Laser emitter emission control system and method

Abstract

The invention discloses an emission control system and method of a laser emitter, and belongs to the technical field of photoelectric technology, automatic control and artificial intelligence crossing. The system comprises a sensing and vision module; a laser emission module; the cradle head mechanical structure comprises a base, a support, a first servo motor located on the base, a second servo motor located on the support and a cradle head top flat plate. And the control and processing module comprises a processor and a motion control card, the processor is connected with the sensing and vision module so as to obtain a target and target coordinate information based on image information output by the sensing and vision module, and the motion control card is connected with the processor, the laser emission module, the first servo motor and the second servo motor. And based on the target coordinate information, the laser emission module is controlled to emit a laser beam, and the holder mechanical structure is controlled to rotate along the azimuth axis direction and the pitch axis direction. According to the invention, stable and high-precision tracking and precise laser striking of a high-speed maneuvering target in a complex environment are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of optoelectronic technology, automatic control and artificial intelligence, and particularly relates to a laser emitter emission control system and method. BACKGROUND

[0002] At present, most laser defense systems adopt fixed power output and single sensor guidance, which leads to the following defects:

[0003] (1. Weak target recognition ability: lack of intelligent classification ability for targets (such as distinguishing unmanned aerial vehicles, birds and humans), which is easy to cause false triggering or injury;

[0004] (2. Extensive power management: the laser often works at a fixed power, which is low in energy efficiency, has great heat dissipation pressure and short system continuous working time;

[0005] (3. Poor environmental adaptability: in bad weather such as rain, fog and dust, the performance of the optical sensor is sharply reduced, and the system is basically inoperable;

[0006] (4. Insufficient safety mechanism: most systems only rely on software logic to determine safety, lack of real-time hardware-level safety monitoring, and have the risk of human or device misoperation;

[0007] (5. Slow system response: the closed-loop delay from target discovery to laser emission is high, which is difficult to deal with high-speed and multi-target threats.

[0008] In view of the above problems, the present application provides an intelligent laser emission system integrating multi-sensor fusion, artificial intelligence recognition, power dynamic adjustment and multiple safety mechanisms. SUMMARY

[0009] The present application provides a laser emitter emission control system and method to solve the problems of weak target recognition ability, extensive power management, poor environmental adaptability, insufficient safety mechanism and slow system response of the current laser defense system, and realizes stable, high-precision tracking and precise laser attack on high-speed and maneuverable targets in complex environments.

[0010] The present application is realized by the following technical solutions:

[0011] In a first aspect, the present application provides a laser emitter emission control system, the system comprising: a sensing and vision module, wherein the sensing and vision module comprises: a main vision camera, and a visible light and thermal imaging auxiliary sensor; a laser emission module, wherein the laser emission module is configured to emit a laser beam; a gimbal mechanical structure, wherein the gimbal mechanical structure comprises: a base, a support located on the base, a first servo motor located on the base, and a second servo motor and a gimbal top plate located on the support, the first servo motor being configured to drive the base to rotate along an azimuth axis, the second servo motor being configured to drive the support to rotate along a pitch axis, the sensing and vision module and the laser emission module being located on the gimbal top plate; and a control and processing module, wherein the control and processing module comprises: a processor and a motion control card, the processor being connected to the sensing and vision module to obtain target and target coordinate information based on image information output by the sensing and vision module, the motion control card being connected to the processor, the laser emission module, the first servo motor and the second servo motor respectively to control the laser emission module to emit a laser beam and control the gimbal mechanical structure to rotate along the azimuth axis and along the pitch axis based on the target coordinate information.

[0012] In some embodiments, the system further comprises: a millimeter wave radar and / or a safety laser radar, wherein the millimeter wave radar and / or the safety laser radar are located on the gimbal top plate, connected to the processor and the motion control card, and emit in a scanning path of the laser beam emitted by the laser emission module.

[0013] In some embodiments, the system further comprises: a protective structure for wrapping the gimbal mechanical structure and the electrical components arranged thereon, wherein the protective structure comprises, from the outer side to the inner side: a sealing cover, a metal frame, and a conductive shielding layer.

[0014] In some embodiments, the system further comprises: a relay control module, wherein the relay control module is connected in series with a power supply line of the laser emission module and the motion control card, and is configured to cut off the power supply line for the laser emission module under the control of a control signal provided by the motion control card.

[0015] In some embodiments, the system further comprises: a battery module and a power management module, wherein the battery module and the power management module are connected to the motion control card and the relay control module, and are configured to provide operating power to the laser emission module under the control of the control signal provided by the motion control card by the relay control module.

[0016] In some embodiments, the system further comprises an auxiliary support module, wherein the auxiliary support module comprises a self-cleaning lens system, the self-cleaning lens system comprising: a micro air / liquid pump, a nozzle, and a storage tank, the nozzle being close to the lens of the sensing and vision module, the nozzle being connected to the micro air / liquid pump through a pipeline, the micro air / liquid pump being driven by a stepper motor to spray cleaning gas / liquid from the storage tank.

[0017] In a second aspect, the present application provides a laser emitter emission control method, the method comprising: collecting visible light image data by a main vision camera of a sensing and vision module, and collecting visible light and thermal imaging image data by a visible light and thermal imaging auxiliary sensor of the sensing and vision module; identifying a target and obtaining target coordinate information based on image information output by the sensing and vision module through a processor of a control and processing module, and issuing control information based on the target and the target coordinate information, generating control instructions to control a laser emission module to emit a laser beam and to control the rotation of a gimbal mechanical structure along the azimuth axis direction and along the elevation axis direction based on the control information through a motion control card of the control and processing module; and moving the sensing and vision module and the laser emission module arranged thereon based on the control instructions through the gimbal mechanical structure to track and / or attack the target, wherein the gimbal mechanical structure comprises: a base, a support located on the base, a first servo motor located on the base, and a second servo motor and a gimbal top plate located on the support, the first servo motor being used to drive the base to rotate along the azimuth axis direction, the second servo motor being used to drive the support to rotate along the elevation axis direction, the sensing and vision module and the laser emission module being located on the gimbal top plate.

[0018] In some embodiments, the control and processing module controls the processor to identify the target and obtain the target coordinate information based on the image information output by the sensing and vision module, and sends control information based on the target and the target coordinate information, the motion control card of the control and processing module generates control instructions based on the control information to control the laser emission module to emit a laser beam and control the rotation of the mechanical structure of the holder along the azimuth axis direction and along the elevation axis direction, including: identifying the target and classifying the target based on the image information output by the sensing and vision module; in the case that the target is identified as a threat target, outputting the type of the target and the target pixel coordinate data, and continuously tracking the target to obtain updated target pixel coordinate data; converting the updated target pixel coordinate data into holder world coordinate data of the mechanical structure of the holder; calculating the emission power of the laser emission module based on the holder world coordinate data; generating control information based on the holder world coordinate data and the emission power of the laser emission module and sending it to the motion control card; after safety verification of the mechanical structure of the holder and the electrical components arranged thereon, the motion control card generates control instructions based on the control information, otherwise, terminate execution, return to image data acquisition; and based on the control instructions, control the laser emission module to emit a laser beam and control the rotation of the mechanical structure of the holder along the azimuth axis direction and along the elevation axis direction.

[0019] In some embodiments, the method further comprises: obtaining path information on the scanning path of the laser beam emitted by the laser emission module by the millimeter wave radar and / or safety laser radar on the top plate of the holder; the processor verifies the scanning path based on the path information to determine whether there is an obstacle on the scanning path; in the case that there is an obstacle on the scanning path, forcibly stop the laser emission module from emitting laser.

[0020] In some embodiments, calculating the emission power of the laser emission module based on the holder world coordinate data comprises: obtaining the basic effective power of the laser emission of the laser emission module for the threat target; calculating the distance from the threat target based on the holder world coordinate data, and calculating the distance attenuation compensation power based on the distance; calculating the environmental attenuation compensation power based on the environmental information of the threat target; and calculating the emission power of the laser emission module based on the basic effective power, the distance attenuation compensation power, and the environmental attenuation compensation power.

[0021] Compared with the prior art, the laser emitter emission control system has the following advantages and beneficial effects: as a highly integrated photoelectric defense platform, the laser emitter emission control system adopts a deep learning model based on YOLOv8 and a multispectral (visible light + thermal imaging) fusion perception technology, can accurately distinguish different targets such as unmanned aerial vehicles, birds and humans, and fundamentally solves the problem of false triggering; in combination with an improved adaptive Kalman filter (AKF) algorithm and millimeter wave radar point cloud data, stable and high-precision tracking of high-speed and maneuvering targets in complex environments is realized, the tracking precision can reach an angle second level, and a solid foundation is laid for accurate laser strikes, and intelligent identification and high-precision tracking of targets can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the example embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0023] Figure 1 A structural schematic diagram of a laser emitter emission control system according to an embodiment of the present application.

[0024] Figure 2 A structural schematic diagram of a laser emitter emission control system according to an embodiment of the present application.

[0025] Figure 3 A component electrical connection schematic diagram of a laser emitter emission control system according to an embodiment of the present application.

[0026] Figure 4 A schematic diagram of some components on the top plate of the holder according to an embodiment of the present application.

[0027] Figure 5 A schematic diagram of some components of a laser emitter emission control system according to an embodiment of the present application.

[0028] Figure 6 A top view schematic diagram of a first servo motor according to an embodiment of the present application.

[0029] Figure 7 A mounting schematic diagram of a first servo motor and a second servo motor according to an embodiment of the present application.

[0030] Figure 8 A flowchart of a laser emitter emission control method according to an embodiment of the present application.

[0031] Figure 9Tracking control flow chart for laser emitter emission according to embodiments of the application.

[0032] Figure 10 Overall flow chart for laser emitter emission control according to embodiments of the application.

[0033] Figure 11 Hardware level protection flow chart according to embodiments of the application.

[0034] Figure 12 Emission power calculation flow chart for laser emission module according to embodiments of the application. DETAILED DESCRIPTION

[0035] In order to make the objects, technical solutions and advantages of the present application clearer, further detailed description will be given to the present application in combination with embodiments and drawings, and the illustrative embodiments of the present application and the description thereof are only used to explain the present application, but not limit the present application.

[0036] In view of the problems of weak target recognition ability, rough power management, poor environmental adaptability, insufficient security mechanism and slow system response of the current laser defense system, the present application provides a laser emitter emission control system. Figure 1 Structural schematic diagram of a laser emitter emission control system according to embodiments of the present application. Referring to Figure 1 The system comprises a sensing and vision module, a laser emission module, a mechanical structure of a cloud platform and a control and processing module.

[0037] The sensing and vision module comprises a main vision camera and visible light and thermal imaging auxiliary sensors.

[0038] The laser emission module is configured to emit a laser beam.

[0039] The mechanical structure of the cloud platform comprises a base, a bracket on the base, a first servo motor on the base, and a second servo motor and a top plate of the cloud platform on the bracket. The first servo motor is configured to drive the base to rotate along an azimuth axis, and the second servo motor is configured to drive the bracket to rotate along a pitch axis. The sensing and vision module and the laser emission module are located on the top plate of the cloud platform.

[0040] The control and processing module comprises a processor and a motion control card. The processor is connected to the sensing and vision module to obtain target and target coordinate information based on image information output by the sensing and vision module. The motion control card is connected to the processor, the laser emission module, the first servo motor and the second servo motor, respectively, to control the laser emission module to emit a laser beam and control the mechanical structure of the cloud platform to rotate along the azimuth axis and along the pitch axis based on the target coordinate information.

[0041] Figure 2Entity structure diagram of a laser emitter emission control system according to an embodiment of the present application. Figure 3 Component electrical connection diagram of a laser emitter emission control system according to an embodiment of the present application. Reference is made to Figure 2 and Figure 3 The laser emitter emission control system of the present application is described in detail.

[0042] As Figure 2 shown, the gimbal mechanical structure is the bearing and movement basis of the entire system, located at the outermost layer of the system, directly in contact with the environment. The gimbal mechanical structure is a two-axis gimbal mechanism, including an azimuth axis and an elevation axis. Figure 6 Top view diagram of a first servo motor according to an embodiment of the present application. Figure 7 Mounting diagram of a first servo motor and a second servo motor according to an embodiment of the present application. Reference is made to Figure 6 and Figure 7 The azimuth axis is directly driven by a harmonic reducer integrated servo motor (first servo motor) at the lower part (base), realizing 360° unlimited position continuous rotation. The elevation axis is driven by a pair of high-precision bevel gears or by a harmonic reducer integrated servo motor (second servo motor) at the upper part, realizing -90° to +90° elevation movement. The azimuth axis and the elevation axis are mechanically orthogonal, and the intersection point is close to the system centroid.

[0043] The base of the gimbal mechanical structure is fixed to a mounting plane (such as a roof, ground). The first servo motor and the second servo motor are respectively fixed on both sides of the gimbal U-shaped frame (support) through flanges. All optical and sensing devices are mounted on the platform plate (gimbal top flat plate) at the top of the gimbal mechanical structure through standard interfaces (such as ¼"-20 screw holes).

[0044] The gimbal mechanical structure receives control instructions, drives all devices thereon to quickly and accurately aim at a target, and provides a stable physical platform for visual tracking and laser emission.

[0045] The first servo motor and the second servo motor are both harmonic reducer integrated servo motors, integrating a brushless servo motor, a harmonic reducer (such as CSD series, reduction ratio 3000:1) and an absolute value encoder.

[0046] The housing of the first servo motor is fixed in the base, and the housing of the second servo motor is fixed on the support through bolts. The output shaft is directly connected with the rotating shaft (direction axis and elevation axis) of the gimbal mechanical structure through a shaft coupling. The motor power supply line and the encoder feedback line are connected to a power supply device (located in a control cabinet) through an aviation plug through a power supply line.

[0047] The gimbal mechanical structure can provide high-torque, zero-backlash precise movement. The encoder feeds back position information to the processor in real time, realizing closed-loop control.

[0048] The main visual camera, for example, can be a FLIR Blackfly S USB3.1 global shutter camera with an automatic filter; located at the center of the top plate of the gimbal, the optical axis is parallel to the laser emission axis; connected to the processor (such as Jetson Orin processor) through a USB cable. The main visual camera can provide high-definition visible light images for daytime target detection and recognition.

[0049] The dual-spectrum auxiliary sensor, for example, can be a Hikvision ball camera, integrating visible light and thermal imaging lenses; located on one side of the main camera, the optical axis is parallel to the main camera; connected to the processor through a network cable connected to a switch. The thermal imaging channel of the dual-spectrum auxiliary sensor provides target detection capability at night and in bad weather, and fuses with the main camera data to improve recognition rate.

[0050] The laser emission module is the execution terminal of the system, located at the rear of the top plate of the gimbal, and can be a semiconductor laser. For example, the laser emission module can be a Raycus 500W fiber output laser module with a TEC (Thermoelectric Cooler, thermoelectric cooler) refrigeration. The laser emission module is fixed on the top plate of the gimbal, and the light outlet points to the front; connected to the relay module through a power supply line, and connected to the motion control card through a control line, and connected to the external circulating water tank (if needed) through a cooling water pipe.

[0051] The laser emission module can generate a high-energy laser beam, and its power supply is controlled by a relay, and its on-off state is determined by the motion control card according to the safety judgment result.

[0052] The control and processing module is the center of the system, which is set in the sealed control cabinet, including the processor and the motion control card.

[0053] The processor as the AI (artificial intelligence) processing core (Jetson AGX Orin) is an embedded AI computing module. The processor is installed on the mainboard support in the control cabinet, connected to the cameras and sensors through USB / network ports, and communicates with the motion control card through PCIe or gigabit network ports. The processor can run AI algorithms such as YOLOv8 to process image data, identify and locate targets, and send target coordinate information to the motion control card.

[0054] The motion control card (Beckhoff CX2040) can be an industrial PC controller with an EtherCAT master station; installed in the control cabinet and arranged side by side with the Jetson orin processor; connected to servo motors and IO (input / output) modules (such as EL7037) through an EtherCAT bus.

[0055] The motion control card receives target coordinate data, runs a tracking algorithm (Adaptive Kalman filtering, AKF), controls the movement of the gimbal, and manages the timing of laser emission.

[0056] In some embodiments, the system further comprises a millimeter wave radar and / or a safety laser radar, which are located on the top plate of the gimbal, connected to the processor and the motion control card, and emit a scanning path of laser beams for the laser emission module.

[0057] Figure 4 A schematic diagram of some components on the top plate of the gimbal according to an embodiment of the application. As shown, the millimeter wave radar, which can be a TI AWR1843 module for example, includes an antenna board and a processing board, and is located on the back of the top plate of the gimbal or on the side bracket, connected to the control core (motion control card) through an Ethernet or CAN bus. The millimeter wave radar can provide weather-independent distance and speed information, and perform wide-range early warning and coarse guidance. Figure 4

[0058] The safety laser radar, which can be a SICK TIM571 2D LiDAR for example, is installed on the top plate of the gimbal, tilted downward at a certain angle, and connected to the motion control card through an Ethernet. Both the millimeter wave radar and the safety laser radar can scan obstacles in the laser path in real time, trigger a hardware-level safety interrupt, and forcibly stop the laser emission.

[0059] In some embodiments, the system further comprises a protective structure for wrapping the gimbal mechanical structure and the electrical components arranged thereon. The protective structure comprises, from the outside to the inside, a sealing cover, a metal frame, and a conductive shielding layer.

[0060] The main body of the protective structure is an aluminum alloy CNC frame, the shell is an IP67 level sealing cover, there is an O-ring at the joint, and the inside is lined with a conductive shielding layer. The protective structure wraps the entire gimbal mechanical structure and electrical components, and is used to provide dustproof, waterproof, and electromagnetic shielding, to ensure that the internal precision devices can work reliably in harsh environments.

[0061] Figure 5 A schematic diagram of some components of the laser emitter emission control system according to an embodiment of the application.

[0062] In some embodiments, the system further comprises a relay control module, which is connected in series with the power supply line of the laser emission module and the motion control card, and is used to cut off the power supply line for the laser emission module under the control of the control signal provided by the motion control card.

[0063] ​The relay control module can be a large current solid state relay (SSR) installed on the distribution board in the control cabinet, connected in series in the power supply circuit of the laser, and the control end low voltage line is connected to the digital output port of the motion control card. The relay control module receives the TTL control signal of the predetermined control card, and turns on and off the main power supply of the laser to realize fast and reliable laser switching control.

[0064] In some embodiments, the system further comprises: a battery module and a power management module connected with the motion control card and the relay control module, for providing working power to the laser emission module under the control of the control signal provided by the motion control card.

[0065] The battery module can be a lithium polymer battery pack, and the power management can be a BMS (battery management system) located in a separate case near the laser. The output end of the battery module and the power management module is connected to the laser and the relay module, and the BMS communication line is connected to the motion control card. The battery module and the power management module can provide pure and stable pulse power for the laser, avoid power grid impact, and report the status of the BMS to ensure safety.

[0066] In some embodiments, the system further comprises: an auxiliary support module, the auxiliary support module comprising a self-cleaning lens system. The self-cleaning lens system comprises: a micro air / liquid pump, a nozzle, and a storage tank. The nozzle is close to the lens of the sensing and vision module, the nozzle is connected to the micro air / liquid pump through a pipeline, and the micro air / liquid pump is driven by a stepping motor to spray cleaning gas / liquid from the storage tank.

[0067] The self-cleaning lens system comprises a micro air / liquid pump, a nozzle, and a storage tank. The nozzle is close to the surface of each lens. The nozzle is connected to the pump body through a pipeline, and the pump body is controlled by a stepping motor driven by an EtherCAT IO module (such as EL7037). The self-cleaning lens system is started periodically or on demand to clean the lens and ensure the imaging quality.

[0068] In some embodiments, the system further comprises: a battery backup system, which can be an uninterruptible power supply (UPS) module located at the bottom of the control cabinet. The uninterruptible power supply module is connected to the input side of the main power supply, and the output is used to power the entire control cabinet. The battery backup system can provide continuous power when the mains power is interrupted, ensuring safe shutdown or continuous operation of the system for a period of time.

[0069] In the present application, the laser emitter launch control system is a highly integrated photoelectric defense platform, the core of which comprises a gimbal mechanical structure module, a sensing and vision module, a laser launch module, a control and processing module and an auxiliary support module. The modules work cooperatively through mechanical installation, electrical connection and software integration to form a complete closed-loop control system, which can realize intelligent identification and high-precision tracking of targets.

[0070] In another aspect, the present application provides a laser emitter launch control method. Figure 8 A flowchart of a laser emitter launch control method according to an embodiment of the present application is shown in FIG. 1. Figure 8 The laser emitter launch control method comprises S10 to S30.

[0071] In S10, visible light image data is collected by a main vision camera of the sensing and vision module, and visible light and thermal imaging image data is collected by a visible light and thermal imaging auxiliary sensor of the sensing and vision module.

[0072] In S20, a processor of the control and processing module identifies a target and acquires target coordinate information based on image information output by the sensing and vision module, and issues control information based on the target and target coordinate information, a motion control card of the control and processing module generates control instructions based on the control information to control the laser launch module to launch a laser beam and control the gimbal mechanical structure to rotate along the azimuth axis direction and along the elevation axis direction.

[0073] In S30, the sensing and vision module and the laser launch module arranged thereon are moved by the gimbal mechanical structure based on the control instructions to track and / or attack the target. The gimbal mechanical structure comprises a base, a support located on the base, a first servo motor located on the base, and a second servo motor and a gimbal top plate located on the support, the first servo motor being used to drive the base to rotate along the azimuth axis direction, the second servo motor being used to drive the support to rotate along the elevation axis direction, and the sensing and vision module and the laser launch module being located on the gimbal top plate.

[0074] Figure 9 A tracking control flowchart of a laser emitter launch according to an embodiment of the present application is shown in FIG. 2. Figure 9In some embodiments, the target is identified and the target coordinate information is acquired based on the image information output by the sensing and vision module, and control information is sent based on the target and the target coordinate information, the motion control card of the control and processing module generates control instructions based on the control information to control the laser emission module to emit a laser beam and control the rotation of the mechanical structure of the holder along the azimuth axis direction and along the pitch axis direction, including: S21, identifying the target based on the image information output by the sensing and vision module and classifying the target; S22, in the case of identifying the target as a threat target, outputting the type of target and target pixel coordinate data, and continuously tracking the target to acquire updated target pixel coordinate data; S23, converting the updated target pixel coordinate data into holder world coordinate data of the mechanical structure of the holder; S24, calculating the emission power of the laser emission module based on the holder world coordinate data; S25, generating control information based on the holder world coordinate data and the emission power of the laser emission module and sending it to the motion control card; S26, after the safety check of the mechanical structure of the holder and the electrical components arranged thereon, the motion control card generates control instructions based on the control information, otherwise, terminate execution, return to image data acquisition; and S27, based on the control instructions, control the laser emission module to emit a laser beam and control the rotation of the mechanical structure of the holder along the azimuth axis direction and along the pitch axis direction.

[0075] Figure 10 The overall flowchart of the laser emitter emission control according to the embodiments of the present application. The following refers to Figure 10The overall process of laser emitter emission control is described. After system startup / initialization, data acquisition is performed by multiple sensors (including visible light / thermal imaging / radar, etc.), then the acquired data is preprocessed (including image distortion removal / point cloud filtering / time synchronization, etc.), then the preprocessed data is fused, then AI target recognition and classification are performed using image processing algorithms (such as the deep learning model of YOLOv8), and it is determined whether the recognized target is a threat target. If the recognized target is a non-threat target (such as a bird / person, etc.), the target is ignored / return data collection for continuous monitoring. If the recognized target is a threat target (such as a drone), the type of target and its pixel coordinates are output. Then, coordinate conversion is performed to convert the pixel coordinates to gimbal (gimbal mechanical structure) world coordinates, and an improved adaptive Kalman filter (AKF) algorithm is used to continuously track and calculate the emission power of the laser for laser attack. Before laser attack, the emission power of the laser is calculated based on distance / target type / weather, etc. using a dynamic power calculation model. Then, gimbal motion control instructions are generated and sent to the gimbal. In the case of normal safety state flag, the motion control card issues a laser emission instruction, the relay is attracted, and the laser is emitted. After emitting the laser, image data is collected by the image sensor to evaluate the attack result. In the case of abnormal safety state flag, the emission process is immediately suspended, the gimbal is stopped / laser is disabled (software protection), and the image data collection is returned.

[0076] Figure 11 A hardware-level protection flowchart for embodiments according to the present application. Referring to Figure 10 In some embodiments, the method further comprises: S41, acquiring path information on a scanning path of a laser beam emitted by the laser emission module through a millimeter wave radar and / or a safety laser radar on the top plate of the gimbal; S42, the processor checks the scanning path based on the path information to determine whether there is an obstacle on the scanning path; S43, in the case where there is an obstacle on the scanning path, forcibly stopping the laser emission module from emitting laser (hardware protection).

[0077] Figure 12 A laser emission module emission power calculation flowchart for embodiments according to the present application. Referring to Figure 11In some embodiments, the calculation of the emission power of the laser emission module based on the gimbal world coordinate data comprises: S241, obtaining the basic effective power of the laser emission of the laser emission module to the threat target; S242, calculating the distance to the threat target based on the gimbal world coordinate data, and calculating the distance attenuation compensation power based on the distance; S243, calculating the environmental attenuation compensation power based on the environmental information in which the threat target is located; and S244, calculating the emission power of the laser emission module based on the basic effective power, the distance attenuation compensation power, and the environmental attenuation compensation power (sum).

[0078] Compared with the current laser defense system, the laser emitter emission control system of the present application adopts a deep learning model based on YOLOv8 and a multispectral (visible light + thermal imaging) fusion perception technology, which can accurately distinguish different targets such as unmanned aerial vehicles, birds, and humans, and fundamentally solve the problem of false triggering. Combined with the improved adaptive Kalman filter (AKF) algorithm and millimeter wave radar point cloud data, stable and high-precision tracking of high-speed and maneuvering targets in complex environments is realized, with a tracking accuracy of angle seconds, laying a solid foundation for precise laser strikes.

[0079] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A laser emitter emission control system, characterized in that, The system includes: A sensing and vision module, wherein the sensing and vision module includes: a main vision camera and a visible light and thermal imaging auxiliary sensor; A laser emitting module, wherein the laser emitting module is used to emit a laser beam; A gimbal mechanical structure, comprising: a base, a bracket on the base, a first servo motor on the base, a second servo motor on the bracket, and a top plate of the gimbal; the first servo motor drives the base to rotate along the azimuth axis, the second servo motor drives the bracket to rotate along the pitch axis, and the sensing and vision module and the laser emission module are located on the top plate of the gimbal; and A control and processing module, comprising: a processor and a motion control card; the processor is connected to the sensing and vision module to acquire target and target coordinate information based on image information output by the sensing and vision module; the motion control card is connected to the processor, the laser emitting module, the first servo motor, and the second servo motor respectively to control the laser emitting module to emit a laser beam and control the rotation of the gimbal mechanical structure along the azimuth axis and the pitch axis based on the target coordinate information.

2. The system according to claim 1, characterized in that, The system further includes a millimeter-wave radar and / or a safety lidar, wherein the millimeter-wave radar and / or the safety lidar are located on the top plate of the gimbal, connected to the processor and the motion control card, and the emission direction is aligned with the scanning path of the laser beam emitted by the laser emission module.

3. The system according to claim 1 or 2, characterized in that, The system further includes a protective structure for enclosing the gimbal's mechanical structure and the electrical components disposed thereon, wherein the protective structure includes, from the outside to the inside, a sealing cover, a metal frame, and a conductive shielding layer.

4. The system according to claim 1, characterized in that, The system further includes a relay control module, wherein the relay control module is connected in series with the power supply line of the laser emitting module and connected to the motion control card, and is used to cut off the power supply line to the laser emitting module under the control of the control signal provided by the motion control card.

5. The system according to claim 4, characterized in that, The system further includes a battery module and a power management module, wherein the battery module and power management module are connected to the motion control card and the relay control module, and are used to provide working power to the laser emitting module under the control of the control signal provided by the motion control card.

6. The system according to claim 1, characterized in that, The system further includes an auxiliary support module, wherein the auxiliary support module includes a self-cleaning lens system, the self-cleaning lens system includes a miniature air pump / liquid pump, a nozzle, and a storage tank, the nozzle is close to the lens of the sensing and vision module, the nozzle is connected to the miniature air pump / liquid pump through a pipeline, and the miniature air pump / liquid pump is controlled and driven by a stepper motor to spray cleaning air / liquid from the storage tank.

7. A laser emitter emission control method, characterized in that, The method includes: Visible light image data is acquired through the main vision camera of the sensing and vision module, and visible light and thermal imaging image data are acquired through the visible light and thermal imaging auxiliary sensors of the sensing and vision module. The processor of the control and processing module identifies the target and acquires the target coordinate information based on the image information output by the sensing and vision module, and issues control information based on the target and the target coordinate information. The motion control card of the control and processing module generates control commands based on the control information to control the laser emission module to emit a laser beam and to control the rotation of the gimbal mechanical structure along the azimuth axis and the pitch axis. Based on the control commands, the gimbal mechanical structure moves the sensing and vision module and the laser emission module mounted on it to track and / or engage targets. The gimbal mechanical structure includes: a base, a bracket on the base, a first servo motor on the base, a second servo motor on the bracket, and a top plate of the gimbal. The first servo motor drives the base to rotate along the azimuth axis, and the second servo motor drives the bracket to rotate along the pitch axis. The sensing and vision module and the laser emission module are located on the top plate of the gimbal.

8. The method according to claim 7, characterized in that, The processor of the control and processing module identifies the target and acquires the target coordinate information based on the image information output by the sensing and vision module, and issues control information based on the target and the target coordinate information. The motion control card of the control and processing module generates control commands based on the control information to control the laser emitting module to emit a laser beam and to control the rotation of the gimbal mechanical structure along the azimuth axis and the pitch axis, including: Based on the image information output by the sensing and vision module, the target is identified and classified. If the target is identified as a threat target, the target type and target pixel coordinate data are output, and the target is continuously tracked to obtain updated target pixel coordinate data; The updated target pixel coordinate data is converted into gimbal world coordinate data of the gimbal mechanical structure; The emission power of the laser emission module is calculated based on the world coordinate data of the gimbal. Based on the world coordinate data of the gimbal and the emission power of the laser emission module, control information is generated and sent to the motion control card; After performing a safety check on the gimbal's mechanical structure and its electrical components, the motion control card generates control commands based on the control information; otherwise, execution is terminated, and image data acquisition is returned. Based on the control commands, the laser emitting module is controlled to emit a laser beam, and the gimbal mechanical structure is controlled to rotate along the azimuth axis and the pitch axis.

9. The method according to claim 7, characterized in that, The method further includes: The path information of the laser beam emitted by the laser emitting module is obtained by the millimeter-wave radar and / or safety lidar on the top plate of the gimbal. The processor verifies the scanning path based on the path information to determine whether there are obstacles on the scanning path; If an obstacle is present in the scanning path, the laser emitting module is forcibly stopped from emitting laser.

10. The method according to claim 8, characterized in that, The calculation of the laser emission module's emission power based on the gimbal's world coordinate data includes: Obtain the basic effective power of the laser emission module against the threat target; The distance to the threat target is calculated based on the world coordinate data of the gimbal, and the distance attenuation compensation power is calculated based on the distance. Based on the environmental information of the threat target, calculate the environmental attenuation compensation power; and The emission power of the laser emission module is calculated based on the basic effective power, the distance attenuation compensation power, and the environmental attenuation compensation power.

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