Automatic focusing, tracking and striking intelligent laser removing equipment integrated with radar monitoring

Abstract

The invention relates to the technical field of intelligent laser clearing equipment, in particular to automatic focusing tracking striking intelligent laser clearing equipment integrated with radar monitoring, which comprises the steps of triggering laser pause through millimeter wave echo identification, extracting target linkage coordinates in combination with an image sequence, and correcting a rotation direction according to deviation between a target and a drop point. And the focus lens and the ranging data are linked to complete focal length adjustment, and laser output is released after safety conditions are met. The method comprises the following steps: switching laser states through echo reflection characteristic comparison, extracting a target linkage coordinate sequence in an image frame, performing space adjustment and focal length compensation according to a direction offset linkage rotating platform and a focus lens, and constructing a dynamic response link for coping with target movement and position mutation in combination with a distance measurement feedback release laser output behavior. And the striking path stability, the light beam control flexibility and the output continuity are enhanced.

Description

Technical Field

[0001] This invention relates to the field of intelligent laser removal equipment technology, and in particular to an intelligent laser removal equipment with integrated radar monitoring, automatic focusing, tracking, and striking capabilities. Background Technology

[0002] The field of intelligent laser removal equipment technology encompasses a multi-functional removal platform integrating laser emission control, target recognition and tracking, and a remote operating system. Its core functionality involves the directional transmission of high-energy laser light through an optical system, combined with target detection and automatic focusing systems, to precisely strike specific objects in the air or on the ground. The overall technical structure consists of a laser source, collimation components, focusing optical lens group, multi-faceted reflection system, and image recognition and radar ranging units. Combined with control algorithms, it determines the target location and adjusts the strike path. It is commonly used in laser processing scenarios in various complex environments, such as high-altitude foreign object removal, power facility protection, airspace clearance, and on-site obstacle demolition.

[0003] Among them, the intelligent laser removal equipment with integrated radar monitoring and automatic focusing tracking refers to a ground-based wireless long-range laser strike method that uses radar ranging and image recognition to automatically locate and dynamically track targets such as high-altitude drones, tree branches, and metallic foreign objects. Targeting the 1080nm laser wavelength involved in the laser path, it achieves constant focused output of the laser point at different distances through an optical transmission structure consisting of a collimator, focusing lens, first reflector, second reflector, and plane mirror, emitted from the QBH laser head. This equipment is suitable for striking moving targets, dynamically adjusting the laser irradiation path for swaying objects through a continuous tracking mechanism. In fire-fighting demolition applications, it cuts sheet metal materials with a high-energy laser beam. During laser operation, a personnel detection device is installed to automatically stop laser emission when personnel enter the working area, ensuring on-site operational safety.

[0004] Existing technologies lack real-time reflection recognition methods for targets within the laser path. When personnel or animals briefly cross the work area, the laser cannot be interrupted in time, posing a safety hazard. The image recognition results do not form a continuous coordinate sequence, resulting in unclear target trajectory judgment and the inability to dynamically correct the beam path. Laser focusing relies on a single ranging feedback and lacks a linkage correction process. When the target moves rapidly or its position fluctuates, focusing delay can easily cause output deviation. The overall system suffers from problems such as recognition failure, focusing lag, and insufficient control response when dealing with high-frequency motion, target changes in direction, or occlusion. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and propose an intelligent laser clearing device that integrates radar monitoring, automatic focusing, tracking and striking.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an intelligent laser clearing device with integrated radar monitoring, featuring automatic focusing and tracking, the device comprising:

[0007] The radar-triggered identification module uses millimeter-wave radar to perform echo scanning on the area in front of the laser optical axis, obtains the target reflection structure, and compares it with the standard curves of human and animal. If the match is found within a continuous time segment, the current laser control cycle is marked as standby and a laser pause execution mark is generated.

[0008] The image dynamic locking module, when the laser pause execution flag is activated, calls the optical imaging device to acquire image frames, detects and extracts the trajectory of the contour boundary change area in the continuous frames, filters out the center coordinates with the same direction of motion, constructs the position sequence within the time frame, and generates the target linkage coordinate sequence.

[0009] The trajectory correction module calls the target position and laser landing point in the target linkage coordinate sequence, calculates the angle between them, and if it exceeds the deviation range, it determines that the direction is mismatched. It also derives the rotation angle and direction by combining the displacement amplitude, drives the rotation platform to complete the adjustment, and generates the rotation platform correction result.

[0010] The focus position advancement module, based on the direction and amplitude of the correction result of the rotating platform, controls the micro servo drive device to move the focusing lens, reads the target distance of the laser ranging component, calculates the focusing deviation and completes the focusing lens displacement, and generates focusing lens positioning status feedback.

[0011] As a further embodiment of the present invention, the laser pause execution indicator includes a matching confirmation status, a set time segment parameter, and a reflection curve comparison result; the target linkage coordinate sequence includes the target center coordinates, boundary contour information, and continuous motion trajectory; the rotation platform correction result includes rotation angle parameters, direction adjustment commands, and deviation judgment results; and the focusing lens positioning status feedback includes focal length deviation value, displacement completion mark, and focus consistency parameters.

[0012] As a further aspect of the present invention, the radar-triggered identification module includes:

[0013] The echo data receiving submodule acquires the preset millimeter-wave radar echo sampling unit, continuously scans the coverage area in front of the laser optical axis based on the timing command triggered by the millimeter-wave radar, monitors the echo intensity changes of each ranging direction at multiple time points, receives the original echo data sequence of multiple directions within the coverage area, uniformly calibrates each group of direction indices and corresponding time sequences, and generates a time calibration echo matrix.

[0014] The target reflection feature extraction submodule calls the time-calibrated echo matrix, extracts the direction index group with prominent energy mutation characteristics based on the gradient of echo intensity change at continuous time points in adjacent directions, and forms a vector group to characterize the stability of the target structure by combining the continuous distribution characteristics of each direction index on the time axis and the frequency and density distribution of mutations between directions, and generates a dynamic mutation position density vector.

[0015] The feature matching and determination submodule, based on the dynamic mutation location density vector, calls the preset human and animal standard reflection sample vector group, performs matching processing on the target feature vector at different time points according to the reflection structure matching weight matrix, extracts the matching confidence of each moment in the continuous time segment, marks the current laser control cycle state during the time period when the confidence continuously exceeds the set matching confidence threshold, and generates a laser pause execution flag.

[0016] As a further aspect of the present invention, the image dynamic locking module includes:

[0017] The image frame acquisition submodule acquires the laser pause execution flag that is in the active state, calls the optical imaging device to acquire the image frame sequence within a continuous time period, establishes a time index label for each frame image, unifies the image size parameters and pixel grayscale channels, and arranges each frame image in time order to form a frame sequence cache, generating a time indexed image frame sequence.

[0018] The contour trajectory extraction submodule calls the time-indexed image frame sequence to perform contour edge detection processing on the pixel region boundaries of consecutive frames in the image, identifies the set of pixel boundaries whose shape changes continuously in different frames, performs consistency screening on all boundary sets according to the movement direction of the spatial boundary between frames, retains the boundary regions whose movement direction is continuous, and generates a set of boundary regions with a unified direction.

[0019] The target coordinate construction submodule extracts the pixel centroid position of each boundary region in the current frame based on the unified direction boundary region set, converts it into a spatial three-dimensional position point in the scene coordinate system, indexes and sorts the spatial position points in each frame in time order, establishes the target motion trajectory in continuous time frames, and generates a target linkage coordinate sequence.

[0020] As a further aspect of the present invention, the landing point trajectory correction module includes:

[0021] The angle determination submodule obtains the spatial position coordinates of the current frame in the target linkage coordinate sequence, receives the current laser projection point position fed back by the synchronous laser projection system, establishes an angle relationship based on the direction vector formed by the two spatial points and the preset laser direction reference vector, extracts the difference of three-dimensional coordinate components, analyzes the direction relationship in combination with the spatial geometric deconstruction method, and generates the direction angle value.

[0022] The deviation judgment submodule calls the direction angle value, compares it with the preset direction deviation range threshold, determines whether it exceeds the deviation allowable limit, obtains the continuous displacement path length of the target linkage coordinate sequence in the corresponding frame, establishes the coordinate rotation derivation formula according to the correspondence between the direction mismatch state and the displacement amplitude, and generates the rotation angle derivation value.

[0023] The platform-driven control submodule, based on the derived value of the rotation angle and the execution response rules recorded in the rotation platform motion structure parameter table, filters the motion direction and control command that are suitable for the current angle range, sends the corresponding control parameters to the platform-driven interface, establishes a rotation execution record data table, and generates the rotation platform correction result.

[0024] As a further aspect of the present invention, the focal position advancement module includes:

[0025] The displacement direction analysis submodule obtains the calibrated direction component and angle amplitude in the correction result of the rotating platform, and, in combination with the axial mapping parameters defined in the servo drive system control protocol, determines the axial direction and adjustment stage of the mirror assembly to be moved according to the correspondence between the direction component and the mechanical response table, and generates the axial propulsion command value of the mirror assembly.

[0026] The focus deviation extraction submodule calls the axial advance command value of the lens group to drive the micro servo drive device to control the focusing lens to complete the initial movement, collects the continuous target distance data stream returned by the laser ranging component, compares the length difference between the current focusing lens position and the target spatial distance, and combines the set focus consistency tolerance range parameter to establish the error relationship expression between position and distance, and generates the focus distance deviation value.

[0027] The lens group displacement execution submodule, based on the focusing distance deviation value and combined with the step ratio and adjustment logic defined in the lens group movement response speed curve function, controls the servo drive device to advance the focusing lens along the previously specified axial direction in segments, cyclically collects target distance data and continuously performs error comparison until the distance difference falls within the tolerance range limit, and generates focusing lens positioning status feedback.

[0028] As a further aspect of the present invention, the system further includes:

[0029] When the focusing lens positioning status feedback confirmation is completed and the laser pause execution indicator is turned off, the main control device issues a light output command to control the laser to perform on / off actions and strike the target, generating the laser output behavior of the automatic focusing tracking and striking intelligent laser removal equipment.

[0030] The laser output behavior includes laser on / off status, target strike command, and launch device response signal.

[0031] As a further aspect of the present invention, the laser-activated release module includes:

[0032] The state condition confirmation submodule obtains the focusing lens positioning status feedback and detects the focusing completion flag. At the same time, it reads the off state signal of the laser pause execution flag, performs consistency judgment on the two types of states according to the control cycle synchronization timing, forms a joint state mark that allows light to be emitted, and generates a light emission permission state quantity.

[0033] The light emission command generation submodule, based on the light emission permission status quantity, calls the main control device control command mapping table, corresponding to the on / off control code and timing parameters of the laser emitting component, to establish a light emission control sequence that matches the current control cycle, and generates a laser light emission command sequence.

[0034] The launch execution recording submodule drives the laser emission component to complete the on / off switching and light up the laser based on the laser emission command sequence, synchronously records the laser emission status, duration and target alignment time, establishes a complete launch behavior description data item, and generates the laser output behavior of the automatic focusing tracking and striking intelligent laser removal device.

[0035] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0036] In this invention, by continuously comparing the echo reflection characteristics of the area in front of the laser path, the laser state is automatically switched within the control cycle of the target reflection structure matching. The target linkage coordinate sequence is extracted by the boundary changes of the motion consistency area in the image frame. Combined with the laser landing point direction offset calculation, the rotating platform and focusing lens are linked to complete spatial adjustment and focal length compensation. After locking the focus state through range feedback, the laser output behavior is released, thus constructing a dynamic response link to cope with the directional drift and focus deviation during the continuous movement or sudden change of the target, thereby improving the stability of the strike path, the flexibility of beam control, and the continuity of output response. Attached Figure Description

[0037] Figure 1 This is a system equipment flowchart of the present invention;

[0038] Figure 2 This is a flowchart illustrating the acquisition process of the radar-triggered identification module of the present invention.

[0039] Figure 3 This is a flowchart illustrating the acquisition process of the image dynamic locking module of the present invention.

[0040] Figure 4 This is a flowchart illustrating the acquisition process of the trajectory correction module for landing points in this invention.

[0041] Figure 5 This is a flowchart illustrating the acquisition process of the focus position advancement module of the present invention.

[0042] Figure 6 This is a flowchart illustrating the acquisition process of the laser action release module of the present invention. Detailed Implementation

[0043] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0044] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0045] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0046] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0047] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0048] Please see Figure 1 This invention provides a technical solution: an intelligent laser clearing device with integrated radar monitoring, automatic focusing, tracking, and strike capabilities, comprising:

[0049] The radar-triggered identification module uses millimeter-wave radar to continuously scan the area covered in front of the laser optical axis, obtain the target reflection structure at multiple time points, compare it with the standard reflection curves of human and animal, and determine whether the current echo characteristics are continuously matched within the set time interval. When the determination is successful, the current laser control cycle is marked as standby and a laser pause execution mark is generated.

[0050] The image dynamic locking module calls the optical imaging device to continuously acquire image frame sequences during the control period when the laser pause execution flag is active. It performs contour boundary detection and motion trajectory extraction on the pixel regions in the continuous frames, filters out boundary change regions with continuous and consistent motion directions, extracts the corresponding center point spatial coordinates, constructs the target position sequence in continuous time frames, and generates the target linkage coordinate sequence.

[0051] The landing trajectory correction module calls the target position in the current frame and the laser projection point position in the target linkage coordinate sequence, calculates the directional angle formed by the two in space, and judges that there is a mismatch in the current direction when the angle value exceeds the preset directional deviation range. It then performs correlation analysis with the target displacement amplitude to deduce the required rotation angle and direction of the rotating platform, drives the rotating platform to complete the adjustment operation, and generates the rotation platform correction result.

[0052] The focus position advancement module, based on the direction and adjustment range indicated in the correction results of the rotating platform, links the micro servo drive device to control the focusing lens to move along the current axis, reads the target distance data synchronously collected by the laser ranging component, calculates the current focusing distance deviation between the focusing lens and the target, and advances the focusing lens along the axis to complete the displacement operation until the ranging data matches the focus alignment conditions, generating focusing lens positioning status feedback;

[0053] The laser action release module, within the control cycle where the focusing lens positioning status feedback confirms the focus is complete and the laser pause execution indicator is in the off state, sends a laser output command to control the laser emitting component to perform on / off actions, illuminating the laser and aiming at the current target to perform the strike operation, generating the laser output behavior of the automatic focusing tracking strike intelligent laser removal equipment.

[0054] The laser pause execution indicator includes matching confirmation status, set time segment parameters, and reflection curve comparison results. The target linkage coordinate sequence includes target center coordinates, boundary contour information, and continuous motion trajectory. The rotation platform correction results include rotation angle parameters, direction adjustment commands, and deviation judgment results. The focusing lens positioning status feedback includes focal length deviation value, displacement completion mark, and focus consistency parameters. The laser output behavior includes laser on / off status, target strike command, and launching device response signal.

[0055] Please see Figure 2 The radar-triggered identification module includes:

[0056] The echo data receiving submodule acquires the preset millimeter-wave radar echo sampling unit, continuously scans the coverage area in front of the laser optical axis based on the timing command triggered by the millimeter-wave radar, monitors the echo intensity changes of each ranging direction at multiple time points, receives the original echo data sequence of multiple directions within the coverage area, uniformly calibrates each group of direction indices and corresponding time sequences, and generates a time calibration echo matrix.

[0057] The module sends initialization commands to the lower-level radar RF front-end via a high-speed serial peripheral interface (SPI) to configure the millimeter-wave radar to operate in frequency-modulated continuous wave (FMCW) mode, setting the center frequency to 77 GHz, the sweep bandwidth to 4 GHz, and the sampling rate to 20 MSPS to ensure high-resolution data acquisition. The module then activates the preset millimeter-wave radar echo sampling unit, based on the pre-defined... Sector scanning logic drives the phased array antenna in azimuth angle to Perform electronic scanning within the range, with the scanning step size set to [value missing]. This divides the coverage area into 64 independent ranging directions. During the scanning process, the module uses a direct memory access (DMA) channel to monitor the echo intensity changes of each ranging direction over 128 consecutive time sampling points in real time. The received analog difference frequency signal is quantized into a 16-bit raw digital signal sequence via an analog-to-digital converter (ADC). The processor processes the raw echo data sequences of the 64 directions within the coverage area in parallel, extracts the range and velocity dimensions using a fast Fourier transform (FFT), and indexes each group of directions. ( ) and the corresponding time series ( Spatiotemporal synchronization calibration is performed; during the calibration process, the module introduces the system clock as a unified reference to compensate for the transmission delay of data in each channel, with the compensation amount being... Set as Ensure that the alignment error of all data points on the time axis is less than [a certain value]. Finally, the module maps the calibrated signal strength values ​​to a two-dimensional storage space with direction as the row and time as the column, constructing a dimensionless array. Time calibration echo matrix The matrix is ​​then written into a high-speed cache for subsequent modules to use, completing the entire process from physical signal acquisition to structured data generation.

[0058] The target reflection feature extraction submodule calls the time-calibrated echo matrix and extracts the direction index group with prominent energy mutation characteristics based on the gradient of echo intensity change at continuous time points in adjacent directions. It then forms a vector group to characterize the stability of the target structure by combining the continuous distribution features of each direction index on the time axis with the frequency and density distribution of mutations between directions, and generates a dynamic mutation location density vector.

[0059] Call the time calibration echo matrix via the shared memory interface For each direction index in the matrix The module activates the gradient calculation unit to calculate adjacent time points. and echo intensity difference between This quantifies the instantaneous rate of change of signal energy; the module sets an energy mutation detection threshold based on the statistical characteristics of background noise. The specific setup process is as follows: the system collects environmental background noise data under targetless conditions, and calculates the noise mean. Standard deviation ,set up ,Right now This setting ensures effective extraction of target signals with a signal-to-noise ratio greater than 18dB; the module iterates through the difference values ​​in all directions and filters out those that meet the requirements. The module identifies the mutation points and extracts their corresponding direction index groups. Subsequently, based on the continuous distribution characteristics of each direction index on the time axis, the module statistically analyzes the frequency of occurrence of mutation points within a sliding time window (e.g., 30ms). And calculate the spatial density of abrupt change points between adjacent directional indices. ,in The number of adjacent directions where mutations occur simultaneously. This represents the total number of detection directions; the module will calculate the frequency. ,density and mutation energy integral value Combined, they form a three-dimensional feature vector used to characterize the stability of the target structure. Ultimately, a dynamic mutation location density vector containing all suspected target features within the current scan cycle is generated.

[0060] The feature matching and determination submodule calls the preset human and animal standard reflection sample vector group based on the dynamic mutation location density vector, performs matching processing on the target feature vector at different time points according to the reflection structure matching weight matrix, extracts the matching confidence of each moment in the continuous time segment, marks the current laser control cycle state during the time period when the confidence continuously exceeds the set matching confidence threshold, and generates a laser pause execution flag.

[0061] Receive dynamic mutation location density vector It also retrieves a pre-defined set of standard human and animal reflectance sample vectors from a non-volatile flash memory database. This sample set contains the radar cross section (RCS) feature distribution of typical biological targets, trained based on a large amount of experimental data. The module uses a weighted Euclidean distance algorithm to calculate the matching degree between the current feature vector and the standard sample vector, and the calculation formula is as follows: The weighting coefficient is set to To emphasize the importance of temporal frequency features, the module performs continuous matching processing on the target feature vectors at different time points based on the reflection structure matching weight matrix, and extracts the matching confidence at each time point. ,in The normalized maximum distance constant; the system sets the matching confidence threshold. If there are 5 consecutive scan cycles (i.e. in to confidence level within the time interval If the value consistently exceeds 0.85, the module determines that the current target is not a target to be cleared (such as a human or a pet). In this case, the module immediately triggers the interrupt service routine, sets a specific bit (Bit3) of the current laser control cycle status register to a high level, generates a laser pause execution flag with the highest priority, and locks the flag for at least 200ms to prevent misjudgment caused by the target being briefly obscured, ensuring the absolute reliability of the safety mechanism.

[0062] Please see Figure 3 The image dynamic locking module includes:

[0063] The image frame acquisition submodule obtains the laser pause execution flag that is in an active state, calls the optical imaging device to acquire the image frame sequence within a continuous time period, establishes a time index label for each frame image, unifies the image size parameters and pixel grayscale channels, and arranges each frame image in time order to form a frame sequence cache, generating a time indexed image frame sequence.

[0064] The module monitors the active laser pause execution flag in real time via GPIO pins. When a low level (i.e., execution is enabled) is detected, the module calls the optical imaging device through the Gigabit Ethernet interface, setting the industrial camera to acquire data at a rate of 120 frames per second with a resolution of [missing information]. A continuous sequence of image frames; the internal clock synchronization unit of the module synchronizes each image frame. Add time index tags accurate to the microsecond level This ensures that the time reference of the image data is consistent with that of the radar data; subsequently, the module performs preprocessing on the acquired RGB color images, calling the image processing unit (ISP) to scale the images to a uniform size. To optimize processing speed, a weighted average method is used. The pixel grayscale channels are unified into a single-channel 8-bit grayscale image; the module allocates a circular buffer in DDR4 memory and processes each frame of the image according to... The frames are written sequentially in chronological order. When the buffer is full, the oldest frame is automatically overwritten, thus forming a real-time updated frame sequence buffer. The module continuously outputs the buffer pointer containing the latest 50 frames of image data, generating a time-indexed image frame sequence to provide a standardized data source for subsequent visual analysis.

[0065] The contour trajectory extraction submodule calls the time-indexed image frame sequence to perform contour edge detection processing on the pixel region boundaries of consecutive frames in the image, identifies the set of pixel boundaries whose shape changes continuously in different frames, performs consistency filtering on all boundary sets based on the movement direction of the spatial boundary between frames, retains the boundary regions whose movement direction is continuous, and generates a set of boundary regions with a unified direction.

[0066] By reading the memory pointer and accessing the time-indexed image frame sequence, the inter-frame difference technique is used to analyze consecutive frames in the image. and Perform pixel region boundary detection; the module calculates the grayscale difference between corresponding pixels in two frames. And set dynamic thresholds (corresponding to approximately a 10% change in brightness), The region is labeled as the moving foreground; the module applies the Canny edge detection operator to the foreground region to identify the set of pixel boundaries whose shape changes continuously in different frames, and extracts the closed contour lines; subsequently, the module performs consistency screening on all boundary sets based on the direction of movement of the spatial boundaries between frames, and calculates the displacement vector of the centroid of each contour. The system sets a directional consistency threshold. If the motion direction of a certain boundary region changes more than the threshold within 3 consecutive frames, it is regarded as noise or jitter interference and is removed. The boundary regions whose motion direction remains continuous are marked as valid targets. The module packages the coordinate range, area and shape moment features of these regions to generate a set of boundary regions with a unified direction.

[0067] The target coordinate construction submodule extracts the pixel centroid position of each boundary region in the current frame based on the unified direction boundary region set, converts it into a spatial three-dimensional position point in the scene coordinate system, indexes and sorts the spatial position points in each frame in time order, establishes the target motion trajectory in continuous time frames, and generates the target linkage coordinate sequence.

[0068] Based on the unified orientation boundary region set, extract the pixel centroid position of each boundary region in the current frame. The module calls the pre-calibrated camera intrinsic parameter matrix. and rotation and translation matrices Combined with the depth information provided by the radar module Using the pinhole camera model formula Convert two-dimensional pixel coordinates into three-dimensional spatial positions in the scene coordinate system. For example, in the intrinsic focal length Pixel, principal point ,depth In the case where the centroid pixel coordinates are Then the calculation yields , The module indexes and sorts the spatial position points calculated in each frame in chronological order, uses the Kalman filter algorithm to smooth noise, and establishes the target motion trajectory in continuous time frames. The module stores the smoothed trajectory point sequence as a structure array and generates a target linkage coordinate sequence containing position, velocity and acceleration information.

[0069] Please see Figure 4 The landing trajectory correction module includes:

[0070] The angle determination submodule obtains the spatial position coordinates of the current frame in the target linkage coordinate sequence, receives the current laser projection point position fed back by the synchronous laser projection system, establishes an angle relationship based on the direction vector formed by the two spatial points and the preset laser direction reference vector, extracts the difference of three-dimensional coordinate components, analyzes the direction relationship in combination with the spatial geometric deconstruction method, and generates the direction angle value.

[0071] Obtain the spatial position coordinates of the current frame in the target linkage coordinate sequence. Simultaneously, it receives the current laser projection point position from the synchronous laser projection system via a high-precision absolute encoder. This position is determined by the azimuth angle of the pan-tilt unit. and pitch angle The module establishes a unit vector for the laser projection direction based on the transformation relationship between spherical and rectangular coordinate systems. and the unit vector pointing from the origin to the target. The module utilizes the vector dot product formula. Calculate the total angle between the two, and further analyze the horizontal angle component. Angular component with vertical direction The module uses inverse trigonometric functions to accurately calculate the deviation angle value, generating a direction angle value that includes the direction sign and the absolute value of the angle. This data directly reflects the spatial deviation between the current laser pointing and the actual position of the target.

[0072] The deviation judgment submodule calls the direction angle value, compares it with the preset direction deviation range threshold, determines whether the deviation exceeds the allowable limit, obtains the continuous displacement path length of the target linkage coordinate sequence in the corresponding frame, establishes the coordinate rotation derivation formula according to the correspondence between the direction mismatch state and the displacement amplitude, and generates the rotation angle derivation value.

[0073] Call the direction angle value and Compare it with the system's preset directional deviation range threshold. Compare; threshold The setting is based on the laser spot diameter. (e.g., 3mm) Distance from the target (e.g., 3000mm) geometric relationships, set ;like or The module determines that the current pointing direction exceeds the allowable deviation limit; at this time, the module obtains the continuous displacement path length of the target's linked coordinate sequence within the corresponding frame, and calculates the target's angular velocity by combining the time interval. Based on the correspondence between directional mismatch and displacement amplitude, the module establishes a coordinate rotation derivation formula. ,in To predict the compensation coefficient, The system response delay time is shown in Table 1 below. The module calculates the specific rotation angle based on the real-time deviation and motion prediction to ensure that the laser can accurately cover the target in the next moment.

[0074] Table 1: Calculation Table for Rotary Platform Angle Deviation Correction

[0075]

[0076] As shown in Table 1, the system generates the final control command based on the dynamic calculation results. By introducing an angular velocity prediction term, the lag error caused by mechanical transmission is effectively compensated.

[0077] The platform-driven control submodule, based on the derived value of the rotation angle and combined with the execution response rules recorded in the rotation platform motion structure parameter table, filters the motion direction and control command that are suitable for the current angle range, sends the corresponding control parameters to the platform-driven interface, establishes a rotation execution record data table, and generates the rotation platform correction result.

[0078] Derived from the rotation angle Based on the execution response rules recorded in the rotary platform motion structure parameter table, the angle value is converted into the number of control pulses for the stepper motor; the known motor step angle is... If the drive microstepping is set to 16 microsteps and the reduction ratio is 1:50, then the number of pulses per degree is... The module calculates the pulse difference between the target position and the current position, filters the motion direction (CW or CCW) suitable for the current angle range, and generates a control command containing an acceleration / deceleration curve (S-Curve). The module sends a pulse sequence of the corresponding frequency to the platform drive interface to drive the gimbal to rotate. After the action is completed, the module reads the encoder feedback value, establishes a rotation execution record data table, and verifies that the error between the actual reached position and the commanded position is less than [a certain value]. Generate the confirmed correction results for the rotating platform.

[0079] Please see Figure 5 The focus position propulsion module includes:

[0080] The displacement direction analysis submodule obtains the calibrated direction component and angle amplitude in the correction result of the rotating platform, and combines the axial mapping parameters defined in the servo drive system control protocol to determine the axial direction and adjustment stage of the mirror group to be moved according to the correspondence between the direction component and the mechanical response table, and generates the axial propulsion command value of the mirror group.

[0081] Obtain the target distance scalar calibrated in the rotation platform correction results. This value is calculated by fusion of radar and vision; the module, in conjunction with the axial mapping parameters defined in the servo drive system control protocol, consults the correspondence table between the lens group position and the focusing distance. Assuming the current mirror group is located at Corresponding focusing distance ; Module calculates the difference The axial direction (push forward or pull back) of the lens assembly is determined according to the directional component; simultaneously, the module determines the adjustment stage based on the magnitude of the difference. Select the "coarse" adjustment level (e.g., 50 steps each time). Select the "fine-tuning" level (e.g., 5 steps each time); the module converts the physical steps into hexadecimal control codes, generates lens group axial advance command values, and provides clear guidance and magnitude for the focusing action.

[0082] The focus deviation extraction submodule calls the lens group axial advance command value to drive the micro servo drive device to control the focusing lens to complete the initial movement, collects the continuous target distance data stream returned by the laser ranging component, compares the length difference between the current focusing lens position and the target spatial distance, and combines it with the set focus consistency tolerance range parameter to establish the error relationship expression between position and distance, and generates the focus distance deviation value.

[0083] The module invokes the axial advance command value of the lens assembly, and drives the micro servo drive device via I2C bus to control the focusing lens to complete the initial movement. After the lens movement stabilizes, the module immediately collects the continuous target distance data stream returned by the laser ranging component (ToF sensor), and takes the average of 5 samples as the measured distance. The module compares the theoretical focal plane distance corresponding to the current focusing lens position. Measured distance from the target Length difference between Combined with the set focus consistency tolerance range parameters (Based on depth of field formula) The calculation shows that, among which For object distance, For aperture, (For the circle of confusion), the module establishes an expression for the error relationship between position and distance; if Then, the compensation displacement required for the remaining deviation is calculated, generating an accurate focus distance deviation value to guide the next round of fine-tuning.

[0084] The lens group displacement execution submodule, based on the focus distance deviation value and the step ratio and adjustment logic defined in the lens group movement response speed curve function, controls the servo drive device to advance the focusing lens along the specified axial direction in segments, cyclically collects target distance data and continuously compares errors until the distance difference falls within the tolerance range limit, and generates focusing lens positioning status feedback.

[0085] Based on the focus distance deviation value, and combined with the step ratio and adjustment logic defined in the lens group movement response speed curve function, the servo drive device is controlled in segments to advance the focusing lens along the specified axial direction of the preceding sequence; the module adopts a proportional-integral (PI) control algorithm and sets the proportional coefficient. Integral coefficient The system dynamically adjusts the motor's drive voltage and frequency to eliminate steady-state errors. During movement, the module cyclically collects target distance data and continuously compares errors, forming a closed-loop control; this continues until the distance difference is reached. Completely falls within the tolerance range limit Inside, the module stops the motor output, locks the lens group position, and sets the "focus complete" flag in the status register to 1, generating focusing lens positioning status feedback, indicating that the optical system is ready.

[0086] Please see Figure 6 The laser-activated release module includes:

[0087] The state condition confirmation submodule obtains the focusing lens positioning status feedback and detects the focusing completion flag. At the same time, it reads the off state signal of the laser pause execution flag, performs consistency judgment on the two types of states according to the control cycle synchronization timing, forms a joint state mark that allows light to be emitted, and generates a light emission permission state quantity.

[0088] At the beginning of each control cycle, the module obtains the focusing lens positioning status feedback by reading the register status and checks whether the "focus complete" flag is true. At the same time, the module reads the off status signal of the laser pause execution flag output by the radar trigger recognition module. According to the control cycle synchronization timing, the module performs an AND logic consistency judgment on the two types of states: the logic output is true only when "focus complete" = 1 and "pause flag" = 0. In addition, the module also needs to verify the internal safety interlock signals of the system (such as the status of the chassis cover, temperature sensor readings, etc.). If all safety conditions are met, the module sets the internal soft switch to form a joint state flag that allows light output, generating a high-level valid light output permission state quantity as the only credential for activating the laser.

[0089] The light emission command generation submodule, based on the light emission permission status, calls the main control device control command mapping table, corresponding to the on / off control code and timing parameters of the laser emitting component, to establish a light emission control sequence that matches the current control cycle and generate a laser light emission command sequence.

[0090] Based on the received light emission permission status, the module enters the emission sequence construction process; the module calls the main control device's control command mapping table and selects the corresponding strike parameters according to the identified target type (such as mosquitoes): setting the laser power. Pulse width Number of launches The module converts these parameters into TTL level on / off control codes and timing parameters for the corresponding laser emitting components; the module establishes a light output control sequence that matches the current control cycle, inserting necessary dead time into the sequence to protect the drive circuit; finally, the module generates a laser light output command sequence containing precise timing logic, which precisely defines the microsecond-level moments when the laser turns on and off.

[0091] The launch execution recording submodule drives the laser emission component to complete the on / off switching and light up the laser based on the laser light output command sequence. It synchronously records the laser emission status, duration and target alignment time, establishes complete launch behavior description data items, and generates the laser output behavior of the automatic focusing and tracking strike intelligent laser removal equipment.

[0092] Based on the laser emission command sequence, the laser emission component is driven by the drive circuit to switch on and off and light up the laser. At the moment of laser emission, the module synchronously starts the monitoring circuit to record the laser emission status (whether it emits light normally), the actual duration (measured by photodiode feedback) and the target alignment time (UTC timestamp). The module integrates the above information with the target's three-dimensional coordinates and the environmental parameters (temperature, humidity) at the time of impact to establish a complete emission behavior description data item. As shown in Table 2 below, the module writes the data into the non-erasable black box memory to generate an automatic focusing tracking and impact intelligent laser removal device laser output behavior record for subsequent performance evaluation and fault tracing.

[0093] Table 2: Record of Laser Emission and Strike Effects

[0094]

[0095] As shown in Table 2, the recorded data shows that the system struck the target on the same moving trajectory twice in a short period of time. The error between the measured pulse width and the set value was less than 0.2%, indicating that the system performed a precise and stable laser clearing action.

[0096] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A smart laser eradication device integrating radar monitoring and automatic focusing tracking, characterized in that, The device includes: The radar-triggered identification module uses millimeter-wave radar to perform echo scanning on the area in front of the laser optical axis, obtains the target reflection structure, and compares it with the standard curves of human and animal. If the match is found within a continuous time segment, the current laser control cycle is marked as standby and a laser pause execution mark is generated. The image dynamic locking module, when the laser pause execution flag is activated, calls the optical imaging device to acquire image frames, detects and extracts the trajectory of the contour boundary change area in the continuous frames, filters out the center coordinates with the same direction of motion, constructs the position sequence within the time frame, and generates the target linkage coordinate sequence. The trajectory correction module calls the target position and laser landing point in the target linkage coordinate sequence, calculates the angle between them, and if it exceeds the deviation range, it determines that the direction is mismatched. It also derives the rotation angle and direction by combining the displacement amplitude, drives the rotation platform to complete the adjustment, and generates the rotation platform correction result. The focus position advancement module, based on the direction and amplitude of the correction result of the rotating platform, controls the micro servo drive device to move the focusing lens, reads the target distance of the laser ranging component, calculates the focusing deviation and completes the focusing lens displacement, and generates focusing lens positioning status feedback.

2. The intelligent laser eradication device with integrated radar monitoring and automatic focusing tracking as described in claim 1, characterized in that: The laser pause execution indicator includes matching confirmation status, set time segment parameters, and reflection curve comparison results. The target linkage coordinate sequence includes target center coordinates, boundary contour information, and continuous motion trajectory. The rotation platform correction result includes rotation angle parameters, direction adjustment commands, and deviation judgment results. The focusing lens positioning status feedback includes focal length deviation value, displacement completion mark, and focus consistency parameters.

3. The intelligent laser clearing device with integrated radar monitoring and automatic focusing tracking as described in claim 1, characterized in that, The radar-triggered identification module includes: The echo data receiving submodule acquires the preset millimeter-wave radar echo sampling unit, continuously scans the coverage area in front of the laser optical axis based on the timing command triggered by the millimeter-wave radar, monitors the echo intensity changes of each ranging direction at multiple time points, receives the original echo data sequence of multiple directions within the coverage area, uniformly calibrates each group of direction indices and corresponding time sequences, and generates a time calibration echo matrix. The target reflection feature extraction submodule calls the time-calibrated echo matrix, extracts the direction index group with prominent energy mutation characteristics based on the gradient of echo intensity change at continuous time points in adjacent directions, and forms a vector group to characterize the stability of the target structure by combining the continuous distribution characteristics of each direction index on the time axis and the frequency and density distribution of mutations between directions, and generates a dynamic mutation position density vector. The feature matching and determination submodule, based on the dynamic mutation location density vector, calls the preset human and animal standard reflection sample vector group, performs matching processing on the target feature vector at different time points according to the reflection structure matching weight matrix, extracts the matching confidence of each moment in the continuous time segment, marks the current laser control cycle state during the time period when the confidence continuously exceeds the set matching confidence threshold, and generates a laser pause execution flag.

4. The intelligent laser clearing device with integrated radar monitoring and automatic focusing tracking as described in claim 1, characterized in that, The image dynamic locking module includes: The image frame acquisition submodule acquires the laser pause execution flag that is in the active state, calls the optical imaging device to acquire the image frame sequence within a continuous time period, establishes a time index label for each frame image, unifies the image size parameters and pixel grayscale channels, and arranges each frame image in time order to form a frame sequence cache, generating a time indexed image frame sequence. The contour trajectory extraction submodule calls the time-indexed image frame sequence to perform contour edge detection processing on the pixel region boundaries of consecutive frames in the image, identifies the set of pixel boundaries whose shape changes continuously in different frames, performs consistency screening on all boundary sets according to the movement direction of the spatial boundary between frames, retains the boundary regions whose movement direction is continuous, and generates a set of boundary regions with a unified direction. The target coordinate construction submodule extracts the pixel centroid position of each boundary region in the current frame based on the unified direction boundary region set, converts it into a spatial three-dimensional position point in the scene coordinate system, indexes and sorts the spatial position points in each frame in time order, establishes the target motion trajectory in continuous time frames, and generates a target linkage coordinate sequence.

5. The intelligent laser clearing device with integrated radar monitoring and automatic focusing tracking as described in claim 1, characterized in that, The landing point trajectory correction module includes: The angle determination submodule obtains the spatial position coordinates of the current frame in the target linkage coordinate sequence, receives the current laser projection point position fed back by the synchronous laser projection system, establishes an angle relationship based on the direction vector formed by the two spatial points and the preset laser direction reference vector, extracts the difference of three-dimensional coordinate components, analyzes the direction relationship in combination with the spatial geometric deconstruction method, and generates the direction angle value. The deviation judgment submodule calls the direction angle value, compares it with the preset direction deviation range threshold, determines whether it exceeds the deviation allowable limit, obtains the continuous displacement path length of the target linkage coordinate sequence in the corresponding frame, establishes the coordinate rotation derivation formula according to the correspondence between the direction mismatch state and the displacement amplitude, and generates the rotation angle derivation value. The platform-driven control submodule, based on the derived value of the rotation angle and the execution response rules recorded in the rotation platform motion structure parameter table, filters the motion direction and control command that are suitable for the current angle range, sends the corresponding control parameters to the platform-driven interface, establishes a rotation execution record data table, and generates the rotation platform correction result.

6. The intelligent laser clearing device with integrated radar monitoring and automatic focusing tracking as described in claim 1, characterized in that, The focal position advancement module includes: The displacement direction analysis submodule obtains the calibrated direction component and angle amplitude in the correction result of the rotating platform, and, in combination with the axial mapping parameters defined in the servo drive system control protocol, determines the axial direction and adjustment stage of the mirror assembly to be moved according to the correspondence between the direction component and the mechanical response table, and generates the axial propulsion command value of the mirror assembly. The focus deviation extraction submodule calls the axial advance command value of the lens group to drive the micro servo drive device to control the focusing lens to complete the initial movement, collects the continuous target distance data stream returned by the laser ranging component, compares the length difference between the current focusing lens position and the target spatial distance, and combines the set focus consistency tolerance range parameter to establish the error relationship expression between position and distance, and generates the focus distance deviation value. The lens group displacement execution submodule, based on the focusing distance deviation value and combined with the step ratio and adjustment logic defined in the lens group movement response speed curve function, controls the servo drive device to advance the focusing lens along the previously specified axial direction in segments, cyclically collects target distance data and continuously performs error comparison until the distance difference falls within the tolerance range limit, and generates focusing lens positioning status feedback.

7. The intelligent laser clearing device with integrated radar monitoring and automatic focusing tracking as described in claim 1, characterized in that, The system also includes: When the focusing lens positioning status feedback confirmation is completed and the laser pause execution indicator is turned off, the main control device issues a light output command to control the laser to perform on / off actions and strike the target, generating the laser output behavior of the automatic focusing tracking and striking intelligent laser removal equipment. The laser output behavior includes laser on / off status, target strike command, and launch device response signal.

8. The intelligent laser clearing device with integrated radar monitoring and automatic focusing tracking as described in claim 1, characterized in that, The laser-activated release module includes: The state condition confirmation submodule obtains the focusing lens positioning status feedback and detects the focusing completion flag. At the same time, it reads the off state signal of the laser pause execution flag, performs consistency judgment on the two types of states according to the control cycle synchronization timing, forms a joint state mark that allows light to be emitted, and generates a light emission permission state quantity. The light emission command generation submodule, based on the light emission permission status quantity, calls the main control device control command mapping table, corresponding to the on / off control code and timing parameters of the laser emitting component, to establish a light emission control sequence that matches the current control cycle, and generates a laser light emission command sequence. The launch execution recording submodule drives the laser emission component to complete the on / off switching and light up the laser based on the laser emission command sequence, synchronously records the laser emission status, duration and target alignment time, establishes a complete launch behavior description data item, and generates the laser output behavior of the automatic focusing tracking and striking intelligent laser removal device.

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