Optical detection and laser convergence combined device

Abstract

The invention discloses an optical detection and laser convergence combined device which comprises a working frame with an orientation and pitching macro-motion driving assembly, a mounting plate forming a fixed included angle gamma with the horizontal plane, a detection unit mounted in the central area of the mounting plate, n laser emission channels surrounding the detection unit in the circumferential direction and a control system. Each laser emission channel comprises a laser, a light beam transmission channel and two groups of optical deflection elements; the deflection element is a wedge-shaped light-transmitting mirror or a reflecting mirror driven by a micro-motion driver, and when the reflecting mirror is combined, a deflection shaft is vertical so as to realize X-Y deflection of a light beam. The control system cooperatively controls the angle of each deflection element based on the target coordinate of the detection unit, so that the multi-channel laser is spatially converged at the far-field target.

Description

Technical Field

[0001] This invention relates to a combined device for optical detection and laser focusing, belonging to the field of optical detection technology. Background Technology

[0002] High-energy laser systems have broad application prospects in fields such as long-range detection, precision strikes, and space debris removal. The core effectiveness of such systems depends on two key capabilities: first, the ability to quickly detect and accurately track long-range, high-speed moving targets; and second, the ability to efficiently and accurately focus high-energy laser beams onto the target point and achieve continuous energy delivery.

[0003] Currently, the mainstream technical solutions for achieving laser beam aiming and focusing mainly rely on the following two approaches:

[0004] 1. Aiming System Based on Overall Mechanical Steering: This type of system directly drives the entire laser emitting device (including the heavy laser, optical platform, and support structure) to rotate in azimuth and pitch using a precision servo mechanism, thereby pointing the beam at the target. This approach has inherent technical bottlenecks:

[0005] Slow response speed and large inertia: Due to the large mass and inertia required for driving, the system cannot achieve rapid acceleration and braking, which severely limits the response speed of aiming and tracking, making it difficult to deal with multiple targets that appear suddenly or at high speed.

[0006] The contradiction between control precision and stability: To achieve precise pointing over long distances, extremely high mechanical structural rigidity and servo control precision are required, which often leads to further cumbersome systems, contradicting the need for rapid response.

[0007] Low efficiency in single-target engagement: Its massive mechanical structure makes it impossible to quickly switch between targets in different directions in a short period of time, making it difficult to achieve continuous and rapid engagement of multiple targets.

[0008] 2. Laser focusing systems based on traditional optical beam combining typically employ multiple lasers to increase the laser power acting on the target. Traditional focusing methods involve physically combining multiple lasers into a single, more powerful beam within the system using optical elements such as dichroic mirrors and polarization combiners, which is then directed towards the target via a common transmitting telescope or focusing system. This approach has the following significant drawbacks:

[0009] The system is complex and costly: the beam combining optical path requires precise and complex optical components and assembly processes, which not only increases the size, weight and cost of the system, but also introduces additional optical energy loss and thermal management challenges.

[0010] Unable to achieve dynamic focusing: Fixed beam combining and focusing optical systems typically only perform optimally within a specific depth of focus. For targets at different distances, the system cannot adjust the beam convergence point rapidly in real time, resulting in a significant decrease in energy density and a substantial reduction in strike effectiveness.

[0011] Poor flexibility: Once the internal beam combining is completed, the multiple lasers are "bound" together, making it impossible to independently control each laser to point at a different target, thus losing the ability to deal with multiple threats simultaneously. Even with optical deflection via MENS mirrors, although MENS mirrors are fast, they suffer from poor heat dissipation and are prone to burning out when used with high-power lasers, so they cannot operate continuously for extended periods.

[0012] Poor stability: Multiple beams converge internally, and the high-power laser beam is shaped, causing the optical lens to bear a very high power. Once the total power of the beam exceeds the threshold that the lens can bear or there is a heat dissipation failure in the internal lens, it is easy to cause the lens to burn out, and the focusing device is particularly prone to damage.

[0013] In summary, existing technologies struggle to simultaneously achieve wide-area rapid search, rapid switching and aiming across multiple targets, dynamic focusing on targets at different distances, and lightweight and low-cost system structures. In particular, achieving microsecond-level precise deflection of laser beams without moving bulky mechanical structures, and automatically converging multiple laser beams at target points at arbitrary distances without using complex beam-combining optical components, remain critical technical challenges in this field.

[0014] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0015] The purpose of this invention is to provide a combined optical detection and laser focusing device, thereby overcoming the defects in the prior art.

[0016] A combined optical detection and laser focusing device, comprising:

[0017] The work frame is equipped with an azimuth drive assembly and a pitch drive assembly. The azimuth drive assembly includes an azimuth drive device and an azimuth rotation axis, and the pitch drive assembly includes a pitch drive device and a pitch axis. The azimuth drive device and the pitch drive device are macro motors used to drive the work frame to rotate around the azimuth rotation axis and the pitch axis, respectively.

[0018] The mounting plate is rotatably connected to the work frame via a pitch driver or an azimuth driver, and the mounting plate forms a fixed angle γ with the horizontal plane.

[0019] The detection unit, installed near the center area of ​​the mounting plate, is configured to scan the airspace within its field of view to detect at least one target and acquire its coordinate information;

[0020] n laser emission channels (n is a positive integer) are circumferentially distributed on the mounting plate and arranged around the detection unit. Each laser emission channel includes:

[0021] A laser is used to generate a laser beam.

[0022] Laser emission channel, used to guide the directional transmission of the laser beam output from the laser;

[0023] The first optical deflection element is configured as a wedge-shaped lens that can rotate at high speed around a first axis driven by a micro-motion actuator, for applying a first refractive deflection to the beam from the laser; or the first optical deflection element is configured as a reflector that causes the laser beam to produce a first reflection deflection.

[0024] The second optical deflection element is coaxially located downstream of the deflection optical path of the first optical deflection element. It is configured as a wedge-shaped lens that can rotate at high speed around the first axis driven by a micro-motion actuator, used to apply a second refractive deflection to the light beam; or the second optical deflection element is located between the first optical deflection element and the laser, configured as a reflector that causes the laser beam to produce a second reflection deflection.

[0025] When both the first and second optical deflection elements are mirrors, their deflection axes are perpendicular to each other, causing the final output beam to deflect in the XY direction.

[0026] The control system is communicatively connected to the detection unit and the micro-motion actuators and macro-motion actuators of each laser emission channel;

[0027] The control system is configured to independently and collaboratively control the deflection angles of the first and second optical deflection elements in each laser emission channel based on the target coordinate information obtained by the detection unit, so that the laser beams emitted from each channel achieve spatial convergence at the far-field target position.

[0028] A combined optical detection and laser focusing device, comprising:

[0029] The work frame is equipped with an orientation drive assembly, which includes an orientation drive device and an orientation rotation axis. The orientation drive device is used to drive the work frame to rotate around the orientation rotation axis.

[0030] The mounting plate is connected to the work frame via an orientation driver, and the mounting plate forms a fixed angle γ with the horizontal plane.

[0031] The detection unit, an electromagnetic wave detection system, is installed near the center area of ​​the mounting plate and is configured to scan the airspace within its field of view to detect at least one target and obtain its coordinate information.

[0032] n laser emission channels are circumferentially distributed on the mounting plate and arranged around the detection unit. Each laser emission channel includes:

[0033] A laser is used to generate a laser beam.

[0034] Laser emission channel, used to guide the directional transmission of the laser beam output from the laser;

[0035] The first optical deflection element is configured as a wedge-shaped lens that can rotate at high speed around a first axis driven by a micro-motion actuator, for applying a first refractive deflection to the beam from the laser; or the first optical deflection element is configured as a reflector that causes the laser beam to produce a first reflection deflection.

[0036] The second optical deflection element is coaxially located downstream of the deflection optical path of the first optical deflection element. It is configured as a wedge-shaped lens that can rotate at high speed around the first axis driven by a micro-motion actuator, used to apply a second refractive deflection to the light beam; or the second optical deflection element is located between the first optical deflection element and the laser, configured as a reflector that causes the laser beam to produce a second reflection deflection.

[0037] When both the first and second optical deflection elements are mirrors, their deflection axes are perpendicular to each other, causing the final output beam to deflect in the XY direction.

[0038] The control system is communicatively connected to the detection unit and the micro-motion actuators and macro-motion actuators of each laser emission channel;

[0039] The control system is configured to independently and collaboratively control the deflection angles of the first and second optical deflection elements in each laser emission channel based on the target coordinate information obtained by the detection unit, so that the laser beams emitted from each channel achieve spatial convergence at the far-field target position.

[0040] In a further preferred embodiment, when the first optical deflection element and the second optical deflection element are wedge-shaped lenses, the wedge angle of the wedge-shaped lens is α, and the scanning trajectory of the laser beam emitted by the laser emission channel is a rose line, where α = 0.2°-10°.

[0041] When the first optical deflecting element and the second optical deflecting element are reflectors, the first optical deflecting element and the second optical deflecting element constitute a dual-axis deflecting galvanometer group, which realizes that the scanning angle of the target area in the X and Y directions is α1, where α1 = 0.5°-40°.

[0042] More preferably, the detection unit is an active optical detection system, a passive optical detection system, an electromagnetic wave radar, or a combination thereof; the active optical detection system includes an optical rangefinder and a laser scanning radar, and the passive optical detection system includes an imaging device in the infrared or visible light band; the detection unit can also be configured as an electromagnetic wave detection system to achieve multi-target detection and positioning.

[0043] In a further preferred embodiment, when the detection unit is a laser scanning radar, the laser scanning radar includes a detection light source for emitting a scanning beam, a pair of rotating scanning prisms for deflecting the scanning beam twice to form a scanning trajectory, and a receiving optical system and detector for receiving the target reflected echo; the pair of rotating scanning prisms includes a wedge-shaped light transmission mirror-3 and a wedge-shaped light transmission mirror-4, both of which have a wedge angle of β / 2, and the scanning trajectory of the scanning beam emitted by the laser scanning radar is a rose line, β=0.5°-25°.

[0044] More preferably, the detection unit includes an electromagnetic wave radar detection system, specifically a phased array radar, used to simultaneously detect and locate multiple targets within a field of view of 2*β.

[0045] More preferably, each laser emission channel further includes encoder 1 and encoder 2. Encoder 1 is configured to cooperate with a micro-driver that drives the first optical deflection element, and encoder 2 is configured to cooperate with a micro-driver that drives the second optical deflection element, for detecting the rotation angle of the first optical deflection element and the second optical deflection element respectively.

[0046] More preferably, the micro-motion actuator that drives the first optical deflection element and the second optical deflection element has a higher angular velocity response capability than the macro-motion actuator that drives the work frame.

[0047] In a further preferred embodiment, the control system employs a coarse-fine composite tracking strategy: the macro actuator drives the work frame for coarse tracking, so that the target enters and remains within the field of view of the detection unit; the micro actuator drives the first and second optical deflection elements for fine aiming.

[0048] Further preferably, each laser emission channel emits the same laser wavelength, so as to converge the same wavelength of laser at the target.

[0049] Further preferably, each laser emission channel emits a different laser wavelength to converge lasers of different wavelengths at the target.

[0050] Furthermore, the control system is further configured as follows:

[0051] Receive coordinate information of at least two targets;

[0052] Control the beams of each laser emission channel to converge to the first target, or control the beams of some channels to converge to the first target and the beams of other channels to converge to the second target;

[0053] Without moving the work stand, the beam can be controlled to turn and reconverge between different target positions by rapidly adjusting the angles of the first and second optical deflection elements in each channel.

[0054] Furthermore, for targets at different distances, the control system calculates and sets different combinations of deflection angles for each channel, enabling all beams to achieve dynamic focusing at the target distance.

[0055] Technical advantages:

[0056] 1. High-speed target detection: The working frame drives the detection unit to align with the approximate location of the target, and the detection unit itself completes the rapid detection of the target with precise positioning within the field of view. At this time, there is no need to deflect the heavy and bulky frame, thus achieving high speed and high precision in target detection.

[0057] 2. High speed of laser control: Laser control utilizes two small and lightweight wedge lenses or biaxial total internal reflection galvanometers to deflect the beam (compared to wedge lenses, these have more mature technology, lower design and processing costs, wider market availability, and can use various materials, including metal materials coated with reflective films, to meet greater laser power requirements). This enables rapid laser aiming at targets within the scanning range without deflecting the entire frame, thus achieving high speed of laser control.

[0058] 3. High laser power: Multiple laser beams are aimed at the target through different deflection angles and converged at the target to achieve high-power laser focusing.

[0059] 4. No converging lens required: Multiple laser beams are converged at the target by using a deflector, eliminating the need for an optical lens to converge the laser, reducing design and manufacturing costs and lightening the weight of the device.

[0060] 5. Achieve dynamic laser focusing: For targets at different distances, the direction of each beam is controlled separately, so that all beams converge at the same point on the target, thus achieving dynamic laser focusing.

[0061] 6. Quickly switch between different wavelengths of laser to adapt to different weather conditions and sudden changes in the environment.

[0062] 7. The high speed of target detection and the high speed of laser focusing make it suitable for simultaneous detection of multiple targets and high-speed laser irradiation of multiple targets.

[0063] 8. For civilian applications, such as bird control at airports, millimeter-wave and other electromagnetic radars can be used to locate multiple bird flocks. In this case, the laser can be set to a visible green laser, and each laser can target different bird flocks to drive away multiple flocks at the same time. Alternatively, the beams of multiple lasers can be formed into a dynamic cone-shaped area. The beams can quickly scan to form a light wall, thereby driving away and gathering the bird flocks in this area for precise management. Attached Figure Description

[0064] Figure 1a Schematic diagram of an optical deflection element that is a rotating wedge-shaped mirror;

[0065] Figure 1b : A schematic diagram of an optical deflecting element that is a mirror;

[0066] Figure 1c Schematic diagram of the working drive of the work frame;

[0067] Figure 1d Schematic diagram of the working drive of the work frame;

[0068] Figure 2a Schematic diagram of a rotating wedge-shaped mirror;

[0069] Figure 2b Schematic diagram of a biaxial mirror;

[0070] Figure 2c A schematic diagram of the scanning trajectory of the laser emission channel, showing the rose line scanning area (coverage angle α×4), illustrating the effect of the coordinated rotation of the two wedge-shaped lenses on beam deflection;

[0071] Figure 3a : A schematic diagram of the scanning principle of the laser scanning radar in the detection component, showing the optical path relationship of the detection light source, the dual rotating scanning prism (wedge-shaped transparent lens -3 / 4), the detector, and the rose line scanning area (coverage angle β×2).

[0072] Figure 3b : Schematic diagram of multi-target tracking;

[0073] Figure 4a , Figure 4b , Figure 4c This is a schematic diagram of Example 2. Detailed Implementation

[0074] The specific embodiments of the present invention will be described in detail below, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0075] Example 1

[0076] This embodiment relates to the field of optical detection and laser application technology, specifically to an optical detection and laser emission combination device and a multi-target laser strike method for multi-target search, aiming and laser energy focusing, applicable to scenarios such as precise multi-target positioning, laser energy focusing strike, and interception of targets in complex airspace.

[0077] Combination Figure 1a , Figure 1c , Figure 2a , Figure 2b , Figure 3a The optical detection and laser emission combination device in this embodiment specifically includes a work stand, a detection component, a laser emission channel, and a control system. The structure and assembly relationship of each component are as follows:

[0078] (a) Work rack

[0079] The work frame is the core load-bearing structure of the device, and is entirely made of lightweight, high-strength alloy materials (such as aerospace-grade aluminum-lithium alloy) to ensure structural stability while reducing motion inertia. The work frame includes an outer frame, an inner frame, a mounting plate, and drive components.

[0080] The outer frame and the inner frame are hinged together by an azimuth rotation axis. Either the inner frame or the outer frame can rotate continuously 360° horizontally (azimuth angle) around the azimuth rotation axis. The inner frame is rotatably connected to the mounting plate (the mounting plate is rotatably connected to the inner frame via a pitch driver and a pitch axis, or the mounting plate is rotatably connected to the inner frame via an azimuth driver and an azimuth rotation axis). The upper mounting plate forms a fixed angle γ=90° with the horizontal plane (preferably 90° in this embodiment, but values ​​of 60°, 70°, 110°, 120°, etc. can be selected according to the actual application scenario).

[0081] The drive assembly includes an azimuth macro drive and a pitch macro drive. The azimuth macro drive is installed between the outer frame and the inner frame, driving the inner frame to rotate around the azimuth rotation axis. The pitch macro drive is installed between the inner frame and the upper mounting plate, driving the upper mounting plate to rotate around the pitch axis, ultimately achieving a combined rotation of the work frame in the horizontal and pitch directions.

[0082] The upper mounting plate has a central hole to avoid the optical path or cable of the detection component, and its surface is machined with a ring of mounting holes for fixing the optical deflection element of the laser emission channel.

[0083] (ii) Detection components

[0084] The detection component is installed in the central area of ​​the upper mounting plate. It is an active + passive composite detection system with a wide field of view for target search, high-precision positioning, and multi-target recognition capabilities. Specifically, it includes:

[0085] Active detection module:

[0086] Laser scanning radar: The core components include a detection light source (using a 1550nm pulsed laser, output power 10W, pulse width 10ns), a pair of rotating scanning prisms (wedge-shaped lens-3 and wedge-shaped lens-4), a receiving optical system (focal length 50mm, field of view ±15°), and a detector (InGaAs avalanche photodiode); among them, the wedge angle of the two wedge-shaped lenses is β / 2=1.5° (i.e. β=3°), they are coaxially mounted and can rotate at high speed around their respective rotation axes in opposite directions. The scanning beam forms a rosette scanning trajectory after being deflected twice (e.g., Figure 3a As shown), the scanning area coverage angle is β×2=6° to ensure uniform coverage of the detection field of view;

[0087] Please refer to Figure 2b and Figure 1b When both the first and second optical deflection elements are mirrors, their deflection axes are perpendicular to each other, causing the final output beam to deflect in the XY direction.

[0088] When the first optical deflecting element and the second optical deflecting element are reflectors, the first optical deflecting element and the second optical deflecting element constitute a dual-axis deflecting galvanometer group, which realizes that the scanning angle of the target area in the X and Y directions is α1, where α1 = 0.5°-40°.

[0089] Phased array radar: operates in the X-band, has a detection range of ≥5km, can simultaneously track ≥10 targets, and outputs the target's azimuth, elevation angle and range information. It complements laser scanning radar to improve the multi-target positioning accuracy in complex environments.

[0090] Passive detection module: includes an infrared imaging device (operating band 8-14μm, resolution 640×512) and a visible light imaging device (resolution 1920×1080, frame rate 30fps), used for target contour recognition and target acquisition in low-light environments.

[0091] (III) Laser emission channel

[0092] In this embodiment, four laser emission channels are configured, and each channel is evenly distributed circumferentially along the annular mounting holes of the upper mounting plate (the included angle between adjacent channels is 60°, such as...). Figures 1b-1c As shown), to ensure energy uniformity during beam convergence; each laser emission channel includes:

[0093] Laser source: Installed on the side wall of the inner rack, using fiber-coupled output laser. In this embodiment, the four light sources can be selected to emit the same wavelength (such as 1064nm infrared laser), or two emit 1064nm laser and two emit 532nm visible light laser. The output power of a single light source is 50W, and the beam divergence angle is ≤1mrad.

[0094] The first optical deflection element is a wedge-shaped lens with a wedge angle α = 2°. It is installed in the mounting hole on the outer side of the upper mounting plate and is driven by a rotary driver-1 (micro-motion driver). It can rotate at high speed around the first axis with a rotational angular velocity range of 100-500 rad / s. It is used to apply the first deflection to the beam output by the laser source.

[0095] The second optical deflecting element is a wedge-shaped lens with the same structure as the first optical deflecting element, with a wedge angle α = 2°, and is coaxially mounted downstream of the optical path of the first optical deflecting element (e.g., Figure 2a As shown), driven by rotary driver-2 (micro-actuator), it rotates at high speed around the same first axis, with the rotation direction opposite to that of the first optical deflection element, to apply a second deflection to the beam; after two deflections, the scanning trajectory of the laser beam is a rose line (as shown). Figure 2c As shown in the figure, the scanning area covers an angle of α×4=8°, achieving high-precision scanning in a small area;

[0096] Angle detection component: includes encoder-1 and encoder-2, which are connected to the rotation shafts of the first and second optical deflection elements respectively. The encoding resolution is 0.001°. It detects the rotation angle of the two deflection elements in real time and feeds the signal back to the control system to realize angle closed-loop control.

[0097] Optical path calibration component: A collimating lens (focal length 20mm) is set between the laser source and the first optical deflection element to ensure that the beam is incident parallel to the light-transmitting surface of the deflection element and reduce optical path offset error.

[0098] (iv) Control System

[0099] The control system uses an FPGA (Field-Programmable Gate Array) as the core control unit, paired with an ARM processor to handle data processing and command issuance. Specifically, it includes:

[0100] Communication module: Establishes communication connection with the detection component, azimuth / pitch macro actuator, rotary actuator-1 / 2, and encoder-1 / 2 via Ethernet, with a data transmission rate ≥1Gbps, ensuring real-time transmission of commands and feedback signals;

[0101] The calculation module receives the target's three-dimensional coordinates (distance, azimuth, and elevation) output by the detection component, and combines them with the deflection element angle information fed back by the encoder to calculate the coarse tracking angle of the work frame (driving the macro actuator) and the target rotation angle of the first and second optical deflection elements (driving the micro actuator).

[0102] Control strategy module: Built-in coarse-fine composite tracking algorithm, as well as multi-target switching and dynamic focusing algorithm, which can dynamically adjust control parameters according to the number of targets, distance and priority.

[0103] Working principle and process:

[0104] (I) Coarse-fine composite tracking process

[0105] Coarse tracking: The control system receives the initial target positioning information from the detection component, drives the azimuth macro actuator and the pitch macro actuator, and rotates the work frame to make the target enter the center area of ​​the field of view of the detection component (field of view ±15°). The positioning accuracy of the macro actuator is ±0.1° and the response time is ≤50ms.

[0106] Precision aiming: After the macro actuator stops moving, the control system calculates the target rotation angle of the first and second optical deflection elements based on the precise target coordinates output by the detection component, and drives the rotary actuator-1 / 2 to rotate the two wedge-shaped light transmission mirrors at high speed; the encoder-1 / 2 provides real-time feedback of the rotation angle, and the control system adjusts the actuator output through closed-loop control so that the actual angle of the two deflection elements deviates from the target angle by ≤0.005°, ultimately achieving precise aiming of the laser beam at the target; among them, the angular velocity response capability of the rotary actuator-1 / 2 (≥500rad / s) is more than 16 times that of the macro actuator (≤30rad / s), ensuring the speed and high precision of precision aiming.

[0107] (II) Single-target laser energy focusing process

[0108] 1. The detection component scans the target area. The laser scanning radar and the phased array radar work together to obtain the target's precise three-dimensional coordinates (such as distance L=3km, azimuth θ=10°, elevation φ=5°) and transmit them to the control system.

[0109] 2. The control system calculates the coarse tracking angle of the work frame and drives the azimuth / pitch macro actuator to rotate the work frame, so that the target is kept within the field of view of the detection component;

[0110] 3. Based on the target distance L, the control system calculates the unique rotation angle combination of the first and second optical deflection elements for each of the six laser emission channels (the angle combination varies due to the different installation positions of each channel), and drives the two deflection elements to rotate to the target angle through a rotary driver;

[0111] 4. The beams from n laser emission channels are deflected by double wedge-shaped lenses and then converge at the far-field target location. The diameter of the converged beam is ≤10cm (at a distance of 3km), and the energy density meets the preset strike requirements.

[0112] (III) Multi-target switching and convergence process

[0113] The detection component simultaneously identifies and acquires the coordinate information of two targets: target 1 (distance L1=2km) and target 2 (distance L2=4km), and transmits it to the control system;

[0114] Mode 1 (attack in sequence):

[0115] Step 1: The control system calculates the angle combination of each channel deflection element based on the coordinates of target 1, and controls the 6 laser beams to converge on target 1 to complete the preset irradiation time (e.g., 5s).

[0116] Step 2: Without moving the work stand, the control system recalculates the angle combination of each channel deflection element based on the coordinates of target 2 and distance L2 (considering the influence of distance difference on beam convergence), and quickly adjusts the angle of the deflection element through the rotary driver (switching time ≤ 10ms) so that the 6 laser beams turn from target 1 and converge to target 2.

[0117] Mode 2 (Simultaneous Strike):

[0118] Step 1: The control system controls the beams from three laser emission channels to converge on target 1, and the beams from the other three channels to converge on target 2, so as to achieve simultaneous irradiation of two targets;

[0119] Step 2: Based on the change in the target's status (e.g., target 1 has been hit), without moving the work stand, quickly adjust the angles of all channel deflection elements so that all 6 laser beams are redirected and converged on target 2, or redirected to the newly identified target 3.

[0120] (iv) Dynamic focusing process of targets at different distances

[0121] When the target distance changes (e.g., from 3km to 5km), the control system achieves dynamic focusing through the following steps:

[0122] The detection components update the target distance information in real time and feed it back to the control system;

[0123] Based on the new target distance, the control system recalculates the deflection angle combination of the first and second optical deflection elements in each laser emission channel (the farther the distance, the smaller the angle difference between the two deflection elements, ensuring that the beam convergence point falls precisely on the target position).

[0124] The rotary driver adjusts the rotation angle of the deflection element according to the new angle command, and the encoder provides real-time angle feedback to form a closed-loop control, which ultimately enables all beams to converge precisely at the new target distance, avoiding beam dispersion caused by distance changes.

[0125] IV. Variations of Implementation Methods

[0126] Upper mounting plate angle variant: Depending on the optical path requirements of the actual application scenario, the fixed angle γ can be adjusted to 60° (suitable for short-distance focusing scenarios) or 120° (suitable for large field-of-view scanning scenarios). Only the fixed connection angle between the inner frame and the upper mounting plate needs to be adjusted, while the rest of the structure remains unchanged.

[0127] Variations in the number of laser emission channels: The number of laser emission channels can be increased to 8 or reduced to 4 depending on energy requirements. When the number of channels changes, only the distribution of the mounting holes on the upper mounting plate and the angle calculation parameters of the control system need to be adjusted.

[0128] Variants in scanning trajectory parameters: By adjusting the wedge angle α of the first and second optical deflection elements (e.g., α=1°, the scanning area covers 4°; α=3°, the scanning area covers 12°), or by changing the rotation direction of the two deflection elements (rotating in the same direction), rose line scanning trajectories with different coverage ranges can be obtained to adapt to different field of view requirements.

[0129] Detection component configuration variants: If the application scenario has low requirements for detection distance, the phased array radar can be omitted, and only the laser scanning radar and infrared / visible light imaging device can be retained to reduce the cost and size of the device.

[0130] Example 2

[0131] A combined optical detection and laser focusing device, comprising:

[0132] The work frame is equipped with an orientation drive assembly, which includes an orientation drive device and an orientation rotation axis. The orientation drive device is used to drive the work frame to rotate around the orientation rotation axis.

[0133] The mounting plate is connected to the work frame via an orientation driver, and the mounting plate forms a fixed angle γ with the horizontal plane.

[0134] The detection unit, an electromagnetic wave detection system, is installed near the center area of ​​the mounting plate and is configured to scan the airspace within its field of view to detect at least one target and obtain its coordinate information.

[0135] n laser emission channels are circumferentially distributed on the mounting plate and arranged around the detection unit. Each laser emission channel includes:

[0136] A laser is used to generate a laser beam.

[0137] Laser emission channel, used to guide the directional transmission of the laser beam output from the laser;

[0138] The first optical deflection element is configured as a wedge-shaped lens that can rotate at high speed around a first axis driven by a micro-actuator, for applying a first refractive deflection to the beam from the laser; or the first optical deflection element is configured as a reflector that causes the beam from the laser to produce a first reflection deflection.

[0139] The second optical deflection element is coaxially located downstream of the deflection optical path of the first optical deflection element. It is configured as a wedge-shaped lens that can rotate at high speed around the first axis driven by a micro-motion actuator, used to apply a second refractive deflection to the light beam; or the second optical deflection element is located between the first optical deflection element and the laser, configured as a reflector that causes the laser beam to produce a second reflection deflection.

[0140] When both the first and second optical deflection elements are mirrors, their deflection axes are perpendicular to each other, causing the final output beam to deflect in the XY direction.

[0141] The control system is communicatively connected to the detection unit and the micro-motion actuators and macro-motion actuators of each laser emission channel;

[0142] The control system is configured to independently and collaboratively control the deflection angles of the first and second optical deflection elements in each laser emission channel based on the target coordinate information obtained by the detection unit, so that the laser beams emitted from each channel achieve spatial convergence at the far-field target position.

[0143] When the first optical deflection element and the second optical deflection element are wedge-shaped lenses, the wedge angle of the wedge-shaped lens is α, and the scanning trajectory of the laser beam emitted by the laser emission channel is a rose line, α = 0.2°-10°;

[0144] When the first optical deflecting element and the second optical deflecting element are reflectors, the first optical deflecting element and the second optical deflecting element constitute a dual-axis deflecting galvanometer group, which realizes that the scanning angle of the target area in the X and Y directions is α1, where α1 = 0.5°-40°.

[0145] The detection unit can be an active optical detection system, a passive optical detection system, an electromagnetic wave radar, or a combination thereof; the active optical detection system includes an optical rangefinder and a laser scanning radar, and the passive optical detection system includes an imaging device in the infrared or visible light band; the detection unit can also be configured as an electromagnetic wave detection system to achieve the detection and positioning of multiple targets.

[0146] When the detection unit is a laser scanning radar, the laser scanning radar includes a detection light source for emitting a scanning beam, a pair of rotating scanning prisms for deflecting the scanning beam twice to form a scanning trajectory, and a receiving optical system and detector for receiving the target reflected echo; the pair of rotating scanning prisms includes wedge-shaped light transmission mirror-3 and wedge-shaped light transmission mirror-4, both of which have a wedge angle of β / 2, and the scanning trajectory of the scanning beam emitted by the laser scanning radar is a rose line, β=0.5°-25°.

[0147] The detection unit is an electromagnetic wave radar detection system, specifically a phased array radar, used to simultaneously detect and locate multiple targets within a 2*β field of view.

[0148] Each laser emission channel also includes encoder 1 and encoder 2. Encoder 1 is configured to cooperate with the micro-driver that drives the first optical deflection element, and encoder 2 is configured to cooperate with the micro-driver that drives the second optical deflection element, for detecting the rotation angle of the first optical deflection element and the second optical deflection element respectively.

[0149] The micro-motion actuator that drives the first optical deflection element and the second optical deflection element has a higher angular velocity response capability than the macro-motion actuator that drives the work frame.

[0150] The control system adopts a coarse-fine composite tracking strategy: the macro actuator drives the work frame to perform coarse tracking, so that the target enters and remains within the field of view of the detection unit; the micro actuator drives the first and second optical deflection elements to perform fine aiming.

[0151] Each laser emission channel emits lasers of the same wavelength, so that the same wavelength of laser light is focused at the target.

[0152] Each laser emission channel emits a different wavelength of laser light, so that different wavelengths of laser light are focused at the target.

[0153] The control system is further configured as follows:

[0154] Receive coordinate information of at least two targets;

[0155] Control the beams of each laser emission channel to converge to the first target, or control the beams of some channels to converge to the first target and the beams of other channels to converge to the second target;

[0156] Without moving the work stand, the beam can be controlled to turn and reconverge between different target positions by rapidly adjusting the angles of the first and second optical deflection elements in each channel.

[0157] For targets at different distances, the control system calculates and sets different combinations of deflection angles for each channel, enabling all beams to be dynamically focused at the target distance.

[0158] Beneficial effects:

[0159] Advantages of the scanning trajectory: The laser emission channel uses dual wedge-shaped light-transmitting mirrors to rotate in coordination, forming a rose-line scanning trajectory. Compared with traditional straight-line scanning, the scanning coverage is more uniform and there are no blind spots, improving the accuracy of target aiming. The laser scanning radar of the detection component also uses dual rotating scanning prisms to form a rose-line scan, which matches the scanning trajectory of the laser emission channel to achieve coordinated optimization of detection and aiming.

[0160] High-precision control advantages: The encoder provides closed-loop feedback on the angles of the two optical deflection elements. Combined with a coarse-fine composite tracking strategy, the macro-motion driver achieves large field-of-view target acquisition, while the micro-motion driver (rotary driver) achieves high-precision aiming. The positioning accuracy can reach ±0.005°, meeting the accuracy requirements for far-field beam convergence.

[0161] Multi-target response advantages: When switching between multiple targets, there is no need to move the work stand. The beam can be turned and converged simply by quickly adjusting the angle of the optical deflection element. The switching time is ≤10ms, which greatly improves the efficiency of multi-target engagement. At the same time, it supports dynamic focusing on targets at different distances, adapting to scenarios where the target distance changes in complex airspace.

[0162] Advantages of the structural layout: The layout with the detection components located in the center and the laser emission channels distributed around them, combined with the fixed angle design between the upper mounting plate and the horizontal plane, reduces mutual interference between the optical paths of each channel and improves the integration and stability of the device.

Claims

1. A combined device for optical detection and laser focusing, characterized in that, include: The work frame is equipped with an azimuth drive assembly and a pitch drive assembly. The azimuth drive assembly includes an azimuth drive device and an azimuth rotation axis, and the pitch drive assembly includes a pitch drive device and a pitch axis. The azimuth drive device and the pitch drive device are macro motors used to drive the work frame to rotate around the azimuth rotation axis and the pitch axis, respectively. The mounting plate is connected to the work frame via a pitch driver or an azimuth driver, and the mounting plate forms a fixed angle γ with the horizontal plane. The detection unit is installed near the central area of ​​the mounting plate and is configured to scan the airspace within its field of view to detect at least one target and obtain its coordinate information. n laser emission channels are circumferentially distributed on the mounting plate and arranged around the detection unit, each laser emission channel comprising: A laser is used to generate a laser beam. A laser emission channel is used to guide the directional transmission of the laser beam output by the laser. The first optical deflection element is configured as a wedge-shaped lens that can rotate at high speed around a first axis driven by a micro-motion actuator, for applying a first refractive deflection to the beam from the laser; or the first optical deflection element is configured as a reflector that causes the beam from the laser to produce a first reflection deflection. The second optical deflection element is coaxially located downstream of the deflection optical path of the first optical deflection element and is configured as a wedge-shaped lens that can rotate at high speed around the first axis driven by a micro-motion actuator, used to apply a second refractive deflection to the light beam; or the second optical deflection element is located between the first optical deflection element and the laser and is configured as a reflector that causes the laser beam to produce a second reflection deflection. When both the first optical deflection element and the second optical deflection element are reflectors, their deflection axes are perpendicular to each other, causing the final output beam to deflect in the XY direction. The control system is communicatively connected to the detection unit, the micro-motion actuator of each laser emission channel, and the macro-motion actuator; The control system is configured to: independently and collaboratively control the deflection angles of the first optical deflection element and the second optical deflection element in each laser emission channel based on the target coordinate information obtained by the detection unit, so that the laser beams emitted from each channel achieve spatial convergence at the far-field target position.

2. A combined device for optical detection and laser focusing, characterized in that, include: The work frame is equipped with an orientation drive assembly, which includes an orientation drive device and an orientation rotation axis. The orientation drive device is used to drive the work frame to rotate around the orientation rotation axis. The mounting plate is connected to the work frame via an orientation driver, and the mounting plate forms a fixed angle γ with the horizontal plane. The detection unit, an electromagnetic wave detection system, is installed near the center area of ​​the mounting plate and is configured to scan the airspace within its field of view to detect at least one target and obtain its coordinate information. n laser emission channels are circumferentially distributed on the mounting plate and arranged around the detection unit, each laser emission channel comprising: A laser is used to generate a laser beam. A laser emission channel is used to guide the directional transmission of the laser beam output by the laser. The first optical deflection element is configured as a wedge-shaped lens that can rotate at high speed around a first axis driven by a micro-motion actuator, for applying a first refractive deflection to the beam from the laser; or the first optical deflection element is configured as a reflector that causes the beam from the laser to produce a first reflection deflection. The second optical deflection element is coaxially located downstream of the deflection optical path of the first optical deflection element and is configured as a wedge-shaped lens that can rotate at high speed around the first axis driven by a micro-motion actuator, used to apply a second refractive deflection to the light beam; or the second optical deflection element is located between the first optical deflection element and the laser and is configured as a reflector that causes the laser beam to produce a second reflection deflection. When both the first optical deflection element and the second optical deflection element are reflectors, their deflection axes are perpendicular to each other, causing the final output beam to deflect in the XY direction. The control system is communicatively connected to the detection unit, the micro-motion actuator of each laser emission channel, and the macro-motion actuator; The control system is configured to: independently and collaboratively control the deflection angles of the first optical deflection element and the second optical deflection element in each laser emission channel based on the target coordinate information obtained by the detection unit, so that the laser beams emitted from each channel achieve spatial convergence at the far-field target position.

3. The combined optical detection and laser focusing device according to claim 1 or 2, characterized in that, When the first optical deflection element and the second optical deflection element are wedge-shaped lenses, the wedge angle of the wedge-shaped lens is α, and the scanning trajectory of the laser beam emitted by the laser emission channel is a rose line, where α = 0.2°-10°; When the first optical deflection element and the second optical deflection element are reflectors, the first optical deflection element and the second optical deflection element constitute a dual-axis deflection galvanometer group, so that the scanning angle of the target area in the X and Y directions is α1, where α1 = 0.5°-40°.

4. The combined optical detection and laser focusing device according to claim 1, characterized in that, The detection unit is an active optical detection system, a passive optical detection system, an electromagnetic wave radar, or a combination thereof; the active optical detection system includes an optical rangefinder and a laser scanning radar, and the passive optical detection system includes an imaging device in the infrared or visible light band; the detection unit can also be configured as an electromagnetic wave detection system to achieve multi-target detection and positioning.

5. The combined optical detection and laser focusing device according to claim 4, characterized in that, When the detection unit is a laser scanning radar, the laser scanning radar includes a detection light source for emitting a scanning beam, a pair of rotating scanning prisms for deflecting the scanning beam twice to form a scanning trajectory, and a receiving optical system and detector for receiving the target reflected echo; the pair of rotating scanning prisms includes a wedge-shaped light transmission mirror-3 and a wedge-shaped light transmission mirror-4, both of which have a wedge angle of β / 2, and the scanning trajectory of the scanning beam emitted by the laser scanning radar is a rose line, β=0.5°-25°.

6. The combined optical detection and laser focusing device according to claim 1 or 2, characterized in that, The detection unit is an electromagnetic wave radar detection system, specifically a phased array radar, used to simultaneously detect and locate multiple targets within a 2*β field of view.

7. The combined optical detection and laser focusing device according to claim 1 or 2, characterized in that, Each of the laser emission channels further includes an encoder 1 and an encoder 2. The encoder 1 is configured to cooperate with the micro-driver that drives the first optical deflection element, and the encoder 2 is configured to cooperate with the micro-driver that drives the second optical deflection element, for detecting the rotation angle of the first optical deflection element and the second optical deflection element respectively.

8. The combined optical detection and laser focusing device according to claim 1 or 2, characterized in that, The micro-motion actuators that drive the first and second optical deflection elements have a higher angular velocity response capability than the macro-motion actuators that drive the work frame.

9. The combined optical detection and laser focusing device according to claim 8, characterized in that, The control system employs a coarse-fine composite tracking strategy: the macro actuator drives the work frame to perform coarse tracking, so that the target enters and remains within the field of view of the detection unit; the micro actuator drives the first and second optical deflection elements to perform fine aiming.

10. The combined optical detection and laser focusing device according to claim 1 or 2, characterized in that, Each of the laser emission channels emits the same wavelength of laser light, so as to converge the same wavelength of laser light at the target.

11. The combined optical detection and laser focusing device according to claim 1 or 2, characterized in that, Each of the laser emission channels emits a different wavelength of laser light, so as to converge laser light of different wavelengths at the target.

12. The combined optical detection and laser focusing device according to claim 1 or 2, characterized in that, The control system is further configured to: Receive coordinate information of at least two targets; The laser beams from each of the laser emission channels are controlled to converge to the first target, or some channels are controlled to converge to the first target and other channels are controlled to converge to the second target. Without moving the work stand, the beam is controlled to turn and reconverge between different target positions by rapidly adjusting the angles of the first and second optical deflection elements in each channel.

13. The combined optical detection and laser focusing device according to claim 12, characterized in that, For targets at different distances, the control system calculates and sets different combinations of deflection angles for each channel, enabling all beams to be dynamically focused at the target distance.

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