CN111007527B - Infrared laser composite rapid imaging tracking device - Google Patents
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- CN111007527B CN111007527B CN201911289527.XA CN201911289527A CN111007527B CN 111007527 B CN111007527 B CN 111007527B CN 201911289527 A CN201911289527 A CN 201911289527A CN 111007527 B CN111007527 B CN 111007527B
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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
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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Abstract
The infrared laser composite rapid imaging tracking device comprises a two-dimensional scanning reflector, an optical reflector, an infrared laser splitting element and a first laser reflector, wherein the two-dimensional scanning reflector, the optical reflector, the infrared laser splitting element and the first laser reflector are carried on a theodolite, the two-dimensional scanning reflector and the optical reflector are parallel and mutually offset, the optical reflector and the infrared laser splitting element are vertical, and the infrared laser splitting element and the first laser reflector are parallel and mutually offset; the light-transmitting surface of the infrared laser light splitting element is provided with an infrared sensor, and infrared rays transmitted by the infrared laser light splitting element are transmitted to the photosensitive surface of the infrared sensor; be close to first laser mirror and be provided with the quick imaging sensor of non-scanning laser, the quick imaging sensor of non-scanning laser includes APD array sensor and high repetition frequency pulse laser, and the photosensitive surface of APD array sensor is projected to the incident laser of first laser mirror, and the laser that high repetition frequency pulse laser sent jets out through first laser mirror. The device is simple in structure and convenient for target identification and threat analysis.
Description
Technical Field
The invention relates to the technical field of imaging detection and tracking, in particular to the technical field of composite rapid imaging tracking based on a light-weighted two-dimensional scanning reflector, an area array Geiger APD array and an infrared detector, and particularly relates to an infrared laser composite rapid imaging tracking device.
Background
With the development of the photoelectric technology and the improvement of the national defense requirement, the imaging and tracking of the target at home and abroad have huge requirements and wide development prospects, and particularly have important application in the fields of national defense and civil aviation. A space target monitoring and tracking system is established by utilizing the photoelectric sensor, the target is detected and identified in the first time, high-precision tracking is realized on the threatening target, the multi-dimensional characteristics of the target such as direction, distance, heat radiation and depth are accurately given, the maximum information guarantee can be provided, and the correct decision can be conveniently made by the personnel at the same time.
However, any single detection mode has its disadvantages and application limitations, and infrared imaging detection has a longer range and a larger search field, but can only detect two-dimensional angle-angle information of a target, and the image lacks target distance information; the laser active detection has strong atmospheric penetration capability, high spatial resolution and high tracking precision, can measure three-dimensional depth distance information of a target, but has the defects of generally small detection field of view, low search efficiency and the like. By adopting the infrared laser composite imaging detection mode, the advantages of different sensors can be integrated, the multi-dimensional and multi-spectral-segment information characteristics of the target such as space, depth, intensity, thermal radiation and the like can be captured, the detection, positioning and identification capabilities of the target in a complex environment can be effectively improved through the cooperative detection and information fusion of the multi-source sensors, and accurate information is provided for threat analysis, assistant decision making and the like. The device simultaneously uses the infrared passive and laser active detection modes, which is beneficial to ensuring that the system has good adaptability and viability so as to adapt to the increasing diversification of target objects and the complex and multiple changes of background environment.
Some prior art systems employ infrared and laser combined detection to detect and locate a spatial point target. In the prior art, single-point laser ranging of a target is realized by adopting a scanning mode, and distance information of the target is obtained. However, to realize laser imaging of the target, the target needs to be continuously scanned, which is not favorable for realizing rapid imaging of the space moving target. Aiming at the rapid laser imaging of the target, a mechanical scanning device is omitted by a non-scanning laser imaging mode based on an APD array, and the method has the advantages of large field of view, high imaging resolution, small volume, simple structure and the like. Meanwhile, the detector adopts an APD array in a Geiger mode, and the action distance of three-dimensional laser imaging can be further improved due to the photon-level detection response capability of the APD array. In the technology of accurately tracking a target, a general composite detection system adopts a two-dimensional rotating holder to search and track the target, and the mode has the defects of large volume and weight, low control precision, low frequency response and the like.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides an infrared laser composite rapid imaging tracking device which is simple in structure, has the functions of infrared imaging, three-dimensional laser rapid imaging, high-precision tracking and the like on a target, can acquire multi-dimensional information of the target such as space, depth, intensity, heat radiation and the like, and is convenient for identification, threat analysis and the like of the target.
The technical scheme for solving the technical problems is as follows:
an infrared laser composite rapid imaging tracking device comprises a two-dimensional scanning reflector, an optical reflector, an infrared laser splitting element and a first laser reflector, wherein the two-dimensional scanning reflector, the optical reflector, the infrared laser splitting element and the first laser reflector are carried on a theodolite, the reflecting surface of the two-dimensional scanning reflector and the reflecting surface of the optical reflector are parallel and mutually offset, the reflecting surface of the optical reflector and the reflecting surface of the infrared laser splitting element are perpendicular, and the reflecting surface of the infrared laser splitting element and the reflecting surface of the first laser reflector are parallel and mutually offset; an infrared sensor is arranged on a light-transmitting surface of the infrared laser light splitting element, and infrared rays transmitted by the infrared laser light splitting element are transmitted to a photosensitive surface of the infrared sensor; a non-scanning laser rapid imaging sensor is arranged on a reflecting surface close to the first laser reflector, the non-scanning laser rapid imaging sensor comprises an APD array sensor and a high repetition frequency pulse laser, incident laser of the first laser reflector is projected to a photosensitive surface of the APD array sensor, and laser emitted by the high repetition frequency pulse laser is sequentially emitted out through the first laser reflector, the infrared laser light splitting element, the optical reflector and the two-dimensional scanning reflector.
Further, the device comprises an image acquisition unit and an upper computer, wherein the signal input end of the image acquisition unit is respectively connected with the infrared sensor and the non-scanning laser rapid imaging sensor, and the signal output end of the image acquisition unit is connected with the upper computer.
Further, still include theodolite control unit, theodolite control unit with host computer communication connection.
Further, theodolite control unit includes position actuating mechanism, every single move actuating mechanism, angle measurement module, position actuating mechanism is used for the drive the theodolite carries out the transverse rotation, every single move actuating mechanism is used for the drive the theodolite carries out the every single move rotation, the angle measurement module is used for measuring the rotation angle of theodolite.
Further, infrared sensor includes infrared optical system and infrared focal plane, infrared optical system is used for receiving the infrared ray of infrared laser beam splitting component transmission, infrared focal plane is used for converting infrared ray into electrical signal output.
Further, the non-scanning laser rapid imaging sensor further comprises a laser receiving optical system, wherein the laser receiving optical system is arranged between the first laser reflector and the APD array sensor and is used for receiving laser signals reflected by the first laser reflector and transmitting the laser signals to a photosensitive surface of the APD array sensor.
Further, a second laser reflector and a third laser reflector are further arranged between the high repetition frequency pulse laser and the first laser reflector, the second laser reflector and the third laser reflector are arranged in parallel and offset with each other, and laser emitted by the high repetition frequency pulse laser sequentially passes through the third laser reflector, the second laser reflector and the first laser reflector for reflection.
Further, the infrared sensor is any one of a near-infrared sensor, a medium-wave infrared sensor or a long-wave infrared sensor.
Further, the APD array sensor is an area array Geiger mode I nGaAs APD array detector.
The invention has the beneficial effects that: the infrared laser composite rapid imaging tracking device provided by the invention has a simple structure, has the functions of infrared imaging, three-dimensional laser rapid imaging, high-precision tracking and the like on a target, can acquire multi-dimensional information of the target such as space, depth, intensity, heat radiation and the like, and is convenient for identification, threat analysis and the like of the target. The device has the following main advantages:
1. the infrared passive imaging and the laser active detection can fully exert the advantages of two detection systems and acquire the multi-dimensional information of the target;
2. the infrared detection and the laser emission and reception adopt a common-window coaxial design, and the light splitting detection is carried out through the light splitting element, so that the accurate composite positioning of the target is realized;
3. the APD array sensor based on the area array Geiger mode realizes three-dimensional laser rapid imaging of a remote target;
4. the two-dimensional scanning reflector adopts a theodolite structure to replace a traditional holder structure, so that light and high-precision target rapid tracking is realized;
5. simple structure, high precision, easy operation and maintenance and favorable fusion identification.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a block diagram of the structure of the imaging part of the present invention;
FIG. 3 is a diagram of the infrared laser composite fast imaging effect of the present invention;
fig. 4 is a diagram of the infrared laser composite fast imaging tracking effect of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. two-dimensional scanning reflector, 2, optical reflector, 3, infrared laser beam splitting component, 4, infrared sensor, 4.1, infrared optical system, 4.2, infrared focal plane, 5, first laser reflector, 6, non-scanning laser rapid imaging sensor, 6.1, APD array sensor, 6.2, high repetition frequency pulse laser, 6.3, second laser reflector, 6.4, third laser reflector, 6.5, laser receiving optical system, 7, image acquisition unit, 8, upper computer, 9, theodolite control unit, 10, theodolite.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
The infrared laser composite rapid imaging tracking device shown in fig. 1 comprises a two-dimensional scanning reflector 1, an optical reflector 2, an infrared laser beam splitting element 3 and a first laser reflector 5 which are carried on a theodolite 10, wherein the reflecting surface of the two-dimensional scanning reflector 1 is parallel to the reflecting surface of the optical reflector 2 and is arranged in a mutually offset manner, the reflecting surface of the optical reflector 2 is perpendicular to the reflecting surface of the infrared laser beam splitting element 3, and the reflecting surface of the infrared laser beam splitting element 3 is parallel to the reflecting surface of the first laser reflector 5 and is arranged in a mutually offset manner; an infrared sensor 4 is arranged on a light-transmitting surface of the infrared laser light-splitting element 3, and infrared rays transmitted by the infrared laser light-splitting element 3 are transmitted to a photosensitive surface of the infrared sensor 4; a non-scanning laser rapid imaging sensor 6 is arranged on a reflecting surface close to the first laser reflector 5, the non-scanning laser rapid imaging sensor 6 comprises an APD array sensor 6.1 and a high repetition frequency pulse laser 6.2, incident laser of the first laser reflector 5 is projected to a photosensitive surface of the APD array sensor 6.1, and laser emitted by the high repetition frequency pulse laser 6.2 is emitted out through the first laser reflector 5, the infrared laser beam splitting element 3, the optical reflector 2 and the two-dimensional scanning reflector 1 in sequence. The two-dimensional scanning reflector 1 reflects infrared radiation light, laser emergent light and echo, and the data update rate can reach more than 1 kHz. In this embodiment, the infrared laser splitting element 3 implements a coaxial common-window design of infrared and laser, and is beneficial to target multi-source information acquisition.
In this embodiment, still include image acquisition unit 7 and host computer 8, image acquisition unit 7's signal input part is connected respectively infrared sensor 4 with non-scanning laser rapid imaging sensor 6, image acquisition unit 7's signal output part is connected host computer 8.
In this embodiment, the device further includes a theodolite control unit 9, and the theodolite control unit 9 is in communication connection with the upper computer 8. The theodolite 10 includes azimuth seat, every single move shafting, theodolite control unit 9 sets up on the theodolite 10 for adjust and detect the gesture of theodolite 10. The theodolite control unit 9 includes position actuating mechanism, every single move actuating mechanism, angle finding module, position actuating mechanism is used for the drive theodolite 10 carries out the transverse rotation, every single move actuating mechanism is used for the drive theodolite 10 carries out the every single move rotation, the angle finding module is used for measuring the rotation angle of theodolite 10.
In this embodiment, infrared sensor 4 includes infrared optical system 4.1 and infrared focal plane 4.2, infrared optical system 4.1 is used for receiving the infrared ray of infrared laser beam splitting component 3 transmission, infrared focal plane 4.2 is used for converting infrared ray into electrical signal output.
In this embodiment, the non-scanning laser fast imaging sensor 6 further includes a laser receiving optical system 6.5, and the laser receiving optical system 6.5 is disposed between the first laser mirror 5 and the APD array sensor 6.1, and is configured to receive a laser signal reflected by the first laser mirror 5 and transmit the laser signal to a photosensitive surface of the APD array sensor 6.1.
In this embodiment, the high repetition frequency pulse laser 6.2 can emit pulse laser with high repetition frequency and high peak power, and the wavelength can be selected from 1.06um, 1.5X um or 1.6X um, etc. A second laser reflector 6.3 and a third laser reflector 6.4 are further arranged between the high repetition frequency pulse laser 6.2 and the first laser reflector 5, the second laser reflector 6.3 and the third laser reflector 6.4 are arranged in parallel and offset with each other, and laser emitted by the high repetition frequency pulse laser 6.2 is reflected by the third laser reflector 6.4, the second laser reflector 6.3 and the first laser reflector 5 in sequence and then reflected to a target object by the infrared laser light splitting element 3, the optical reflector 2 and the two-dimensional scanning reflector 1 in sequence.
In this embodiment, the infrared sensor 4 is any one of a near-infrared sensor, a medium-wave infrared sensor, and a long-wave infrared sensor, and the imaging frame frequency may be up to 50Hz or higher.
In this embodiment, the APD array sensor 6.1 is an I nGaAs APD array detector in an area array geiger mode, which realizes remote non-scanning rapid three-dimensional laser imaging with high sensitivity, and the imaging frame frequency can reach more than 20Hz after data processing.
The working principle is as follows:
as shown in fig. 2, the structure of the imaging part of the apparatus is shown as a block diagram.
The two-dimensional scanning reflector 1 searches and detects a space area in a large range, infrared radiant light of a target is reflected to the optical reflector 2 through the two-dimensional scanning reflector 1, then enters the infrared optical system 4.1 after passing through the optical reflector 2 and the light splitting element, and is detected and received by the infrared sensor 4. The infrared sensor 4 stops the search mode after finding the target, and the high repetition frequency pulse laser 6.2 is triggered to emit laser pulse after the center of the infrared image view field is aligned with the target. The pulse laser reflected by the target diffuse reflection reaches the APD array sensor 6.1 in the area array Geiger mode after passing through the infrared laser beam splitting element 3 and the laser receiving optical system 6.5 to form a three-dimensional laser image of the target, and the three-dimensional laser image is sent to the upper computer 8 for displaying the infrared and laser images after data processing. Meanwhile, the azimuth and pitch data of the target are sent to the theodolite 10 carrying the two-dimensional scanning reflector 1 in real time, so that the target is tracked with high precision.
More specifically, the two-dimensional scanning reflector 1 searches for a target in a large-scale free space, and after collecting an infrared image containing the target, the image acquisition unit 7 detects the target by using an infrared image processing algorithm and sends the target to the upper computer 8 for display. The infrared image processing algorithm adopts the prior art. The upper computer 8 calculates the centroid position of the threat target, outputs two-dimensional position information of the target in the image, and transmits the two-dimensional position information to the theodolite control unit 9 so as to control the theodolite 10 and the two-dimensional scanning mirror 1 carried on the theodolite 10 to perform angle adjustment. After receiving the position information of the target, the theodolite control unit 9 calculates a deflection angle by combining the target motion offset, and drives the two-dimensional scanning reflector 1 to align to the threat target. The upper computer 8 triggers the high repetition frequency pulse laser 6.2 to emit laser pulses to actively detect the target, the APD array sensor 6.1 receives laser main waves and echo waves, three-dimensional depth and intensity information of the target are obtained through related laser image filtering algorithms in the prior art, and meanwhile, the three-dimensional depth and intensity information is sent to the upper computer 8 to be displayed in a laser image. The upper computer 8 calculates the offset of the target in real time and drives the two-dimensional scanning reflector 1 to realize high-precision imaging and tracking on the space target.
Fig. 3-4 are graphs of infrared laser composite fast imaging tracking results, which are respectively composite imaging detection for a long-distance building tower crane and a structure body.
The infrared laser composite rapid imaging tracking device comprehensively applies the technologies of infrared imaging, non-scanning laser rapid imaging, high-precision tracking and the like, realizes active and passive composite measurement of the target, has the advantages of high precision, high information dimensionality, high stability and the like, and can realize the acquisition of multi-source information of the target so as to further improve the imaging, detecting, tracking and identifying capabilities of the target.
The infrared laser composite rapid imaging tracking device provided by the embodiment has a simple structure, has the functions of infrared imaging, three-dimensional laser rapid imaging, high-precision tracking and the like on a target, can acquire multi-dimensional information such as space, depth, intensity, heat radiation and the like of the target, and is convenient for identification, threat analysis and the like of the target.
The main advantages of this embodiment are as follows:
1. the infrared passive imaging and the laser active detection can fully exert the advantages of two detection systems and acquire the multi-dimensional information of the target;
2. the infrared detection and the laser emission and reception adopt a common-window coaxial design, and the light splitting detection is carried out through the light splitting element, so that the accurate composite positioning of the target is realized;
3. based on an area array Geiger mode APD array sensor 6.1, three-dimensional laser rapid imaging of a remote target is realized;
4. the two-dimensional scanning reflector 1 adopts a theodolite 10 structure to replace a traditional tripod head structure, so that light and high-precision target quick tracking is realized;
5. simple structure, high precision, easy operation and maintenance and favorable fusion identification.
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, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. The infrared laser composite rapid imaging tracking device is characterized by comprising a two-dimensional scanning reflector (1), an optical reflector (2), an infrared laser splitting element (3) and a first laser reflector (5) which are carried on a theodolite (10), wherein the reflecting surface of the two-dimensional scanning reflector (1) is parallel to the reflecting surface of the optical reflector (2) and is arranged in a mutually offset manner, the reflecting surface of the optical reflector (2) is perpendicular to the reflecting surface of the infrared laser splitting element (3), and the reflecting surface of the infrared laser splitting element (3) is parallel to the reflecting surface of the first laser reflector (5) and is arranged in a mutually offset manner; an infrared sensor (4) is arranged on a light-transmitting surface of the infrared laser light splitting element (3), and infrared rays transmitted by the infrared laser light splitting element (3) are transmitted to a photosensitive surface of the infrared sensor (4); a non-scanning laser rapid imaging sensor (6) is arranged close to a reflecting surface of the first laser reflector (5), the non-scanning laser rapid imaging sensor (6) comprises an APD array sensor (6.1), a high repetition frequency pulse laser (6.2) and a laser receiving optical system (6.5), incident laser of the first laser reflector (5) is projected to a photosensitive surface of the APD array sensor (6.1) through the laser receiving optical system (6.5), and laser emitted by the high repetition frequency pulse laser (6.2) is sequentially emitted through the first laser reflector (5), the infrared laser beam splitting element (3), the optical reflector (2) and the two-dimensional scanning reflector (1);
the device adopts the following method to realize infrared laser composite rapid imaging tracking:
the two-dimensional scanning reflector (1) carries out large-range searching and detecting on a space area, infrared radiant light of a target is reflected to the optical reflector (2) through the two-dimensional scanning reflector (1), passes through the optical reflector (2) and the infrared laser light splitting element (3) and is detected and received by the infrared sensor (4);
the infrared sensor (4) stops searching the mode after finding the target, and triggers the high repetition frequency pulse laser (6.2) to emit laser pulse after the center of the infrared image view field is aligned with the target;
pulse laser reflected by the target in a diffuse mode reaches an APD array sensor (6.1) in an area array Geiger mode after passing through an infrared laser beam splitting element (3) and a laser receiving optical system (6.5) to form a three-dimensional laser image of the target, and the three-dimensional laser image is sent to an upper computer (8) for displaying the infrared and laser images after data processing; meanwhile, the azimuth and pitch data of the target are sent to a theodolite (10) carrying a two-dimensional scanning reflector (1) in real time, and the target is tracked with high precision.
2. The infrared laser composite rapid imaging tracking device according to claim 1, characterized by further comprising an image acquisition unit (7) and an upper computer (8), wherein a signal input end of the image acquisition unit (7) is respectively connected with the infrared sensor (4) and the non-scanning laser rapid imaging sensor (6), and a signal output end of the image acquisition unit (7) is connected with the upper computer (8).
3. The infrared laser composite rapid imaging tracking device according to claim 2, characterized by further comprising a theodolite control unit (9), wherein the theodolite control unit (9) is in communication connection with the upper computer (8).
4. The infrared laser composite fast imaging tracking device as claimed in claim 3, characterized in that the theodolite control unit (9) comprises an azimuth driving mechanism, a pitch driving mechanism and an angle measurement module, wherein the azimuth driving mechanism is used for driving the theodolite (10) to rotate transversely, the pitch driving mechanism is used for driving the theodolite (10) to rotate in pitch, and the angle measurement module is used for measuring the rotation angle of the theodolite (10).
5. The infrared laser composite rapid imaging tracking device according to claim 1, wherein the infrared sensor (4) comprises an infrared optical system (4.1) and an infrared focal plane (4.2), the infrared optical system (4.1) is used for receiving the infrared rays transmitted by the infrared laser splitting element (3), and the infrared focal plane (4.2) is used for converting the infrared rays into electric signals to be output.
6. The infrared laser composite fast imaging tracking device according to claim 1, characterized in that the laser receiving optical system (6.5) is disposed between the first laser reflector (5) and the APD array sensor (6.1) for receiving the laser signal reflected by the first laser reflector (5) and transmitting the laser signal to the photosensitive surface of the APD array sensor (6.1).
7. The infrared laser composite rapid imaging tracking device according to claim 1, characterized in that a second laser reflector (6.3) and a third laser reflector (6.4) are further arranged between the high repetition frequency pulse laser (6.2) and the first laser reflector (5), the second laser reflector (6.3) and the third laser reflector (6.4) are arranged in parallel and offset with each other, and laser emitted by the high repetition frequency pulse laser (6.2) is reflected by the third laser reflector (6.4), the second laser reflector (6.3) and the first laser reflector (5) in sequence.
8. The infrared laser composite fast imaging tracking device as claimed in claim 1, characterized in that the infrared sensor (4) is any one of a near infrared sensor, a medium wave infrared sensor or a long wave infrared sensor.
9. The infrared laser composite fast imaging tracking device according to claim 1, characterized in that the APD array sensor (6.1) is an area array geiger mode InGaAs APD array detector.
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| CN114035199B (en) * | 2021-10-15 | 2024-04-12 | 中国人民解放军91977部队 | Photoelectric searching and tracking device based on avalanche diode imaging device |
| CN114488172B (en) * | 2021-12-14 | 2024-05-10 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Multi-target three-dimensional information rapid acquisition photoelectric detection system |
| CN118068348B (en) * | 2024-04-25 | 2024-06-21 | 中国科学院长春光学精密机械与物理研究所 | Single-station photoelectric positioning measurement device |
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