Laser emission integrated device and tracking method

Abstract

The application relates to a laser emission integrated device and a tracking and sighting method, and relates to the field of laser communication. The application solves the problems of high mirror assembly precision requirement, complex process, great difficulty in wavefront quality control and difficult compression of physical space occupation in the prior art in the field of laser communication. The application realizes initial target acquisition and spatial positioning through a coarse tracking branch, and executes feature locking in combination with high-resolution imaging of a fine tracking branch; an electronic vibration mirror dynamically adjusts the light path angle based on a feedback signal; a three-point flexible support structure is adopted for a reflecting mirror unit to avoid surface shape distortion; a laser integrator is provided with heat dissipation fins and a flow guide air duct to ensure temperature stability; a titanium alloy material is adopted for a system shell to realize light weight and low thermal deformation, and an electromagnetic shielding coating and a full-sealing structure are combined to resist environmental interference. The application is suitable for laser communication, long-distance precision tracking and high-energy laser application scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser communication, in particular to a laser emission integrated device and a tracking and sighting method. BACKGROUND

[0002] Under the trend of modern laser communication and high-precision target recognition towards long distance, miniaturization and intelligence, a precise optical system integrating laser emission, optical tracking and high-resolution imaging has become an indispensable core equipment in the fields of space communication, remote sensing and tactical guidance. As a key technical node, the laser emission integrated device effectively couples laser output, beam control and target tracking capability through integrated configuration, greatly improving the reaction speed and strike accuracy of the system, and is an important direction for the upgrade and evolution of current high-end optoelectronic equipment.

[0003] However, the existing device still faces a series of technical bottlenecks that need to be broken through in terms of structural stability, thermal control efficiency and optical precision.

[0004] A 360° passive detection and common-aperture laser emission device is disclosed in Chinese Patent No. CN116105543A. The common-aperture off-axis three-mirror optical system unit is used to emit a light beam and simultaneously receive a target light beam for target tracking. A transceiving coaxial laser radar optical system is disclosed in Chinese Patent No. CN120044500A, relating to the field of laser radar technology. The optical system includes a transmitting assembly, a polarization beam splitter prism, a quarter-wave plate, a common beam expander lens group, a microlens array, a common lens, and a receiving assembly arranged in sequence. The transmitting assembly emits laser light into the polarization beam splitter prism, where the light beam is linearly polarized light. The light beam can pass through the polarization beam splitter prism, then pass through the quarter-wave plate to reach the common beam expander lens group, perform collimation and expansion, and finally exit through the microlens array and the common lens. The exiting laser beam hits an object and returns a light signal. The returned light signal returns to the polarization beam splitter prism along the original light path and is reflected into the receiving assembly for reception and processing. The design of the existing common-aperture optical system inevitably brings about high requirements for lens assembly and adjustment precision, complex process, difficulty in wavefront quality control, and difficulty in extreme compression of physical space occupation, while pursuing transceiving integration. SUMMARY

[0005] The present application overcomes the deficiencies of the prior art in the field of laser communication, such as high requirements for lens assembly and adjustment precision, complex process, difficulty in wavefront quality control, and difficulty in extreme compression of physical space occupation. To solve the above technical problems, the present application is realized by the following technical solutions:

[0006] Scheme one, the application provides a kind of laser emission integrated device, the device includes coarse tracking electronic module, coarse tracking lens sleeve, coarse tracking electronic module shell, coarse tracking lens compression ring, camera connecting seat, coarse tracking camera support;

[0007] The coarse tracking electronic module is fixed inside the coarse tracking electronic module shell by low-stress heat-conducting epoxy adhesive;The sidewall of the coarse tracking electronic module shell is supported by a copper column to stabilize the inside, and is fixed by a locking nut to ensure the stability of the electronic module under temperature cycling and assist in heat dissipation;The coarse tracking lens sleeve is connected to the front end of the coarse tracking electronic module shell by a precision thread, and a coarse tracking lens group is installed inside;The coarse tracking lens group is axially positioned in the coarse tracking lens sleeve by a precisely machined step surface, and the end is screwed into the sleeve by a coarse tracking lens compression ring with internal threads, which uniformly applies force to compress the lens group and eliminates assembly stress;The coarse tracking electronic module shell is rigidly fixed to the camera connecting seat by screws;The coarse tracking lens sleeve is fixed to the coarse tracking camera support by screws;The camera connecting seat and the coarse tracking lens sleeve are installed and fastened together on the coarse tracking camera support.

[0008] Further, a preferred embodiment is provided, the device further includes an electronic galvanometer mirror base, a galvanometer unit gasket;The electronic galvanometer is fixed to the galvanometer base, and the galvanometer base is fixed to the galvanometer unit gasket.

[0009] Further, a preferred embodiment is provided, the device further includes a beamsplitter frame gasket, a beamsplitter frame compression ring, a beamsplitter lens, and a beamsplitter frame.

[0010] The beamsplitter lens is installed in the inner cavity of the beamsplitter frame by a three-point flexible support structure;The beamsplitter frame compression ring is screwed into the frame, uniformly applying force to compress the beamsplitter lens, ensuring uniform pressure transmission.

[0011] Further, a preferred embodiment is provided, the device further includes an entrance pupil, a primary mirror frame, a primary mirror lens, a primary mirror frame compression ring, an antenna housing, a focusing mirror frame compression ring, a focusing mirror lens, a focusing mirror frame, a secondary mirror frame compression ring, a secondary mirror lens, and a secondary mirror frame.

[0012] The antenna shell is provided with an entrance window below the front surface and a main mirror window above the front surface; the main mirror frame is fixed to the main mirror window of the antenna shell by screws, and a main mirror lens made of microcrystalline glass is installed inside; the main mirror lens is installed in the main mirror frame by a three-point flexible support structure and is locked by a main mirror frame compression ring through a thread; the antenna shell is provided with a secondary mirror window below the back surface and a focusing mirror window above the back surface; the secondary mirror frame is fixed to the secondary mirror window of the antenna shell, and a secondary mirror lens is installed inside and made of the same material as the main mirror; the secondary mirror lens is installed in the secondary mirror frame by a three-point flexible support and is fixed by a secondary mirror frame compression ring; the focusing mirror frame is fixed to the focusing mirror window of the antenna shell, and an achromatic double-cemented lens focusing mirror lens is installed inside; the focusing mirror lens is positioned in the focusing mirror frame by a precision spacer and is locked and fixed by a focusing mirror frame compression ring through a thread, so as to ensure that the lens optical axis and the main and secondary mirror system optical axis are accurately overlapped; and the side support plate is rigidly connected to the side surface of the antenna shell by screws.

[0013] Further, a preferred embodiment is provided, wherein the device further comprises a laser shell, a heat dissipation fan, and a fan shell; the laser is packaged in the laser shell with heat dissipation fins, and a laser light outlet is precisely machined on the front surface of the laser shell; two heat dissipation fan mounting holes are arranged on the side surface of the laser shell; the heat dissipation fan is fixed on the heat dissipation fan mounting hole by screws; and the fan shell is fixed outside the heat dissipation fan mounting hole by screws to form a flow guide air duct.

[0014] Further, a preferred embodiment is provided, wherein the device further comprises a coarse tracking glass window, a focusing mirror glass window, and a shell; the focusing mirror glass window and the coarse tracking glass window are arranged on the front surface of the shell; two fan reserved holes are arranged on the side surface of the shell for installation of the laser heat dissipation fan; and two wire arrangement reserved holes are arranged on the back surface of the shell for power supply of the coarse tracking camera, the fine tracking camera, and the laser.

[0015] Further, a preferred embodiment is provided, wherein the shell is made of Ti-6Al-4V titanium alloy material, the thermal expansion coefficient of which is , and the high specific strength reaches 260 MPa·cm³ / g.

[0016] Further, a preferred embodiment is provided, wherein the overall size of the electronic galvanometer is 129×129×156 mm, and the total mass is not more than 5 kg; the galvanometer is made of quartz material, the diameter of which is 105 mm and the thickness of which is 13 mm.

[0017] Further, a preferred embodiment is provided, wherein the laser emission integrated device further integrates a laser emission assembly, and the laser emission assembly is realized by using an Nd:YAG pulse solid-state laser with a wavelength of 1064 nm.

[0018] Scheme two, the follow-sight method realized by the laser emission integrated device according to any one of scheme one, the method comprises the following steps:

[0019] Step one, starting the laser emission integrated device, the controller completes the power-on self-checking and function initialization of the laser, the galvanometer, the fine tracking lens and the feedback analysis module core unit in turn;

[0020] Step two, by searching and identifying the target in the observation area, extracting the target feature contour, realizing the initial identification and spatial positioning of the target;

[0021] Step three, obtaining a high-resolution target image. The image algorithm identifies the edge and geometric feature, and feeds back to the controller, and the controller drives the galvanometer to complete the fine adjustment of the optical axis, and coincides with the target center, so as to ensure accurate alignment of the laser;

[0022] Step four, when the target capture is completed and the galvanometer angle is adjusted, the laser is started to output pulsed laser, the 1064nm laser passes through the 0.5~0.7µm band-pass filter into the optical path, avoids the interference of ambient light, passes through the light splitting mirror system to accurately adjust the path into the beam expansion and collimation module, forms a 22.5mm diameter parallel light; Then the main laser is reflected by the main mirror and the secondary mirror in turn, and then outputted after precise focusing by the focusing lens group;

[0023] Step five, the main optical system synchronously opens the receiving channel, utilizes the main mirror to reversely receive the reflected signal, and re-focuses to the fine tracking branch through the main mirror, the secondary mirror and the focusing group, the system receives the path to synchronously collect the target surface reflection characteristic image, the light intensity change curve and the thermal spot appearance, evaluates the laser action process through the effect analysis module, judges whether it is hit, whether the energy is sufficient and whether the target state meets the combat condition;

[0024] Step six, the controller adjusts the galvanometer angle according to the evaluation result, and drives the fine tracking lens to reacquire the target key feature, completes the closed loop correction; the controller updates the galvanometer control parameter in real time, instructs the galvanometer to carry out the attitude fine adjustment, and drives the fine tracking lens to reacquire the target key feature point, realizes the closed loop correction of the optical path.

[0025] The present application has the advantages of:

[0026] The application adopts high-precision dual-shaft electronic mirrors and combines with Nd:YAG short pulse lasers to realize high-quality laser beam emission with a pulse width of ≤10 ns, an energy output of ≥100 mJ, an angle coverage range of ±3 mrad and a resolution ability of ≤2 mu rad, and meets the needs of high-precision fast scanning and micro target locking.

[0027] The laser emission integrated device and the follow-sighting method realize the integrated packaging of laser emission, target tracking and optical detection, effectively improve the stability, response speed and striking precision of the system, realize high-quality laser beam emission with a pulse width of not more than 10 ns and an energy output of not less than 100 mJ, have an angle coverage range of ±3 mrad and a resolution ability of ≤2 mu rad, meet the needs of high-precision fast scanning and micro target locking, and greatly improve the anti-interference ability of the system in a complex electromagnetic environment.

[0028] The application realizes initial target capture and spatial positioning through the coarse tracking branch, and executes feature locking in combination with high-resolution imaging of the fine tracking branch; the electronic mirror dynamically adjusts the light path angle based on the feedback signal; the mirror unit adopts a three-point flexible support structure to avoid face shape distortion; the laser is integrated with heat dissipation fins and flow guide air ducts to ensure temperature stability; the system shell is made of titanium alloy material to realize lightweight and low thermal deformation, and resists environmental interference in combination with an electromagnetic shielding plating layer on the inner wall and a fully sealed structure.

[0029] The application is also suitable for the fields of laser communication, long-distance precision tracking and laser beam application. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a top view of the laser emission integrated device.

[0031] Figure 2 It is a side view of the coarse tracking system in the laser emission integrated device.

[0032] Figure 3 It is a side view of the laser in the laser emission integrated device.

[0033] Figure 4A side view of a fine tracking system in a laser emission integrated device according to the present application.

[0034] Figure 5 A side view of a beamsplitter in a laser emission integrated device according to the present application.

[0035] Figure 6 A side view of a galvanometer in a laser emission integrated device according to the present application.

[0036] Figure 7 A side view of an optical antenna in a laser emission integrated device according to the present application.

[0037] Figure 8 A side view of an optical antenna in a laser emission integrated device according to the present application.

[0038] Figure 9 A side view of a laser emission integrated device according to the present application.

[0039] Figure 10 A flowchart of a tracking method implemented based on a laser emission integrated device according to the present application.

[0040] Wherein, the coarse tracking electronic module 1, the laser 2, the fine tracking system 3, the first beamsplitter 4, the second beamsplitter 5, the bottom plate 6, the galvanometer 7, the optical antenna system 8, the coarse tracking camera support 101, the coarse tracking lens compression ring 102, the coarse tracking lens sleeve 103, the coarse tracking electronic module shell 104, the camera connecting seat 105, the laser light outlet 201, the laser shell 202, the heat dissipation fan 203, the fan shell 204, the fine tracking lens compression ring 301, the fine tracking lens group 302, the fine tracking lens sleeve 303, the fine tracking camera support 304, the fine tracking electronic module shell 305, the beamsplitter mirror frame gasket 401, the beamsplitter mirror frame compression ring 402, the beamsplitter mirror 403, the beamsplitter mirror frame 404, the electronic galvanometer 701, the galvanometer base 702, the galvanometer unit gasket 703, the side support plate 801, the light inlet 802, the main mirror frame 803, the main mirror 804, the main mirror frame compression ring 805, the antenna shell 806, the focusing mirror frame compression ring 807, the focusing mirror 808, the focusing mirror frame 809, the secondary mirror frame compression ring 810, the secondary mirror 811, the secondary mirror frame 812, the coarse tracking glass window 901, the focusing mirror glass window 902, the shell 903. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application.

[0042] Embodiment one, see Figure 1 As shown in the figure, the embodiment proposes a laser emission integrated device, which specifically comprises: a coarse tracking electronic module 1, a laser 2, a fine tracking system 3, a first beam splitter 4, a second beam splitter 5, a bottom plate 6, a galvanometer 7, an optical antenna system 8, a coarse tracking camera support 101, a coarse tracking lens compression ring 102, a coarse tracking lens sleeve 103, a coarse tracking electronic module shell 104, a camera connecting seat 105, a laser light outlet 201, a laser shell 202, a cooling fan 203, a fan shell 204, a fine tracking lens compression ring 301, a fine tracking mirror group 302, a fine tracking lens sleeve 303, a fine tracking camera support 304, a fine tracking electronic module shell 305, a beam splitter frame gasket 401, a beam splitter frame compression ring 402, a beam splitter lens 403, a beam splitter frame 404, an electronic galvanometer 701, a galvanometer base 702, a galvanometer unit gasket 703, a side support plate 801, an entrance 802, a main mirror frame 803, a main mirror lens 804, a main mirror frame compression ring 805, an antenna shell 806, a focusing mirror frame compression ring 807, a focusing mirror lens 808, a focusing mirror frame 809, a secondary mirror frame compression ring 810, a secondary mirror lens 811, a secondary mirror frame 812, a coarse tracking glass window 901, a focusing mirror glass window 902, and a shell 903.

[0043] The coarse tracking electronic module 1 is placed above the fine tracking system 3, the laser 2 is close to the fine tracking system 3, the first beam splitter 4 is in front of the laser 2, the first beam splitter 4 is adjacent to the second beam splitter 5, the galvanometer 7 is adjacent to the second beam splitter 5 in the same direction, the optical antenna system 8 is close to the fine tracking system 3, in front of the galvanometer 7, and placed on the bottom plate 6.

[0044] As Figure 2As shown, a coarse tracking electronic module 1 in a laser emission integrated device includes: a coarse tracking lens sleeve 103, a coarse tracking electronic module housing 104, a coarse tracking lens retaining ring 102, a camera connector 105, and a coarse tracking camera support 101. The coarse tracking electronic module 1 is fixed inside the coarse tracking electronic module housing 104 with low-stress thermally conductive epoxy adhesive. The sidewalls of the coarse tracking electronic module housing 104 are supported internally by copper pillars and fixed by locking nuts to ensure the stability of the coarse tracking electronic module 1 under temperature cycling and to assist in heat dissipation. The coarse tracking lens sleeve 103 is fixed by precision screws. The coarse tracking electronic module housing 104 is connected to the front end of the coarse tracking lens assembly, which is installed inside. The coarse tracking lens assembly is axially positioned inside the coarse tracking lens sleeve 103 by a precision-machined stepped surface. The end of the coarse tracking lens assembly is screwed into the coarse tracking lens sleeve 103 by a coarse tracking lens retainer 102 with internal threads, which applies force evenly to press the coarse tracking lens assembly and eliminates assembly stress. The coarse tracking electronic module housing 104 is rigidly fixed to the camera connector 105 by screws. The camera connector 105 is fixed to the coarse tracking camera support 101 by screws, which provides a stable mounting reference.

[0045] like Figure 4 As shown, a precision tracking system 3 in an integrated laser emission device includes: a precision tracking lens sleeve 303, a precision tracking electronic module housing 305, a precision tracking lens retaining ring 301, and a precision tracking camera support 304. The precision tracking system 3 is fixed inside the precision tracking electronic module housing 305 by low-stress thermally conductive epoxy adhesive. The sidewall of the precision tracking electronic module housing 305 is supported internally by copper pillars and fixed by locking nuts to ensure the stability of the precision tracking electronic module under temperature cycling and to assist in heat dissipation. The precision tracking lens sleeve 303 is connected to the front end of the precision tracking electronic module housing 305 by precision threads, and a precision tracking lens assembly 302 is installed inside. The precision tracking lens assembly 302 is axially positioned inside the precision tracking lens sleeve 303 by precision-machined stepped surfaces, and its end is screwed into the precision tracking lens sleeve 303 by the precision tracking lens retaining ring 301 with internal threads, uniformly pressing the precision tracking lens assembly 302 and eliminating assembly stress. The precision tracking lens sleeve 303 is fixed to the precision tracking camera support 304 by screws.

[0046] In this embodiment, a laser emission integrated device includes an antenna housing 806, an entrance light port 802 arranged below the front surface of the antenna housing 806, and a main mirror window arranged above the front surface of the antenna housing 806; a main mirror frame 803 is fixed to the main mirror window of the antenna housing 806 by a screw, and a main mirror lens 804 made of microcrystalline glass is installed in the main mirror frame 803; the main mirror lens 804 is installed in the main mirror frame 803 by a three-point flexible support structure, and is locked by a main mirror frame compression ring 805 through a thread; a secondary mirror window is arranged below the back surface of the antenna housing 806, and a focusing mirror glass window 902 is arranged above the back surface of the antenna housing 806; a secondary mirror frame 812 is fixed to the secondary mirror window of the antenna housing 806 by a bolt, and a secondary mirror lens 811 made of the same material as the main mirror is installed in the secondary mirror frame 812; the secondary mirror lens 811 is installed in the secondary mirror frame 812 by a three-point flexible support, and is locked and fixed by a secondary mirror frame compression ring 810, which facilitates accurate angle and position adjustment of the secondary mirror during optical axis calibration; a focusing mirror frame 809 is fixed to the focusing mirror glass window 902 of the antenna housing 806, and an achromatic double-cemented lens focusing mirror lens 808 is installed in the focusing mirror frame 809; the focusing mirror lens 808 is positioned in the focusing mirror frame 809, and is locked and fixed by a focusing mirror frame compression ring 807 through a thread, so as to ensure that the lens optical axis is accurately coincided with the main and secondary mirror system optical axis; a side support plate 801 is rigidly connected to the side surface of the antenna housing 806 by a screw, so as to provide rigidity and stability of the overall structure.

[0047] In this embodiment, a laser emission integrated device includes a laser 2 packaged in a laser housing 202 made of an aluminum alloy material with heat dissipation fins, and a laser light outlet 201 is precisely processed on the front surface of the laser housing 202; two heat dissipation fan mounting ports are arranged on the side surface of the laser housing 202; a heat dissipation fan 203 is fixed to the heat dissipation fan mounting port by a screw; a fan housing 204 is fixed to the outside of the heat dissipation fan mounting port by a screw, forming a flow guide air duct, so as to ensure that the core temperature of the laser 2 is stably kept within a safe working range, and to ensure the output power stability and long life operation of the laser 2.

[0048] In this embodiment, the beamsplitter lens 403 is installed in the cavity of the beamsplitter lens frame 404 by a three-point flexible support structure; the beamsplitter lens frame compression ring 402 is screwed into the beamsplitter lens frame 404, uniformly presses the beamsplitter lens 403, ensures uniform pressure transmission, and avoids local stress concentration leading to face shape distortion; the electronic galvanometer 701 is fixed to the galvanometer base 702, and the galvanometer base is fixed to the galvanometer unit gasket 703.

[0049] In this example, the front surface of the housing 903 is provided with a focusing mirror glass window 902 and a coarse tracking glass window 901, the side surface of the housing 903 is provided with two fan reserved holes for mounting the heat dissipation fan 203 on the laser 2, and the back surface of the housing 903 is provided with two wire arrangement reserved holes for power supply of the coarse tracking camera, the fine tracking camera and the laser.

[0050] In this embodiment, the control module of coarse tracking, the control module of fine tracking, the power control module, the signal processing module, the target recognition algorithm and other circuit and software parts are also included.

[0051] Embodiment two, as shown in the laser emission integrated device according to the tracking method of embodiment one, the tracking method comprises the following steps: Figure 10

[0052] Step one: start the optical antenna system, and the controller completes the power-on self-test and function initialization of the core units such as the laser 2, the galvanometer 7, the fine tracking lens, and the feedback analysis module in turn. The laser 2 outputs pulsed laser with a wavelength of 1064 nm according to the system requirements, adopts a Nd:YAG solid laser, has a pulse width of ≤10 ns, a repetition frequency of ≥100 Hz, and a single pulse energy of ≥100 mJ. The system confirms that the laser cooling system 2 two 24V fans are stably started, the wind speed is ≥2.5 m / s, and the air duct forms a closed loop guide. The temperature of the laser shell is stably kept at 25±1℃. The controller initializes the communication protocol, and establishes a high-speed communication link with the RS422 galvanometer and GigEVision.

[0053] Step two: the coarse tracking branch is started, the coarse tracking camera is set to 100 fps, the resolution is 2048×2048, the pixel is 6.5μm, and the field of view angle is 7.62°. The target is placed at about 8 meters away, and the coarse tracking lens is imaged. The focal length of the lens is about 90 mm, and the relative aperture is F / 3.0. The target is searched and identified in the observation area, the target feature profile is extracted, the initial identification and spatial positioning of the target are realized. The coarse tracking path identification result is fed back to the controller in real time through the high-speed communication interface, the controller collects the image centroid, calculates the miss distance, drives the galvanometer to realize the coarse adjustment in the range of ±3 mrad, and makes the laser emission path roughly align with the target direction, so as to ensure that the subsequent fine tracking has an initial positioning basis.

[0054] Step three: when the coarse tracking path completes the preliminary capture, the fine tracking branch is started, the fine tracking camera works under the same parameters, the lens focal length is about 150 mm, F / 2.8, and the high-resolution target image is obtained. The image algorithm identifies the edge and geometric features, and feeds back to the controller. The controller drives the galvanometer to complete the fine adjustment of the optical axis, and coincides with the target center, so as to ensure that the laser is accurately aligned.

[0055] ​Step four: when the target capture is completed and the galvanometer angle is adjusted, the laser output pulse laser is started, the 1064nm laser passes through the 0.5~0.7µm band-pass filter into the optical path, avoids the interference of ambient light, passes through the beam expander and collimation module through the light splitting mirror system to accurately adjust the path, and forms a 22.5mm diameter parallel light. Then the main laser is reflected by the primary mirror and the secondary mirror in turn, and then output after precise focusing by the focusing lens group, so as to realize the long-distance transmission ability of high energy and high collimation.

[0056] Step five: after the main laser completes beam expansion and focusing, it hits the preset target area, and the laser generates a thermal effect, breakdown or ablation phenomenon on the target surface to form a specific reflection signal. The main optical system synchronously opens the receiving channel, uses the primary mirror to reversely receive the reflection signal, and re-focuses the reflection signal to the fine tracking branch through the primary mirror, the secondary mirror and the focusing group. The filter suppresses 0.8~1.2µm stray light. The system synchronously collects the reflection characteristic image of the target surface, the light intensity change curve and the thermal spot morphology, evaluates the laser action process through the effect analysis module, and judges whether it hits, whether the energy is sufficient and whether the target state meets the combat conditions.

[0057] Step six: the controller adjusts the galvanometer angle according to the evaluation result , and drives the fine tracking lens to reacquire the target key features to complete the closed-loop correction. High-frequency and high-precision continuous laser tracking and striking are realized. The controller updates the galvanometer control parameters in real time, instructs the galvanometer to make a small adjustment in posture, drives the fine tracking lens to reacquire the target key feature points, realizes the closed-loop correction of the optical path, and ensures the continuous and accurate action of the laser.

[0058] Those skilled in the art can understand that the above description is only a preferred embodiment of the present application, and the features described in the various embodiments and / or claims of the present disclosure can be combined or combined, even if such combination or combination is not explicitly described in the present disclosure. It is not intended to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, and those skilled in the art can modify the technical solutions described in the foregoing embodiments or make equivalent replacement of part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

[0059] While the preferred embodiments of the application have been described, additional variations and modifications can be made to these embodiments by those skilled in the art once they have the benefit of the present disclosure without departing from the spirit and scope of the application. Accordingly, it is intended that the appended claims include all such variations and modifications as fall within the scope of the present application. It is apparent that those skilled in the art can modify and adapt the present application in various ways without departing from the spirit and scope of the present application. It is therefore intended that the present application encompass all such modifications and variations as fall within the scope of the claims and their equivalents.

Claims

1. A laser emitting integrated device, characterized in that, The device includes a coarse tracking electronic module (1), a laser (2), a fine tracking system (3), a first beam splitter (4), a second beam splitter (5), a base plate (6), a galvanometer (7), and an optical antenna system (8). The coarse tracking electronic module (1) includes a coarse tracking camera support (101), a coarse tracking lens retaining ring (102), a coarse tracking lens sleeve (103), a coarse tracking electronic module housing (104), and a camera connector (105). The coarse tracking electronic module (1) is fixed inside the coarse tracking electronic module housing (104) by low-stress thermally conductive epoxy adhesive; the side wall of the coarse tracking electronic module housing (104) is supported by copper pillars for internal stability and fixed by locking nuts to ensure the stability of the coarse tracking electronic module (1) under temperature cycling and to assist in heat dissipation; the coarse tracking lens sleeve (103) is connected to the front end of the coarse tracking electronic module housing (104) by precision threads, and the coarse tracking lens assembly is installed inside; the coarse tracking lens assembly is located on the coarse tracking lens housing through precision machined stepped surfaces. The tracking lens sleeve (103) is axially positioned inside, and the end is screwed into the sleeve by a coarse tracking lens retainer (102) with internal threads, so as to apply force evenly to press the lens group and eliminate assembly stress; the coarse tracking electronic module housing (104) is rigidly fixed to the camera connector (105) by screws; the coarse tracking lens sleeve (103) is fixed to the coarse tracking camera support (101) by screws; the camera connector (105) and the coarse tracking lens sleeve (103) are installed together and fastened to the coarse tracking camera support (101); The precision tracking system (3) includes: a precision tracking lens sleeve (303), a precision tracking electronic module housing (305), a precision tracking lens retaining ring (301), and a precision tracking camera support (304); the precision tracking system (3) is fixed inside the precision tracking electronic module housing (305) by low-stress thermally conductive epoxy adhesive; the side wall of the precision tracking electronic module housing (305) is supported internally by copper pillars and fixed by locking nuts to ensure the stability of the precision tracking electronic module under temperature cycling and to assist in heat dissipation; the precision tracking lens sleeve (303) 03) The precision tracking electronic module housing (305) is connected to the front end of the precision tracking electronic module housing (305) by precision threads, and the precision tracking lens assembly (302) is installed inside. The precision tracking lens assembly (302) is axially positioned in the precision tracking lens sleeve (303) by precision machined stepped surfaces, and the end is screwed into the precision tracking lens sleeve (303) by a precision tracking lens retainer (301) with internal threads. The precision tracking lens assembly (302) is pressed evenly and the assembly stress is eliminated. The precision tracking lens sleeve (303) is fixed to the precision tracking camera support (304) by screws. The coarse tracking electronic module (1) is placed above the fine tracking system (3), the laser (2) is close to the fine tracking system (3), the first beam splitter (4) is in front of the laser (2), the first beam splitter (4) is adjacent to the second beam splitter (5), and the galvanometer (7) is adjacent to the second beam splitter (5) in the same direction. The optical antenna system (8) is close to the fine tracking system (3), in front of the galvanometer (7), and placed on the base plate (6).

2. The integrated laser emitting device according to claim 1, characterized in that, The device also includes an electronic galvanometer (701), a galvanometer base (702), and a galvanometer unit gasket (703); the electronic galvanometer (701) is fixed on the galvanometer base (702), and the galvanometer base (702) is fixed on the galvanometer unit gasket (703).

3. The integrated laser emitting device according to claim 1, characterized in that, The device also includes a beam splitter frame gasket (401), a beam splitter frame retaining ring (402), a beam splitter lens (403), and a beam splitter frame (404). The beam splitter lens (403) is installed in the inner cavity of the beam splitter frame (404) through a three-point flexible support structure; the beam splitter frame pressure ring (402) is screwed into the frame through a thread to apply force evenly to press the beam splitter lens (403) and ensure that the pressure is transmitted evenly.

4. The integrated laser emitting device according to claim 1, characterized in that, The device also includes an inlet (802), a primary mirror frame (803), a primary mirror lens (804), a primary mirror frame retaining ring (805), an antenna housing (806), a focusing mirror frame retaining ring (807), a focusing mirror lens (808), a focusing mirror frame (809), a secondary mirror frame retaining ring (810), a secondary mirror lens (811), and a secondary mirror frame (812). The antenna housing (806) has an inlet port (802) at the lower front and a primary mirror window at the upper front. The primary mirror frame (803) is fixed to the primary mirror window of the antenna housing (806) with screws, and a primary mirror lens (804) made of microcrystalline glass is installed inside. The primary mirror lens (804) is installed in the primary mirror frame (803) via a three-point flexible support structure and is locked in place by a threaded clamping ring of the primary mirror frame (803). The antenna housing (806) has a secondary mirror window at the lower rear and a focusing mirror window at the upper rear. The secondary mirror frame is fixed to the secondary mirror window of the antenna housing (806), and a secondary mirror lens (804) is installed inside. 811) and the material is the same as the primary mirror; the secondary mirror lens (811) is installed in the secondary mirror frame (812) by three-point flexible support and is pressed and fixed by the secondary mirror frame pressure ring (810); the focusing mirror frame (809) is fixed to the focusing mirror window of the antenna housing (806) and the focusing mirror lens (808) of the achromatic doublet lens is installed inside; the focusing mirror lens (808) is positioned in the focusing mirror frame (809) by a precision spacer and is locked and fixed by the focusing mirror frame pressure ring (807) by threads to ensure that the optical axis of the lens is precisely aligned with the optical axis of the primary and secondary mirror systems; the side support plate is rigidly connected to the side of the antenna housing (806) by screws.

5. The integrated laser emitting device according to claim 1, characterized in that, The device also includes a laser (2), a laser housing (202), a cooling fan (203), and a fan housing (204). The laser (2) is encapsulated in the laser housing (202) with heat dissipation fins, and a laser light output port is precisely machined on its front side. Two cooling fan (203) mounting ports are provided on the side of the laser housing (202). The cooling fan (203) is fixed to the cooling fan (203) mounting port by screws. The fan housing (204) is fixed to the outside of the cooling fan mounting port by screws to form a guide air duct.

6. The integrated laser emitting device according to claim 5, characterized in that, The device also includes a coarse tracking glass window (901), a focusing lens glass window (902), and a housing (903). The front of the housing (903) is provided with the focusing lens glass window (902) and the coarse tracking glass window (901). The side of the housing (903) is provided with two fan reserved holes for the installation of the laser cooling fan (203). The back of the housing (903) is provided with two ribbon cable reserved holes for power supply to the coarse tracking camera, the fine tracking camera, and the laser.

7. The integrated laser emitting device according to claim 6, characterized in that, The outer shell (903) is made of Ti-6Al-4V titanium alloy, with a coefficient of thermal expansion of . High specific strength .

8. The integrated laser emitting device according to claim 2, characterized in that, The external dimensions of the electronic galvanometer (701) are 129×129×156 mm, and the total mass does not exceed 5kg. The galvanometer is made of quartz material, with a diameter of 105mm and a thickness of 13mm.

9. The integrated laser emitting device according to claim 1, characterized in that, The integrated laser emission device also includes a laser emission component, which is implemented using a 1064nm Nd:YAG pulsed solid-state laser.

10. The tracking and aiming method implemented by the integrated laser emitting device according to any one of claims 1-9, characterized in that, The tracking aiming method includes the following steps: Step 1: Start the integrated laser emission device. The controller will sequentially complete the power-on self-test and function initialization of the core units of the laser (2), electronic galvanometer (701), precision tracking lens, and feedback analysis module. Step 2: By searching and identifying targets in the observation area, extracting target feature contours, and achieving initial target identification and spatial positioning; Step 3: Acquire a high-resolution target image. The image algorithm identifies edges and geometric features and feeds them back to the controller. The controller drives the galvanometer to complete the fine-tuning of the optical axis, aligning it with the center of the target to ensure accurate laser alignment. Step 4: After the target acquisition is completed and the angle of the electronic galvanometer (701) is adjusted, the laser (2) is started to output pulsed laser. The 1064nm laser enters the optical path through a 0.5~0.7µm bandpass filter, forming a parallel light with a diameter of 22.5mm. Then the main laser is reflected by the primary mirror and the secondary mirror in sequence, and then precisely focused by the focusing lens group before being output. Step 5: The main optical system synchronously opens the receiving channel and uses the primary mirror to receive the reflected signal in reverse. The signal is then refocused onto the fine tracking branch via the primary mirror, secondary mirror, and focusing group. The main optical system simultaneously acquires images of the target surface reflection characteristics, light intensity change curves, and hot spot morphology. The laser action process is evaluated through the effect analysis module to determine whether it hits, whether the energy is sufficient, and whether the target status meets the operational conditions. Step 6: The controller adjusts the angle of the electronic galvanometer (701) according to the evaluation results and drives the fine tracking lens to reacquire the key features of the target to complete the closed-loop correction. The controller updates the control parameters of the electronic galvanometer (701) in real time, instructs the electronic galvanometer (701) to perform attitude fine adjustment, and drives the fine tracking lens to reacquire the key feature points of the target to achieve closed-loop correction of the optical path.

Images