A laser guidance device for unmanned aerial vehicle targets

Abstract

The present invention relates to a laser guidance device for unmanned aerial vehicle (UAV) targets, comprising a base and a rotating motor disposed on the base, a rotating platform, a radar module, a bracket and a pitch motor disposed on the bracket, a working platform, a rotating prism system, and an electronic zoom camera. The radar module determines a preliminary orientation, and then the electronic zoom camera collects photos. The target position in the pixel coordinate system is obtained through a target detection algorithm, and the three prisms are controlled to rotate to corresponding angles to guide the laser emitted by the laser transmitter for visual closed-loop precise pointing. Compared with the prior art, the present invention divides target tracking into two parts: coarse tracking and fine tracking. It does not rely on a high-precision turntable, and the cost is greatly reduced. Moreover, since the rotation of the prism and the deflection angle of the light beam in the rotating prism system have a large reduction ratio relationship, high pointing accuracy can still be achieved under the condition that the servo control system is limited. The laser guidance device can be widely installed on mobile platforms to defend against UAVs, and has broad application prospects.

Description

Technical Field

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

[0002] The use of drones on the battlefield is becoming increasingly widespread, becoming an important part of modern warfare. Drones are widely used for reconnaissance, strikes, and harassment. Due to their small size and high speed, drones are difficult to intercept.

[0003] Current countermeasures against drones primarily include laser weapons, microwave weapons, anti-aircraft artillery interception, electromagnetic interference, drone interception, and shotgun fire. For example, Chinese patent CN 219790359 U discloses a laser automatic guidance device that uses a worm gear to drive a laser head for pitch motion. Because the worm gear structure typically has a certain amount of transmission clearance, which affects the device's response accuracy and position control precision, the laser guidance device has low pointing accuracy. Another example is Chinese patent CN 221992538 U, which discloses a laser jamming anti-drone device. Specifically, the device includes a base, a horizontal rotating platform, and a vertical rotating platform. The horizontal rotating platform is mounted on the base and can rotate horizontally. The vertical rotating platform is equipped with a detection radar, a laser emitter, a camera, and a laser rangefinder. After the detection radar detects a drone target, the rotating platform rotates, causing the laser emitter to aim at the target and emit laser light to jam 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 laser guidance devices, 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 (UAV) target, comprising:

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

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

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

[0011] a bracket and a pitch motor provided on the bracket, wherein the bracket is provided 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 side by side 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 perpendicularly;

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

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

[0015] Step S2: Based on the obtained low-altitude small flying target, the rotation motor and the pitch 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, proceed to 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 target direction vector according to the focal length information;

[0019] Step S6: Obtain the coordinate transformation relationship from the camera coordinate system to the prism coordinate system according to the camera-prism calibration parameters, and transform 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 system to emit laser light according to the target vector obtained by the inverse solution of the rotating axle.

[0021] The rotating axicon 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 emitter;

[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 pixel coordinates into 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 vertical coordinate of the pixel coordinate of the projection of the optical center on the pixel plane, d x is the actual physical width of the unit pixel, d y The actual physical height of the unit pixel.

[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: Calculating the rotation angles of the first prism, the second prism, and the third prism required for the laser emitted from the prism axis to point to the target vector based on the target vector solution of the inverse solution of the rotating triangular prism, and controlling 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 the corresponding angles respectively;

[0035] Step S7-2: The laser emitter 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 oblique 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 oblique surface is arranged toward the third prism; and the oblique 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 spots: Compared with the rotating dual-prism system, the rotating triangular prism has no scanning blind spots. All targets within the field of view can be pointed 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 coarse tracking plus fine tracking mode is adopted. The real-time performance of target tracking is closely 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 false hits. 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 This 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 the rotating axicon 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 workflow diagram 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 with reference to 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 UAV targets, such as Figures 1 to 2 As shown, including:

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

[0057] The rotating platform 40 is provided on the base, and the lower surface of the rotating platform 40 is connected to the output shaft of the rotating motor 41;

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

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

[0060] The working platform 43, the rotating axle prism system 30, and the electronic zoom camera 20 are arranged in parallel and in the same direction on the working platform 43. The working platform 43 is connected to the output shaft of the pitch motor 42. The output shaft of the pitch motor 42 and the output shaft of the rotating motor 41 are arranged perpendicularly.

[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 axicon system 30 includes:

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

[0064] A prism housing and a first prism 37, a second prism 38, and a third prism 39 disposed therein. 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 adopted.

[0068] Furthermore, in this embodiment, the axis of the laser emitter 50 coincides with the axis of the rotating prism. The radar is responsible for actively detecting low-altitude targets around the device, providing the approximate azimuth and pitch angles of the target, as well as the approximate distance between the target and the device. The host computer is responsible for interpreting the radar data and controlling the rotation of the rotating platform and work platform so that the camera platform is aligned with the approximate direction of the target. The electronic zoom camera adjusts the focal length based on the approximate distance of the target, ensuring that the drone target appears clearly in the field of view. The host computer detects the drone target in the camera's field of view using a single-stage target detection algorithm and determines the pixel coordinates of the center of the target's bounding box. The target pixel coordinates are converted to image coordinates based on the camera imaging model. The target's direction vector in the camera coordinate system is derived from the camera's current focal length and the target's coordinates in the image coordinate system. The target's direction vector in the camera coordinate system is converted to the rotating prism coordinate system using the rotation and translation matrices. The desired prism rotation angle is calculated using the rotating prism's inverse solution. The host computer controls three motors to rotate the prism to the corresponding angle, achieving precise laser guidance.

[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 drone targets at a long distance to support the detection and identification of targets by the target detection algorithm.

[0070] 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] Moreover, in this embodiment, the target detection algorithm is the latest YOLO algorithm for single-stage target detection. This algorithm further improves the real-time performance and accuracy of target detection based on 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, a rotating triangular prism system transforms traditional mechanical tracking into optical tracking. A large reduction ratio exists between the prism's rotation angle and the beam's deflection angle, significantly reducing beam pointing errors and enabling low-cost, precise beam pointing. The rotating triangular prism system eliminates the blind spot scanning issues of rotating dual prism systems, enabling seamless scanning of targets within its field of view, preventing the risk of lost tracking.

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

[0074] Step S1: Obtain 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 rotation motor 41 and the pitch 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, proceed to 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 target direction vector according to the focal length information;

[0079] In this embodiment, the conversion relationship of 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 vertical coordinate of the pixel coordinate of the projection of the optical center on the pixel plane, d x is the actual physical width of the unit pixel, d y The actual physical height of the unit pixel.

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

[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: Obtain the coordinate transformation relationship from the camera coordinate system to the prism coordinate system according to the camera-prism calibration parameters, and transform 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 obtained by the inverse solution of the rotating axle prism, specifically comprising:

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

[0088] Step S7-2: The laser emitter 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 refractive 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, the laser emitter 50 is arranged at the rear end of the rotating axonoid system, and its axis coincides with the axis of the rotating axonoid. 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, integrating target detection, target identification and classification, precise pointing, and high-energy laser strike capabilities. It has the advantages of multi-sensor fusion, high-precision pointing and real-time feedback, intelligent target identification, all-weather monitoring, and high-energy laser destruction. The system uses radar 10 to detect low-altitude targets, calculates the target's orientation through a host computer, adjusts the orientation of the camera 20 and 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. Once the target is confirmed to be a drone, the system achieves high-precision laser pointing by rotating the prism and uses the laser to destroy the target. The system can operate in all weather conditions, day and night, and has 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 and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

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 provided on the base, and the lower surface of the rotating platform is connected to the output shaft of the rotating motor (41); A radar module is provided 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 perpendicularly; 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), and is configured to perform the following steps: Step S1: Obtain data collected by the radar module and analyze it to obtain low-altitude small flying targets; 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; 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, proceed to 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 target direction vector according to the focal length information; Step S6: Obtain the coordinate transformation relationship from the camera coordinate system to the prism coordinate system according to the camera-prism calibration parameters, and transform 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 an unmanned aerial vehicle target according to claim 1, characterized in that: The rotating axonoid 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) 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; 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 an unmanned aerial vehicle target 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 an unmanned aerial vehicle target according to claim 2, characterized in that: The transmission mechanism is a worm gear mechanism.

5. The laser guidance device for an unmanned aerial vehicle target according to claim 2, characterized in that: The conversion relationship of converting pixel coordinates into 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 vertical coordinate of the pixel coordinate of the projection of the optical center on the pixel plane, d x is the actual physical width of the unit pixel, d y The actual physical height of the unit pixel.

6. The laser guidance device for an unmanned aerial vehicle target 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 an unmanned aerial vehicle target according to claim 3, characterized in that: The step S7 comprises: Step S7-1: Calculating 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 based on the target vector solution of the inverse solution of the rotating triangular prism, and controlling 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; Step S7-2: The laser emitter 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. The laser guidance device for an unmanned aerial vehicle target according to claim 7, characterized in that: The inclined surface of the first prism (37) is arranged toward the laser emitter, and the flat surface is arranged toward the second prism (38); the flat 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 an unmanned aerial vehicle target 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 refractive 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 an unmanned aerial vehicle target 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 heights of the rotating triangular prism system (30) and the electronic zoom camera (20).

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