comprises a servo mechanism; the photodetector is mounted on the servo mechanism.

[0008] Preferably, the search and ranging mode is entered by deflecting the scanning oscillating mirror so that the optical axis of the laser light finder and the optical axis of the photodetector are fixedly offset.

[0009] Preferably, in the search and ranging mode, the servo mechanism drives the photoelectric detector to rotate by rotating so that the photoelectric detector detects targets within the field of view of the photoelectric detector; the photoelectric detector sorts the position information of the detected targets to obtain a target sequence; the scanning oscillating mirror deflects according to the target sequence and the position information to adjust the optical axis of the laser light finder to achieve ranging of each target.

[0010] Preferably, the tracking and ranging mode is entered by deflecting the scanning oscillating mirror so that the optical axis of the laser light finder is horizontally coaxial with the optical axis of the photoelectric detector.

[0011] Preferably, in the tracking and ranging mode, the servo mechanism drives the photoelectric detector to rotate by rotating so that the photoelectric detector detects a target within the field of view of the photoelectric detector; the photoelectric detector detects the position information of the target in real time; the scanning oscillating mirror deflects according to the position information acquired in real time to adjust the optical axis of the laser light finder to achieve tracking and ranging of the target.

[0012] Preferably, the auxiliary lighting mode is entered in a nighttime environment by deflecting the scanning oscillating mirror so that the optical axis of the laser light meter is horizontally coaxial with the optical axis of the photoelectric detector.

[0013] Preferably, in the auxiliary lighting mode, the laser light finder periodically performs laser irradiation and receives position information of the target detected by the photoelectric detector.

[0014] In a second aspect, the present invention further provides a multi-target photoelectric laser detection method, which is implemented by using any one of the multi-target photoelectric laser detection systems in the first aspect, and the method comprises:

[0015] Determine the working mode of the multi-target optoelectronic laser detection system according to the current application scenario; the working mode includes a search ranging mode, a tracking ranging mode and an auxiliary lighting mode;

[0016] Determining a target position of the optical axis of the laser light finder according to the working mode;

[0017] The scanning oscillating mirror is deflected according to the target position so that the optical axis of the laser light finder reaches the target position, and the multi-target optoelectronic laser detection system enters the working mode.

[0018] Compared with the prior art, the present invention has at least the following beneficial effects:

[0019] The present invention provides a multi-target photoelectric laser detection system, which utilizes a scanning oscillating mirror installed at the front end of the laser light meter to realize the deflection of the optical axis of the laser light meter, so that the optical axis of the laser light meter can be coaxial with the optical axis of the photoelectric detector or off-axis, thereby enabling the multi-target photoelectric laser detection system to simultaneously take into account the auxiliary lighting, tracking ranging and search ranging functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a schematic diagram of a multi-target optoelectronic laser detection system provided by an embodiment of the present invention;

[0022] Figure 2 is a flow chart of a multi-target photoelectric laser detection method provided by one embodiment of the present invention;

[0023] Figure numerals: 10 - laser light meter; 20 - photoelectric detector; 30 - scanning oscillating mirror; 201 - visible light detector; 202 - infrared detector. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0025] Please refer to Figure 1 An embodiment of the present invention provides a multi-target photoelectric laser detection system, comprising: a laser light meter 10, a photoelectric detector 20 and a scanning oscillating mirror 30; the photoelectric detector 20 comprises a visible light detector 201 and an infrared detector 202; the scanning oscillating mirror 30 is installed at the front end of the laser light meter 10; the photoelectric detector 20 sends the position information of the detected target to the laser light meter 10 and the scanning oscillating mirror 30, and the scanning oscillating mirror 30 deflects according to the position information to adjust the optical axis of the laser light meter 10.

[0026] In the embodiment of the present invention, the optical axis of the laser light meter is deflected by using a scanning oscillating mirror installed at the front end of the laser light meter, so that the optical axis of the laser light meter can be coaxial with the optical axis of the photoelectric detector or off-axis, so that the multi-target photoelectric laser detection system can simultaneously take into account the auxiliary lighting, tracking ranging and search ranging functions. Compared with the traditional photoelectric system that can only perform coaxial tracking ranging or off-axis search ranging, the multi-target photoelectric laser detection system of the present invention can achieve compatibility with multiple working modes by adjusting the optical axis of the laser light meter.

[0027] It should be noted that the scanning swing mirror of the present invention is a swing scanning mirror rather than a galvanometer mirror, and preferably a high-precision swing scanning mirror with high positioning accuracy and a large number of swing times per unit period.

[0028] In the present invention, the photoelectric detector includes a visible light detector and an infrared detector. The visible light detector can provide rich color and texture information and has a high spatial resolution when the lighting conditions are sufficient; the infrared detector still has good target detection capabilities when the lighting conditions are poor, but the image details are poor. Therefore, the combination of the two can complement each other's information and provide reliable target information under various environmental and weather conditions, thereby improving the accuracy of target detection and recognition.

[0029] In a preferred embodiment, the system includes a search ranging mode, a tracking ranging mode and an auxiliary lighting mode.

[0030] In a preferred embodiment, the system further comprises a servo mechanism; and the photoelectric detector is mounted on the servo mechanism.

[0031] In the present invention, the photoelectric detector detects and identifies the target under the rotation of the servo mechanism.

[0032] In a preferred embodiment, the optical axis of the laser light finder and the optical axis of the photodetector are fixedly offset by deflecting the scanning oscillating mirror to enter the search and distance measurement mode.

[0033] In a preferred embodiment, in the search and ranging mode, the servo mechanism drives the photoelectric detector to rotate by rotating so that the photoelectric detector detects targets within the field of view of the photoelectric detector; the photoelectric detector sorts the position information of the detected targets to obtain a target sequence; the scanning mirror deflects according to the target sequence and position information to adjust the optical axis of the laser light finder to achieve ranging for each target.

[0034] In the present invention, in the search and ranging mode, the scanning swing mirror is deflected to achieve a fixed angle between the optical axes of the laser light meter and the photoelectric detector. When a target appears within the field of view of the photoelectric detector, the photoelectric detector finds and identifies the target under the rotation of the servo mechanism. Then, after processing inside the photoelectric detector, the position information of multiple targets is arranged according to a preset rule to obtain a target sequence about the target position information. Then, the photoelectric detector transmits the target sequence to the laser light meter and the scanning swing mirror, and finely adjusts the swing mirror to turn the optical axis of the laser light meter to the target direction. Then, according to the target sequence, the distance of multiple targets is measured one by one within a single search cycle, and the detection and ranging are carried out simultaneously.

[0035] It should be noted that the preset rules include but are not limited to sorting from far to near, from near to far, or from large to small target sizes, and can be set specifically according to actual application scenarios.

[0036] In a preferred embodiment, the optical axis of the laser light meter is made horizontally coaxial with the optical axis of the photoelectric detector by deflecting the scanning oscillating mirror, thereby entering the tracking distance measurement mode.

[0037] In a preferred embodiment, in the tracking and ranging mode, the servo mechanism drives the photoelectric detector to rotate by rotating so that the photoelectric detector detects the target within the field of view of the photoelectric detector; the photoelectric detector detects the position information of the target in real time; the scanning mirror is deflected according to the position information obtained in real time to adjust the optical axis of the laser light meter to achieve tracking and ranging of the target.

[0038] In the present invention, in the tracking and ranging mode, the swinging scanning mirror is deflected to realize the horizontal coaxiality of the optical axis of the laser light meter and the photoelectric detector. When a target appears in the field of view of the photoelectric detector, the photoelectric detector finds and identifies the target under the rotation of the servo mechanism, and then the position information of the target is transmitted to the laser light meter and the scanning swinging mirror after processing inside the photoelectric detector, and the target is locked to obtain its position information in real time, and the swinging scanning mirror is finely adjusted according to the real-time acquired position information to turn the optical axis of the laser light meter to the moving target, and real-time ranging is performed to realize the simultaneous tracking and ranging.

[0039] In a preferred embodiment, the optical axis of the laser light meter is horizontally coaxial with the optical axis of the photoelectric detector by deflecting the scanning oscillating mirror, and the auxiliary lighting mode is entered in a night environment.

[0040] In a preferred embodiment, in the auxiliary lighting mode, the laser light detector periodically performs laser irradiation and receives the position information of the target detected by the photoelectric detector.

[0041] In the present invention, in the auxiliary lighting mode of the night environment, the swinging scanning mirror is deflected to achieve horizontal coaxiality between the laser light meter and the optical axis of the photoelectric detector, and then laser irradiation is performed periodically according to the external external synchronization signal trigger control to enhance the visible light nighttime observation capability.

[0042] It should be noted that when the optical axis of the laser light meter is horizontally coaxial with the optical axis of the photodetector, the optical axis deviation is no more than 2 pixels.

[0043] like Figure 2 As shown, the present invention also provides a multi-target photoelectric laser detection method based on any of the above multi-target photoelectric laser detection systems, the method comprising:

[0044] Step S0, determining the working mode of the multi-target optoelectronic laser detection system according to the current application scenario; the working modes include search ranging mode, tracking ranging mode and auxiliary lighting mode;

[0045] Step S2, determining the target position of the optical axis of the laser light meter according to the working mode;

[0046] Step S4, deflecting the scanning pendulum mirror according to the target position so that the optical axis of the laser light meter reaches the target position, and the multi-target optoelectronic laser detection system enters the working mode.

[0047] In the present invention, the current working mode of the multi-target optoelectronic laser detection system can be determined according to the current application scenario, and then the target position of the optical axis of the laser light meter can be determined according to the current working mode, and it is determined whether the optical axis and the optical axis of the photoelectric detector are kept horizontally coaxial or fixedly offset. Then, after the optical axis of the laser light meter is adjusted to the target position, the multi-target optoelectronic laser detection system enters the working mode.

[0048] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a multi-target optoelectronic laser detection system. In other embodiments of the present invention, a multi-target optoelectronic laser detection system may include more or fewer components than shown, or combine some components, or split some components, or arrange the components differently.

[0049] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-target optoelectronic laser detection system, characterized in that: include: A laser light meter, a photoelectric detector and a scanning oscillating mirror; the photoelectric detector includes a visible light detector and an infrared detector; the scanning oscillating mirror is installed at the front end of the laser light meter; the photoelectric detector sends the position information of the detected target to the laser light meter and the scanning oscillating mirror, and the scanning oscillating mirror deflects according to the position information to adjust the optical axis of the laser light meter.

2. The multi-target optoelectronic laser detection system according to claim 1, characterized in that: include: Search ranging mode, tracking ranging mode and auxiliary lighting mode.

3. The multi-target optoelectronic laser detection system according to claim 2, characterized in that: It also includes a servo mechanism; the photodetector is mounted on the servo mechanism.

4. The multi-target optoelectronic laser detection system according to claim 3, characterized in that: The scanning oscillating mirror is deflected to make the optical axis of the laser light finder and the optical axis of the photoelectric detector fixedly offset, thereby entering the search and distance measurement mode.

5. The multi-target optoelectronic laser detection system according to claim 4, characterized in that: In the search and ranging mode, the servo mechanism drives the photoelectric detector to rotate by rotating so that the photoelectric detector detects targets within the field of view of the photoelectric detector; the photoelectric detector sorts the position information of the detected targets to obtain a target sequence; the scanning mirror deflects according to the target sequence and the position information to adjust the optical axis of the laser light finder to achieve ranging for each target.

6. The multi-target optoelectronic laser detection system according to claim 3, characterized in that: The scanning oscillating mirror is deflected to make the optical axis of the laser light finder horizontally coaxial with the optical axis of the photoelectric detector, thereby entering the tracking distance measurement mode.

7. The multi-target optoelectronic laser detection system according to claim 6, characterized in that: In the tracking and ranging mode, the servo mechanism drives the photoelectric detector to rotate by rotating so that the photoelectric detector detects a target within the field of view of the photoelectric detector; the photoelectric detector detects the position information of the target in real time; the scanning mirror is deflected according to the position information obtained in real time to adjust the optical axis of the laser light finder to achieve tracking and ranging of the target.

8. The multi-target optoelectronic laser detection system according to claim 3, characterized in that: The scanning oscillating mirror is deflected to make the optical axis of the laser light meter coaxial with the optical axis of the photoelectric detector, and the auxiliary lighting mode is entered in a night environment.

9. The multi-target optoelectronic laser detection system according to claim 8, characterized in that: In the auxiliary lighting mode, the laser light finder periodically performs laser irradiation and receives position information of the target detected by the photoelectric detector.

10. A detection method based on the multi-target optoelectronic laser detection system according to any one of claims 1 to 9, characterized in that: include: Determine the working mode of the multi-target optoelectronic laser detection system according to the current application scenario; the working mode includes a search ranging mode, a tracking ranging mode and an auxiliary lighting mode; Determining a target position of the optical axis of the laser light finder according to the working mode; The scanning oscillating mirror is deflected according to the target position so that the optical axis of the laser light finder reaches the target position, and the multi-target optoelectronic laser detection system enters the working mode.

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