Laser guiding device for unmanned aerial vehicle target

Abstract

The invention relates to a laser guiding device for an unmanned aerial vehicle target, and the device comprises a pedestal, a rotating motor, a rotating platform, a radar module and a support which are disposed on the pedestal, and a pitching motor, a working platform, a rotating prism system and an electronic zoom camera which are disposed on the support. Then, pictures are collected based on an electronic zoom camera, the position of a target in a pixel coordinate system is obtained through a target detection algorithm, and the three prisms are controlled to rotate to corresponding angles to guide laser emitted by the laser emitter to conduct visual closed-loop accurate pointing. Compared with the prior art, target tracking is divided into coarse tracking and fine tracking, the method does not depend on a high-precision rotary table, the cost is greatly reduced, and due to the fact that rotation of the prism in the rotary prism system and the deflection angle of the light beam have a large reduction ratio relation, the target tracking precision is greatly improved. And under the condition that a servo control system is limited, very high pointing precision can still be realized. The laser guiding device can be widely installed on a mobile platform defense unmanned aerial vehicle and has a wide application prospect.

Description

Technical Field

[0001] The invention relates to the field of photoelectric measurement and tracking, and in particular to a laser guidance device for unmanned aerial vehicle targets. Background Art

[0002] At present, drones are increasingly used on the battlefield and have become an important part of modern warfare. Drones are widely used for reconnaissance, attack and harassment. Due to their small size, high speed and difficulty in interception, drones are difficult to intercept.

[0003] The current countermeasures against drones mainly include: laser weapons, microwave weapons, anti-aircraft gun interception, electromagnetic interference, drone interception, shotgun shooting, etc. For example, Chinese patent CN 219790359 U discloses a laser automatic guidance device, which uses a worm gear to drive the laser head to perform pitch motion. Since the worm gear structure usually has a certain transmission gap, it will affect the response accuracy of the device and the accuracy of position control, so the pointing accuracy of the laser guidance device is low. For another example, Chinese patent CN 221992538 U discloses a laser interference anti-drone device, which specifically discloses: a laser interference anti-drone device includes a base, a horizontal rotating table and a vertical rotating table, the horizontal rotating table is arranged on the base, the horizontal rotating table can rotate on the horizontal plane, and the vertical rotating table is provided with a detection radar, a laser transmitter, a camera and a laser rangefinder. After the detection radar finds the drone target, the rotating table rotates so that the laser transmitter aims at the target and emits laser to interfere with the drone. The striking accuracy of this method is completely dependent on the accuracy of the turntable motor, and high-precision motors require very high costs to implement. This method is costly to implement and has stringent control requirements for the motor, making it very difficult to implement.

[0004] Therefore, how to reduce the manufacturing cost of the laser guidance device, and accurately identify, track and attack drones, and realize intelligent and unmanned drone defense is the technical problem to be solved by the present invention. Summary of the invention

[0005] The purpose of the present invention is to provide a laser guidance device for unmanned aerial vehicle targets.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A laser guidance device for an unmanned aerial vehicle target, comprising:

[0008] A base and a rotating motor arranged on the base;

[0009] A rotating platform is disposed on the base, and a lower surface of the rotating platform is connected to the output shaft of the rotating motor;

[0010] A radar module is arranged on the upper surface of the rotating platform;

[0011] A bracket and a pitch motor arranged on the bracket, wherein the bracket is arranged on the upper surface of the rotating platform;

[0012] A working platform, a rotating prism system and an electronic zoom camera, wherein the rotating prism system and the electronic zoom camera are arranged in parallel and in the same direction on the working platform, the working platform is connected to the output shaft of the pitch motor, and the output shaft of the pitch motor and the output shaft of the rotating motor are arranged vertically;

[0013] The host computer, which is connected to the rotation motor, the pitch motor, the radar module, the electronic zoom camera and the rotating prism system, is configured to perform the following steps:

[0014] Step S1: Obtain data collected by the radar module and analyze it to obtain a low-altitude small flying target;

[0015] Step S2: Based on the obtained low-altitude small flying target, the rotating motor and the pitching motor are controlled to move so that the rotating prism system and the electronic zoom camera face the direction of the low-altitude small flying target;

[0016] Step S3: the electronic zoom camera zooms based on the distance of the low-altitude small flying target and takes a photo of the low-altitude small flying target;

[0017] Step S4: Identify the objects in the photo based on the target detection algorithm. If the identified objects include a drone, execute step S5. Otherwise, select the next low-altitude small flying target and return to step S2.

[0018] Step S5: Obtain the center pixel coordinates of the target bounding box, convert the pixel coordinates into image coordinates in the image coordinate system according to the camera imaging model and camera calibration parameters, and calculate the direction vector of the target according to the focal length information;

[0019] Step S6: obtaining the coordinate transformation relationship from the camera coordinate system to the prism coordinate system according to the camera-prism calibration parameters, and transforming the target direction vector in the camera coordinate system into the prism coordinate system as the target vector of the inverse solution of the rotating prism;

[0020] Step S7: Control the rotating axle prism system to emit laser according to the target vector obtained by the inverse solution of the rotating axle prism.

[0021] The rotating axle system comprises:

[0022] The laser transmitter is fixed on the working platform through a laser transmitter bracket;

[0023] A prism housing and a first prism, a second prism and a third prism disposed in the housing, wherein the first prism, the second prism and the third prism are all rotating prisms and are arranged in sequence along the output direction of the laser transmitter;

[0024] The first prism motor, the second prism motor and the third prism motor are respectively connected to the first prism, the second prism and the third prism through corresponding transmission mechanisms to respectively drive the first prism, the second prism and the third prism to rotate.

[0025] The rotating prism system also includes a first motor encoder, a second motor encoder and a third motor encoder, which are respectively connected to the first prism motor, the second prism motor and the third prism motor to detect the rotation angle.

[0026] The transmission mechanism is a worm gear mechanism.

[0027] The conversion relationship of converting the pixel coordinates into the image coordinates in the image coordinate system in step S5 is:

[0028] x=(uc x )·d x ,y=(vc y )·d y

[0029] Where: x is the horizontal coordinate of the image coordinate system, y is the vertical coordinate of the image coordinate system, u is the horizontal coordinate of the pixel coordinate system, v is the vertical coordinate of the pixel coordinate system, c x is the horizontal coordinate of the pixel coordinate of the projection of the optical center on the pixel plane, c y is the ordinate of the pixel coordinates of the projection of the optical center on the pixel plane, d x is the actual physical width of a unit pixel, d y It is the actual physical height in pixels.

[0030] The direction vector of the target obtained in step S5 is:

[0031]

[0032] Where: v is the direction vector of the target, and f is the current focal length of the electronic zoom camera.

[0033] The step S7 comprises:

[0034] Step S7-1: Calculate the rotation angles of the first prism, the second prism and the third prism required for the laser emitted by the prism axis to point to the target vector according to the target vector solution of the inverse solution of the rotating prism, and control the first prism motor, the second prism motor and the third prism motor to drive the first prism, the second prism and the third prism to rotate to corresponding angles respectively;

[0035] Step S7-2: The laser transmitter emits a high-energy laser, which passes through the first prism, the second prism, and the third prism in sequence and then points to the target UAV, causing damage to the UAV.

[0036] The inclined surface of the first prism is arranged toward the laser emitter, and the flat surface is arranged toward the second prism; the flat surface of the second prism is arranged toward the first prism, and the inclined surface is arranged toward the third prism; and the inclined surface of the third prism is arranged toward the second prism.

[0037] The vector of the high energy laser after being deflected by the prism is:

[0038]

[0039] Among them: A i is the unit direction vector of the refracted light, n i is the refractive index of the refracting medium, n i-1 is the refractive index of the incident medium, A i-1 is the unit direction vector of the incident light, and N is the unit vector of the interface normal.

[0040] The radar module includes a radar and a radar fixing column for fixing the radar, the axis of the radar fixing column is parallel to the axis of the output shaft of the rotating motor, and the height of the radar is greater than the height of the rotating prism system and the electronic zoom camera.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. High pointing accuracy: The rotating prism system converts mechanical tracking into optical tracking. At the same time, due to the system characteristics of the rotating prism, there is a large reduction ratio relationship between the prism rotation angle and the beam deflection angle. Even when the motor conditions are limited, it can still achieve high pointing accuracy.

[0043] 2. No blind spot: Compared with the rotating dual-prism system, the rotating prism has no scanning blind spot. All targets within the field of view can be pointed to by the laser through prism deflection, avoiding the situation of target loss. Prism tracking has singularities, and some scholars have solved this problem.

[0044] 3. Good real-time performance: The mode of coarse tracking and fine tracking is adopted. The real-time performance of target tracking is strongly related to the real-time performance of the visual detection end. This device adopts the latest version of the YOLO target detection algorithm, which has strong real-time performance. The use of a more powerful GPU can achieve faster detection speed and meet higher real-time requirements.

[0045] 4. Visual feedback: The visual inspection system can fine-tune the laser guidance device in real time based on camera observation to achieve a visual closed loop.

[0046] 5. High detection accuracy: The radar can detect low-altitude targets near the device, but cannot distinguish whether they are drones. The visual detection system can determine whether the target in the field of view is a drone through model reasoning, avoiding mishit situations. The visual detection algorithm performs detection at the image level and can achieve pixel-level detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is an axonometric drawing of the present invention.

[0048] Figure 2 It is a top view of the present invention.

[0049] Figure 3 A cross-sectional view of a rotating axle prism system.

[0050] Figure 4 This is a schematic diagram showing the principle of controlling light beam deflection by the rotating prism system of the present invention.

[0051] Figure 5 It is the work flow chart of the present invention.

[0052] Figure 6 This is a diagram showing the detection effect of the drone of the present invention.

[0053] Among them: 10. Radar, 20. Electronic zoom camera, 30. Rotating prism system, 40. Rotating platform, 50. Laser emitter, 31. First prism motor, 32. Second prism motor, 33. Third prism motor, 34. First motor encoder, 35. Second motor encoder, 36. Third motor encoder, 37. First prism, 38. Second prism, 39. Third prism, 41. Rotating motor, 42. Pitch motor, 43. Working platform, 51. Laser emitter bracket, 52. Optical fiber. DETAILED DESCRIPTION

[0054] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0055] A laser guidance device for unmanned aerial vehicle targets, such as Figure 1 to Figure 2 As shown, including:

[0056] A base and a rotating motor 41 disposed on the base;

[0057] A rotating platform 40 is disposed on the base, and a lower surface of the rotating platform 40 is connected to an output shaft of a rotating motor 41;

[0058] A radar module is disposed on the upper surface of the rotating platform 40;

[0059] A bracket and a pitch motor 42 disposed on the bracket, wherein the bracket is disposed on the upper surface of the rotating platform 40;

[0060] A working platform 43, a rotating prism system 30 and an electronic zoom camera 20, wherein the rotating prism system 30 and the electronic zoom camera 20 are arranged in parallel and in the same direction on the working platform 43, and the working platform 43 is connected to the output shaft of the pitch motor 42, and the output shaft of the pitch motor 42 and the output shaft of the rotating motor 41 are arranged vertically;

[0061] The host computer is connected to the rotating motor 41, the pitching motor 42, the radar module, the electronic zoom camera 20 and the rotating prism system 30 respectively.

[0062] In this embodiment, Figure 2 and Figure 3 As shown, the rotating axle system 30 includes:

[0063] The laser emitter 50 is fixed on the working platform 43 through the laser emitter bracket 51;

[0064] A prism housing and a first prism 37, a second prism 38 and a third prism 39 disposed in the housing, wherein the first prism 37, the second prism 38 and the third prism 39 are all rotating prisms and are arranged in sequence along the output direction of the laser emitter;

[0065] The first prism motor 31 , the second prism motor 32 and the third prism motor 33 are respectively connected to the first prism 37 , the second prism 38 and the third prism 39 through corresponding transmission mechanisms to respectively drive the first prism 37 , the second prism 38 and the third prism 39 to rotate.

[0066] In addition, in this embodiment, the rotating prism system 30 also includes a first motor encoder 34, a second motor encoder 35 and a third motor encoder 36. The first motor encoder 34, the second motor encoder 35 and the third motor encoder 36 are respectively connected to the first prism motor 31, the second prism motor 32 and the third prism motor 33 to detect the rotation angle, so that feedback control of the first prism 37, the second prism 38 and the third prism 39 can be realized.

[0067] In this embodiment, the transmission mechanism is a worm gear mechanism, which has higher durability. Of course, in the embodiment, other control schemes can also be used.

[0068] In addition, in this embodiment, the axis of the laser transmitter 50 coincides with the axis of the rotating prism. The radar is responsible for actively detecting low-altitude flying targets around the device, providing the approximate azimuth angle, pitch angle of the target and the approximate distance between the target and the device. The host computer is responsible for solving the data detected by the radar, and controlling the rotation of the rotating platform and the working platform so that the camera platform is aligned with the approximate direction of the target. The electronic zoom camera adjusts the focal length according to the approximate distance of the target so that the drone target can appear clearly in the field of view. The host computer detects the drone target in the camera field of view according to the single-stage target detection algorithm and determines the pixel coordinates of the center of the target bounding box. According to the camera imaging model, the target pixel coordinates are converted into image coordinate system coordinates, and the direction vector of the target in the camera coordinate system can be obtained according to the current focal length of the camera and the coordinates in the target image coordinate system. The target direction vector in the camera coordinate system is converted to the rotating prism coordinate system according to the rotation and translation matrix. According to the inverse solution of the rotating prism, the angle that the prism should rotate is solved, and the host computer controls three motors to drive the prism to rotate to the corresponding angle to achieve precise guidance of the laser.

[0069] In addition, in this embodiment, the electronic zoom camera is an infrared day and night high-definition fog-penetrating telephoto camera. Its unique optical technology can provide fine color images during the day and fine black-and-white images at night. It can clearly image UAV targets at a long distance to support the detection and identification of targets by target detection algorithms.

[0070] And in this embodiment, the host computer deploys sensor control software, UAV target detection algorithm and autonomous decision-making algorithm, obtains scene information through radar and visual sensor information fusion, obtains target information through UAV target detection algorithm reasoning, and automatically controls the motor through PID control algorithm.

[0071] And, in this embodiment, further, the target detection algorithm is the latest YOLO algorithm for single-stage target detection, which further improves the real-time and accuracy of target detection on the basis of the previous series. For example, under the test of 4060 GPU, the detection speed of an image containing a drone target is between 5-10ms, and the inference time is very short, which meets the needs of real-time tracking.

[0072] In this embodiment, the rotating prism system transforms traditional mechanical tracking into optical tracking. There is a large reduction ratio between the rotation angle of the prism and the deflection angle of the light beam, which greatly reduces the error of the light beam pointing, making low-cost precise light beam pointing possible. The rotating prism system does not have the scanning blind spot problem of the rotating dual prism system, and can scan the target within the field of view without blind spots, avoiding the problem of losing the target.

[0073] like Figure 5 As shown, the host computer is configured to perform the following steps:

[0074] Step S1: Acquire data collected by the radar module. The radar measures the distance, speed and direction of low-altitude targets by emitting electromagnetic waves and receiving signals reflected from surrounding objects;

[0075] Step S2: Based on the obtained low-altitude small flying target, the rotating motor 41 and the pitching motor 42 are controlled to move so that the rotating prism system 30 and the electronic zoom camera 20 face the direction of the low-altitude small flying target;

[0076] Step S3: the electronic zoom camera 20 zooms based on the distance of the low-altitude small flying target and takes a photo of the low-altitude small flying target;

[0077] Step S4: Identify the objects in the photo based on the target detection algorithm. If the identified objects include a drone, execute step S5. Otherwise, select the next low-altitude small flying target and return to step S2.

[0078] Step S5: Obtain the center pixel coordinates of the target bounding box, convert the pixel coordinates into image coordinates in the image coordinate system according to the camera imaging model and camera calibration parameters, and calculate the direction vector of the target according to the focal length information;

[0079] In this embodiment, the conversion relationship of converting pixel coordinates into image coordinates in the image coordinate system in step S5 is:

[0080] x=uc x ·d x ,y=vc y ·d y

[0081] Where: x is the horizontal coordinate of the image coordinate system, y is the vertical coordinate of the image coordinate system, u is the horizontal coordinate of the pixel coordinate system, v is the vertical coordinate of the pixel coordinate system, c x is the horizontal coordinate of the pixel coordinate of the projection of the optical center on the pixel plane, c y is the ordinate of the pixel coordinates of the projection of the optical center on the pixel plane, d x is the actual physical width of a unit pixel, d y It is the actual physical height in pixels.

[0082] Correspondingly, the direction vector of the target is obtained:

[0083]

[0084] Wherein: v is the direction vector of the target, and f is the current focal length of the electronic zoom camera 20 .

[0085] Step S6: obtaining the coordinate transformation relationship from the camera coordinate system to the prism coordinate system according to the camera-prism calibration parameters, and transforming the target direction vector in the camera coordinate system into the prism coordinate system as the target vector of the inverse solution of the rotating prism;

[0086] Step S7: controlling the rotating axle prism system 30 to emit laser light according to the target vector of the rotating axle prism inverse solution, specifically comprising:

[0087] Step S7-1: Calculate the rotation angles of the first prism 37, the second prism 38 and the third prism 39 required for the laser emitted from the prism axis to point to the target vector according to the target vector solution of the inverse solution of the rotating prism, and control the first prism motor 31, the second prism motor 32 and the third prism motor 33 to drive the first prism 37, the second prism 38 and the third prism 39 to rotate to corresponding angles respectively;

[0088] Step S7-2: The laser transmitter emits a high-energy laser, which passes through the first prism 37, the second prism 38 and the third prism 39 in sequence and then points to the target UAV, causing damage to the UAV.

[0089] The first prism 37 has its inclined surface facing the laser emitter and its flat surface facing the second prism 38 . The second prism 38 has its flat surface facing the first prism 37 and its inclined surface facing the third prism 39 . The third prism 39 has its inclined surface facing the second prism 38 .

[0090] The vector of high energy laser after being deflected by the prism is:

[0091]

[0092] Among them: A i is the unit direction vector of the refracted light, n i is the refractive index of the refracting medium, n i-1 is the refractive index of the incident medium, A i-1 is the unit direction vector of the incident light, and N is the unit vector of the interface normal.

[0093] In addition, in particular, in this embodiment, the radar module includes a radar 10 and a radar fixing column for fixing the radar 10, the axis of the radar fixing column is parallel to the axis of the output shaft of the rotating motor 41, and the height of the radar 10 is greater than the height of the rotating prism system 30 and the electronic zoom camera 20, thereby reducing interference to the radar.

[0094] like Figure 3 As shown in FIG. 1 , the laser emitter 50 is arranged at the rear end of the rotating axle prism system, and its axis coincides with the axis of the rotating axle prism. The laser emitter 50 emits a high-energy laser beam, such as Figure 5As shown, the laser beam is deflected by the first prism 37, the second prism 38 and the third prism 39 to achieve precise pointing to the UAV target, irradiating the target UAV and causing damage to it.

[0095] In this embodiment, the device is a comprehensive system for low-altitude target detection and destruction, which integrates target detection, target identification and classification, precise pointing and high-energy laser strike functions, and has the advantages of multi-sensor fusion, high-precision pointing and real-time feedback, intelligent target identification, all-weather monitoring, high-energy laser damage, etc. The system uses radar 10 to detect low-altitude targets, calculates the target orientation through the host computer, adjusts the orientation of the camera 20 and the prism 30, combines the electronic zoom camera 20 to achieve clear imaging of the target, and uses the latest version of the YOLO algorithm for real-time target identification and classification. When the target is confirmed to be a drone, the system achieves high-precision pointing of the laser by rotating the prism, and uses the laser to damage the target. The system can work all day and night, with rapid response and high-precision pointing capabilities.

[0096] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program code.

Claims

1. A laser guidance device for unmanned aerial vehicle targets, characterized in that: include: A base and a rotating motor (41) disposed on the base; A rotating platform (40) is disposed on the base, and the lower surface of the rotating platform (40) is connected to the output shaft of the rotating motor (41); A radar module is arranged on the upper surface of the rotating platform (40); A bracket and a pitch motor (42) arranged on the bracket, wherein the bracket is arranged on the upper surface of the rotating platform (40); A working platform (43), a rotating prism system (30) and an electronic zoom camera (20), wherein the rotating prism system (30) and the electronic zoom camera (20) are arranged in parallel and in the same direction on the working platform (43), and the working platform (43) is connected to the output shaft of the pitch motor (42), and the output shaft of the pitch motor (42) and the output shaft of the rotating motor (41) are arranged vertically; The host computer is respectively connected to the rotating motor (41), the pitching motor (42), the radar module, the electronic zoom camera (20) and the rotating prism system (30), and is configured to perform the following steps: Step S1: Obtain data collected by the radar module and analyze it to obtain a low-altitude small flying target; Step S2: Based on the obtained low-altitude small flying target, the rotating motor (41) and the pitching motor (42) are controlled to move so that the rotating prism system (30) and the electronic zoom camera (20) are directed toward the low-altitude small flying target; Step S3: the electronic zoom camera (20) zooms based on the distance of the low-altitude small flying target and takes a photo of the low-altitude small flying target; Step S4: Identify the objects in the photo based on the target detection algorithm. If the identified objects include a drone, execute step S5. Otherwise, select the next low-altitude small flying target and return to step S2. Step S5: Obtain the center pixel coordinates of the target bounding box, convert the pixel coordinates into image coordinates in the image coordinate system according to the camera imaging model and camera calibration parameters, and calculate the direction vector of the target according to the focal length information; Step S6: obtaining the coordinate transformation relationship from the camera coordinate system to the prism coordinate system according to the camera-prism calibration parameters, and transforming the target direction vector in the camera coordinate system into the prism coordinate system as the target vector of the inverse solution of the rotating prism; Step S7: Control the rotating axle system (30) to emit laser light according to the target vector obtained by the inverse solution of the rotating axle.

2. A laser guidance device for unmanned aerial vehicle targets according to claim 1, characterized in that: The rotating axle system (30) comprises: A laser emitter is fixed on the working platform (43) via a laser emitter bracket (51); A prism housing and a first prism (37), a second prism (38) and a third prism (39) arranged in the housing, wherein the first prism (37), the second prism (38) and the third prism (39) are all rotating prisms and are arranged in sequence along the output direction of the laser emitter; The first prism motor (31), the second prism motor (32) and the third prism motor (33) are respectively connected to the first prism (37), the second prism (38) and the third prism (39) through corresponding transmission mechanisms to respectively drive the first prism (37), the second prism (38) and the third prism (39) to rotate.

3. A laser guidance device for unmanned aerial vehicle targets according to claim 2, characterized in that: The rotating triangular prism system (30) further comprises a first motor encoder (34), a second motor encoder (35) and a third motor encoder (36), wherein the first motor encoder (34), the second motor encoder (35) and the third motor encoder (36) are respectively connected to the first prism motor (31), the second prism motor (32) and the third prism motor (33) to detect the rotation angle.

4. A laser guidance device for unmanned aerial vehicle targets according to claim 2, characterized in that: The transmission mechanism is a worm gear mechanism.

5. The laser guidance device for unmanned aerial vehicle targets according to claim 2, characterized in that: The conversion relationship of converting the pixel coordinates into the image coordinates in the image coordinate system in step S5 is: x=(y-c x )·d x ,y=(v-c y )·d y Where: x is the horizontal coordinate of the image coordinate system, y is the vertical coordinate of the image coordinate system, u is the horizontal coordinate of the pixel coordinate system, v is the vertical coordinate of the pixel coordinate system, c x is the horizontal coordinate of the pixel coordinate of the projection of the optical center on the pixel plane, c y is the ordinate of the pixel coordinates of the projection of the optical center on the pixel plane, d x is the actual physical width of a unit pixel, d y It is the actual physical height in pixels.

6. A laser guidance device for unmanned aerial vehicle targets according to claim 5, characterized in that: The direction vector of the target obtained in step S5 is: Wherein: v is the direction vector of the target, and f is the current focal length of the electronic zoom camera (20).

7. The laser guidance device for unmanned aerial vehicle targets according to claim 3, characterized in that: The step S7 comprises: Step S7-1: Calculate the rotation angles of the first prism (37), the second prism (38) and the third prism (39) required for the laser emitted from the prism axis to point to the target vector according to the target vector solution of the inverse solution of the rotating prism, and respectively control the first prism motor (31), the second prism motor (32) and the third prism motor (33) to drive the first prism (37), the second prism (38) and the third prism (39) to rotate to corresponding angles; Step S7-2: The laser transmitter emits a high-energy laser, which passes through the first prism (37), the second prism (38) and the third prism (39) in sequence and then points to the target UAV, causing damage to the UAV.

8. A laser guidance device for unmanned aerial vehicle targets according to claim 7, characterized in that: The inclined surface of the first prism (37) is arranged toward the laser emitter, and the plane surface is arranged toward the second prism (38); the plane surface of the second prism (38) is arranged toward the first prism (37), and the inclined surface is arranged toward the third prism (39); and the inclined surface of the third prism (39) is arranged toward the second prism (38).

9. The laser guidance device for unmanned aerial vehicle targets according to claim 7, characterized in that: The vector of the high energy laser after being deflected by the prism is: Among them: A i is the unit direction vector of the refracted light, n i is the refractive index of the refracting medium, n i-1 is the refractive index of the incident medium, A i-1 is the unit direction vector of the incident light, and N is the unit vector of the interface normal.

10. The laser guidance device for unmanned aerial vehicle targets according to claim 1, characterized in that: The radar module comprises a radar (10) and a radar fixing column for fixing the radar (10), wherein the axis of the radar fixing column is parallel to the axis of the output shaft of the rotating motor (41), and the height of the radar (10) is greater than the height of the rotating triangular prism system (30) and the electronic zoom camera (20).

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