CN110988890A - Flying object early warning laser fence system - Google Patents

Flying object early warning laser fence system Download PDF

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Publication number
CN110988890A
CN110988890A CN201911353351.XA CN201911353351A CN110988890A CN 110988890 A CN110988890 A CN 110988890A CN 201911353351 A CN201911353351 A CN 201911353351A CN 110988890 A CN110988890 A CN 110988890A
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CN
China
Prior art keywords
laser
module
fence
receiving module
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911353351.XA
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Chinese (zh)
Inventor
王德麾
姜世平
董小春
杨武
力昌兵
郑鑫
代东军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sichuan Windom Photoelectric Technology Co ltd
Original Assignee
Sichuan Windom Photoelectric Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sichuan Windom Photoelectric Technology Co ltd filed Critical Sichuan Windom Photoelectric Technology Co ltd
Priority to CN201911353351.XA priority Critical patent/CN110988890A/en
Publication of CN110988890A publication Critical patent/CN110988890A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention discloses a flying object early warning laser fence system which at least comprises a laser fence module, a laser receiving module and a calculating and processing module, wherein the calculating and processing module is used for finishing the calculating and processing of the distance information between a target point and the laser fence module through the cosine theorem on the basis of the equivalent distance between the laser fence module and the laser receiving module, the current scanning angle of the laser fence module and the distance between the target point and the laser receiving module. Through the structural arrangement of the system, the system can carry out multi-point detection only by 1 laser fence module to form a fan-shaped fence light wall, so that a large-range airspace can be densely covered, and the cost is reduced; the laser receiving module can transmit the distance information of the target object to the digital camera module, so that the camera can focus conveniently to obtain a clear image; the calculation processing module of the system can comprehensively identify the target object by utilizing the image data and the scanning point cloud data obtained by the laser receiving module, so that the identification accuracy is improved.

Description

Flying object early warning laser fence system
Technical Field
The invention belongs to the technical field of optical detection, and particularly relates to a flyer early warning laser fence system.
Background
In the field of existing detection of flying objects or aircrafts, the following technology is generally adopted for detecting the flying objects.
1. Provided is an electromagnetic wave radar. The detection capability of the small-sized and mass-used non-metallic aircraft such as a civil unmanned aerial vehicle is poor.
2. An optical telescope. The detection can be carried out only under certain illumination conditions; the cost of a single unit is high, and if the full-angle early warning is carried out, the deployment cost is high; or a complex mechanical part is needed to drive the optical system to scan the airspace, the scanning speed is slow, and the use cost is high.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a flyer early warning laser fence system, which realizes large-area flyer early warning, can identify a target manually and/or automatically, and can detect under different illumination conditions, particularly at night.
The purpose of the invention is realized by the following technical scheme:
a flying object early warning laser fence system at least comprises a laser fence module, a laser receiving module and a calculation processing module, wherein the calculation processing module is used for finishing calculation processing of distance information between a target point and the laser fence module through a cosine theorem on the basis of an equivalent distance between the laser fence module and the laser receiving module, a current scanning angle of the laser fence module and a distance between the target point and the laser receiving module.
According to a preferred embodiment, the equivalent distance between the laser fence module and the laser receiving module comprises: the distance d1 between the key point of the receiver in the laser receiving module and the assembling surface of the laser fence module and the distance d21 or d22 between the laser emitting line in the laser fence module and the connecting line between the laser fence module and the laser receiving module are 90 degrees respectively from the two assembling side surfaces of the laser fence module.
According to a preferred embodiment, the laser fence system further comprises a digital camera module, and the digital camera module completes acquisition of image information of the target point based on the distance information between the target point and the laser fence module and the current scanning angle information.
According to a preferred embodiment, the digital camera module is provided with at least a digital camera for completing image data acquisition and a floodlight for supplementing light.
According to a preferred embodiment, the laser fence module comprises a reflector, a laser and a motor, wherein the reflector, the laser and the motor are arranged inside the module, the laser faces the transmitting mirror, and the back of the reflector is connected with the motor, so that the purpose of driving the reflector to rotate through the motor is achieved.
According to a preferred embodiment, the laser barrier module further comprises a laser exit window at the module surface through which the laser exit plane exits.
According to a preferred embodiment, the laser receiving module includes a filter provided on a surface of the housing and a receiver provided inside the housing.
The main scheme and the further selection schemes can be freely combined to form a plurality of schemes which are all adopted and claimed by the invention; in the invention, the selection (each non-conflict selection) and other selections can be freely combined. The skilled person in the art can understand that there are many combinations, which are all the technical solutions to be protected by the present invention, according to the prior art and the common general knowledge after understanding the scheme of the present invention, and the technical solutions are not exhaustive herein.
The invention has the beneficial effects that: through the structural arrangement of the system, the system adopts a laser scanning mode, only 1 laser fence module is needed to carry out multi-point detection to form a fan-shaped fence light wall, so that large-range airspace can be densely covered, and the cost is reduced; meanwhile, the laser receiving module and the digital camera module can be used in a combined mode, the laser receiving module can transmit the target object distance information to the digital camera module, and the camera can conveniently focus to obtain a clear image; the calculation processing module of the system can comprehensively identify the target object by utilizing the image data and the scanning point cloud data obtained by the laser receiving module, so that the identification accuracy is improved, and the false alarm is reduced; the scanning point cloud data obtained by the laser receiving module is identified by the depth network, so that a more accurate identification result can be obtained.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of the position relationship between the laser barrier module and the laser receiving module in the system of the present invention;
FIG. 3 is a schematic diagram of measurement calculation when the system of the present invention performs target point position measurement;
FIG. 4 is a schematic diagram of the structure of a laser fence module in the system of the present invention;
FIG. 5 is a schematic diagram of an embodiment of the system of the present invention;
the system comprises a digital camera 1, a flash lamp 2, a laser exit window 3, a laser fence module 4, a reflector 41, a laser 42, a motor 43, a laser exit screen 44, a light filter 5, a laser receiving module 6 and a digital camera module 7.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that, in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments.
Thus, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in a figure, it need not be further defined and explained later.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations and positional relationships that are conventionally used in the products of the present invention, and are used merely for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, it should be noted that, in the present invention, if the specific structures, connection relationships, position relationships, power source relationships, and the like are not written in particular, the structures, connection relationships, position relationships, power source relationships, and the like related to the present invention can be known by those skilled in the art without creative work on the basis of the prior art.
Example 1:
referring to fig. 1 to 5, the invention discloses a flying object early warning laser fence system. The laser fence system comprises a laser fence module 4, a laser receiving module 6, a digital camera module 7 and a calculation processing module. Furthermore, the system of the invention can also adopt a double laser receiving module 6 design without the digital camera module 7.
Wherein, the laser fence module 4 is used for finishing the emission of the detection laser beam. The laser receiving module 6 is used for receiving laser photons reflected by a detected object or a target point and measuring the flight time of the photons from the target point to the laser receiving module 6, thereby completing the distance measurement between the detected object and the laser receiving module 6. The digital camera module 7 is used for completing image information acquisition of a detected object or a target point. The calculation processing module is used for realizing data processing and calculation in the system.
Preferably, the digital camera module 7 finishes the acquisition of the target point image information based on the distance information between the target point and the laser raster module 4 and the current scanning angle information.
Further, the digital camera module 7 is at least provided with the digital camera 1 for completing image data acquisition and a floodlight for supplementing light.
Preferably, the laser receiving module 6 includes an optical filter 5 disposed on the surface of the housing and a receiver disposed inside the housing.
Preferably, as shown with reference to fig. 4. The laser barrier module 4 comprises a mirror 41, a laser 42 and a motor 43 arranged inside the module. The laser 42 is disposed facing the emitting mirror, and the back of the reflecting mirror 41 is connected to the motor 43, so that the motor 43 drives the reflecting mirror 41 to rotate. That is, the laser 42 is a laser beam generating device. The reflecting mirror 41 is a direction adjusting device of the laser beam. The motor 43 is a rotation driving device of the reflecting mirror 41, and is configured to drive the reflecting mirror 41 to rotate periodically, so as to implement periodic scanning of the laser beam.
Preferably, the laser-fence module 4 further comprises a laser-exit window 3 at the module surface, through which laser-exit window 3 the laser-exit plane exits.
Preferably, referring to fig. 3, the principle of the fence system of the present invention for object detection is shown, which specifically includes: the calculation processing module completes calculation processing of the distance information between the target point and the laser fence module 4 through the cosine theorem based on the equivalent distance between the laser fence module 4 and the laser receiving module 6, the current scanning angle of the laser fence module 4 and the distance between the target point and the laser receiving module 6.
In particular, reference is made to fig. 2. The equivalent distance between the laser fence module 4 and the laser receiving module 6 includes: the distance d1 between the key point of the receiver in the laser receiving module 6 and the assembly surface of the laser fence module 4 and the distance d21 or d22 between the laser outgoing line in the laser fence module 4 and the connecting line between the laser fence module 4 and the laser receiving module 6 are respectively 90 degrees from the two assembly side surfaces of the laser fence module 4.
Further, a coordinate axis x is established in a direction pointing to the laser acceptance module 6 with the laser barrier module 4 as an origin. When the laser emergent ray is at 90 degrees to the x-axis, the distances from the two assembly surfaces (side surfaces) of the laser barrier module 4 are d21 and d22, which is the equivalent distance of the laser barrier module 4. Similarly, in the laser receiving module 6, the distance from the midpoint of the receiver to the assembly surface of the laser fence module 4 is d1, i.e. the equivalent distance of the laser receiving module.
Preferably, the minimum and maximum included angles of the laser emergent line and the x-axis of the laser barrier module 4 are the scanning start angle and the scanning end angle of the laser barrier module 4, respectively.
When the curvature value of the scanning field of the raster column module 4 is a, the number of scanning points is n, and the scanning speed is b rad/s, each n synchronous pulses represent one scanning of the full scanning field from the synchronous signal. The laser light receiving module 6 starts timing at the falling edge of each synchronization pulse and ends timing at each rising edge.
If the laser receiving module receives the reflected signal of the laser after k seconds from the m (1 is the first scanning count of the scanning period) th falling edge of the synchronous pulse, the polar coordinate of the reflecting point can be calculated by the following equation:
a scan interval angle (scan end angle-scan start angle)/(n-1);
current scan angle ═ scan start angle + scan interval angle × (m-1);
the distance between the target point and the laser receiving module is equal to the light speed c and the time k.
Thus, the distance between the target point and the laser fence module 4 can be obtained by solving the cosine theorem of the triangle.
Preferably, when the laser receiving module 6 detects an object, a trigger signal is directly sent to the digital camera module 7 (if the digital camera module exists) through a dedicated line, and the digital camera 1 takes a quick photo to acquire an image of the flying object.
Thus, the image data + the laser scanning data can be used for identification of the flying object. The image and point cloud data are identified, for example, using a deep neural network. The laser receiving module 6 can simultaneously send the distance information of the target object to the digital camera module, and the digital camera module 7 can rapidly adjust the focal length so as to shoot a clear image.
Through the structural arrangement of the system, the system adopts a laser scanning mode, only 1 laser fence module is needed to carry out multi-point detection to form a fan-shaped fence light wall, so that large-range airspace can be densely covered, and the cost is reduced; meanwhile, the laser receiving module and the digital camera module can be used in a combined mode, the laser receiving module can transmit the target object distance information to the digital camera module, and the camera can conveniently focus to obtain a clear image; the calculation processing module of the system can comprehensively identify the target object by utilizing the image data and the scanning point cloud data obtained by the laser receiving module, so that the identification accuracy is improved, and the false alarm is reduced; the scanning point cloud data obtained by the laser receiving module is identified by the depth network, so that a more accurate identification result can be obtained.
The foregoing basic embodiments of the invention and their various further alternatives can be freely combined to form multiple embodiments, all of which are contemplated and claimed herein. In the scheme of the invention, each selection example can be combined with any other basic example and selection example at will. Numerous combinations will be known to those skilled in the art.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (7)

1. A laser fence system for early warning of flying objects is characterized by at least comprising a laser fence module (4), a laser receiving module (6) and a calculation processing module,
the calculation processing module is used for finishing the calculation processing of the distance information between the target point and the laser fence module through the cosine theorem on the basis of the equivalent distance between the laser fence module (4) and the laser receiving module (6), the current scanning angle of the laser fence module (4) and the distance between the target point and the laser receiving module (6).
2. A flying object early warning laser fence system as claimed in claim 1 wherein the equivalent distance between said laser fence module (4) and said laser receiving module (6) comprises:
the distance d1 between the focal point of the receiver in the laser receiving module (6) and the assembly surface of the laser barrier module (4) and
and when the laser emitting line in the laser fence module (4) forms 90 degrees with the connecting line between the laser fence module (4) and the laser receiving module (6), the distance between the laser emitting line and the connecting line is d21 or d22 from two assembling side surfaces of the laser fence module (4).
3. The system as claimed in claim 1, wherein the system further comprises a digital camera module (7), and the digital camera module (7) completes acquisition of image information of a target point based on information of a distance between the target point and the laser fence module (4) and information of a current scanning angle.
4. A system as claimed in claim 3, wherein the digital camera module (7) is provided with at least a digital camera (1) for acquiring image data and a floodlight (2) for supplementing light.
5. A flying object early warning laser fence system as claimed in claim 1 wherein the laser fence module (4) comprises a mirror (41), a laser (42) and a motor (43) arranged inside the module,
the laser (42) faces the emitting mirror (42), and the back of the reflecting mirror (42) is connected with the motor (43), so that the purpose of driving the reflecting mirror (42) to rotate through the motor (43) is achieved.
6. A system as claimed in claim 5, wherein said laser barrier module (4) further comprises a laser exit window (3) on the module surface, and the laser exit plane (44) exits through said laser exit window (3).
7. A flight thing warning laser fence system as claimed in claim 1, wherein said laser receiving module (6) comprises a filter (5) disposed on the surface of the housing and a receiver disposed inside the housing.
CN201911353351.XA 2019-12-25 2019-12-25 Flying object early warning laser fence system Pending CN110988890A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012154863A (en) * 2011-01-28 2012-08-16 Tohoku Univ Laser radar apparatus and laser synthetic aperture radar apparatus
CN104991255A (en) * 2015-06-26 2015-10-21 郎一宁 Visual principle-based multipoint laser range radar
CN106056816A (en) * 2016-06-28 2016-10-26 宁波天弘电力器具有限公司 Laser wall security device and operation method thereof
JP2017135548A (en) * 2016-01-27 2017-08-03 セコム株式会社 Flying object monitoring system
CN108267727A (en) * 2018-02-01 2018-07-10 中国工程物理研究院电子工程研究所 A kind of underwater laser circumferential scanning detection device and system
WO2019085376A1 (en) * 2017-10-30 2019-05-09 武汉海达数云技术有限公司 Laser scanning device and control method thereof, and mobile measurement system and control method thereof

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Publication number Priority date Publication date Assignee Title
JP2012154863A (en) * 2011-01-28 2012-08-16 Tohoku Univ Laser radar apparatus and laser synthetic aperture radar apparatus
CN104991255A (en) * 2015-06-26 2015-10-21 郎一宁 Visual principle-based multipoint laser range radar
JP2017135548A (en) * 2016-01-27 2017-08-03 セコム株式会社 Flying object monitoring system
CN106056816A (en) * 2016-06-28 2016-10-26 宁波天弘电力器具有限公司 Laser wall security device and operation method thereof
WO2019085376A1 (en) * 2017-10-30 2019-05-09 武汉海达数云技术有限公司 Laser scanning device and control method thereof, and mobile measurement system and control method thereof
CN108267727A (en) * 2018-02-01 2018-07-10 中国工程物理研究院电子工程研究所 A kind of underwater laser circumferential scanning detection device and system

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Application publication date: 20200410