CN113655488A - Infrared alarm system for rapid periodic scanning directional distance measurement and distance measurement method thereof - Google Patents
Infrared alarm system for rapid periodic scanning directional distance measurement and distance measurement method thereof Download PDFInfo
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- 238000005259 measurement Methods 0.000 title claims abstract description 24
- 238000000691 measurement method Methods 0.000 title claims abstract description 9
- 238000000034 method Methods 0.000 claims abstract description 52
- 238000003331 infrared imaging Methods 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 28
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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
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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
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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
- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
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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
- 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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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/19—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using infrared-radiation detection systems
Abstract
The invention provides an infrared alarm system for rapid periodic scanning directional distance measurement and a distance measurement method thereof, wherein the system comprises an infrared imaging subsystem, a two-dimensional turntable subsystem, a laser distance measurement subsystem and a data processing subsystem; the two-dimensional turntable subsystem is used for driving the infrared imaging subsystem and the laser ranging subsystem to rotate and search and enter a circumferential scanning state; the infrared imaging subsystem is used for acquiring an infrared image sequence in the circumferential scanning process; the data processing subsystem is used for carrying out target detection on the infrared image, carrying out stable navigation construction on the target after N circles of scanning, predicting the azimuth and pitch angle information of the target when N +1 circles of scanning are carried out, and controlling the two-dimensional fast-reflection mirror assembly to adjust the laser optical axis of the laser ranging assembly when N +1 circles of scanning are carried out, so that the laser optical axis is always kept unchanged over the target direction in the process of transmitting laser to receiving; the laser ranging assembly is used for measuring the target distance. The invention can finish the directional distance measurement of the target in the process of periodic scanning search.
Description
Technical Field
The invention belongs to the field of infrared alarm, and particularly relates to an infrared alarm system for rapid periodic scanning and directional ranging and a ranging method thereof.
Background
The infrared alarm system needs to perform rotation cycle scanning when searching a target, needs to perform distance measurement on the target and acquire three-dimensional information of the target when searching the target, and the existing infrared alarm system can only perform distance measurement on the target in a gaze tracking state to acquire distance information, so that the rotation needs to be stopped when measuring the distance, and the searching efficiency is low. It is therefore desirable to provide an infrared warning system that is capable of ranging a target during a periodic sweep.
Disclosure of Invention
The invention aims to provide an infrared alarm system for rapid periodic scanning and directional ranging and a ranging method thereof, and aims to solve the problem that the existing infrared alarm system can only perform ranging on a target in a gaze tracking state to obtain distance information.
The invention is realized by the following steps:
on one hand, the invention provides an infrared alarm system for rapid periodic scanning directional distance measurement, which comprises an infrared imaging subsystem, a two-dimensional turntable subsystem, a laser distance measurement subsystem and a data processing subsystem, wherein the laser distance measurement subsystem comprises a laser distance measurement component and a two-dimensional fast reflection mirror component;
the two-dimensional turntable subsystem is used for driving the infrared imaging subsystem and the laser ranging subsystem to rotate and search and enter a periodic scanning state;
the infrared imaging subsystem is used for collecting an infrared image sequence in the periodic scanning process and transmitting the infrared image sequence to the data processing subsystem;
the data processing subsystem is used for carrying out target detection on the infrared image, acquiring the azimuth and pitch angle information of the target, stably constructing the navigation on the target after N circles of scanning, predicting the azimuth and pitch angle information of the target at the N +1 circle of scanning, and sending the information to the two-dimensional fast-reflection mirror assembly;
the two-dimensional fast-reflection mirror assembly is used for adjusting the laser axis of the laser ranging assembly according to the target azimuth and the pitching angle information when the cycle is N +1, so that the laser axis always keeps unchanged over the target direction in the process of transmitting laser to receiving laser;
the laser ranging assembly is used for measuring the target distance and acquiring target depth information.
Furthermore, the two-dimensional turntable subsystem is also used for measuring and recording the angle information of the turntable in the periodic scanning process, and transmitting the information to the data processing subsystem after being superposed with the infrared image acquired at the corresponding angle; the data processing subsystem carries out target detection on the infrared image, and the obtaining of the azimuth and pitch angle information of the target specifically comprises the following steps:
the data processing subsystem carries out target detection on the infrared image to obtain a target image, calculates the dispersion amount of the target in the target image, aligns the dispersion amount of the target with the rotary table angle time sequence corresponding to the target image, and then calculates the azimuth and pitch angle information of the target.
Further, the data processing subsystem predicts the azimuth and pitch angle information of the target at the N +1 th circle of sweep, and the two-dimensional fast-reflection mirror assembly is used for adjusting the laser axis of the laser ranging assembly according to the azimuth and pitch angle information of the target at the N +1 th circle of sweep specifically comprises:
the data processing subsystem acquires a turntable angle A corresponding to a target image during the nth scanning circle, predicts a target deviation amount in the target image corresponding to the turntable angle A during the (N + 1) th scanning circle according to the navigation data of the target, and adjusts the laser axis of the laser ranging assembly according to the turntable angle A and the target deviation amount during the (N + 1) th scanning circle by the two-dimensional fast-reflection mirror assembly.
Further, the two-dimensional turntable subsystem is also used for sending high-level trigger laser ranging assembly laser when the turntable angle is judged to be (A-alpha) in the N +1 th circle of sweep, and the alpha angle is the angle of deflection of the turntable in the response process of sending the trigger level to laser detection and completing laser shooting.
Furthermore, the infrared imaging subsystem comprises an infrared thermal image assembly and a mirror vibration assembly, the infrared thermal image assembly is used for collecting an infrared image sequence, and the mirror vibration assembly is used for carrying out image motion compensation on the infrared image to ensure that the image is clear in the periodic scanning process.
On the other hand, the invention also provides a distance measurement method of the infrared alarm system for rapid periodic scanning and directional distance measurement, which comprises the following steps:
the two-dimensional turntable subsystem drives the infrared imaging subsystem and the laser ranging subsystem to rotate and search, and enters a circumferential scanning state; the laser ranging subsystem comprises a laser ranging assembly and a two-dimensional fast reflection mirror assembly;
the infrared imaging subsystem collects an infrared image sequence in the periodic scanning process and transmits the infrared image sequence to the data processing subsystem;
the data processing subsystem carries out target detection on the infrared image, acquires azimuth and pitch angle information of the target, stably builds navigation on the target after N circles of scanning, predicts the azimuth and pitch angle information of the target when N +1 circles of scanning are carried out, and sends the information to the two-dimensional quick-response mirror assembly;
the two-dimensional fast-reflection mirror assembly is used for adjusting the laser axis of the laser ranging assembly according to the target azimuth and the pitching angle information when the cycle is N +1, so that the laser axis always keeps unchanged over the target direction in the process of transmitting laser to receiving laser;
and the laser ranging assembly measures the target distance to acquire target depth information.
Furthermore, the two-dimensional turntable subsystem measures and records the angle information of the turntable in the periodic scanning process, and transmits the information to the data processing subsystem after being superposed with the infrared image acquired at the corresponding angle; the data processing subsystem carries out target detection on the infrared image, and the obtaining of the azimuth and pitch angle information of the target specifically comprises the following steps:
the data processing subsystem carries out target detection on the infrared image to obtain a target image, calculates the dispersion amount of the target in the target image, aligns the dispersion amount of the target with the rotary table angle time sequence corresponding to the target image, and then calculates the azimuth and pitch angle information of the target.
Further, the data processing subsystem predicts the azimuth and pitch angle information of the target at the N +1 th circle of sweep, and the adjusting of the laser axis of the laser ranging assembly by the two-dimensional fast-reflection mirror assembly according to the azimuth and pitch angle information of the target at the N +1 th circle of sweep specifically comprises:
the data processing subsystem acquires a turntable angle A corresponding to a target image during the nth scanning circle, predicts a target deviation amount in the target image corresponding to the turntable angle A during the (N + 1) th scanning circle according to the navigation data of the target, and adjusts the laser axis of the laser ranging assembly according to the turntable angle A and the target deviation amount during the (N + 1) th scanning circle by the two-dimensional fast-reflection mirror assembly.
Further, the method further comprises: and when the two-dimensional turntable subsystem scans the N +1 th circle, a high level is sent out to trigger the laser ranging assembly to beat the laser when the turntable angle is judged to be (A-alpha), and the alpha angle is the angle of deflection of the turntable in the response process of sending out the trigger level to laser detection and finishing beating the laser.
Further, the infrared imaging subsystem includes an infrared thermal image component and a galvanometer component, and the infrared imaging subsystem specifically includes, in the periodic scanning process, acquiring an infrared image sequence:
the infrared thermal imaging assembly collects an infrared image sequence, and the galvanometer assembly performs image motion compensation on the infrared image to ensure that the image is clear in the periodic scanning process.
Compared with the prior art, the invention has the following beneficial effects:
the infrared alarm system and the distance measurement method thereof for fast periodic scanning directional distance measurement use the laser distance measurement component with the two-dimensional fast reflecting mirror to realize high dynamic target directional distance measurement by synchronously controlling the laser transmitting and receiving optical axes; the invention can realize tracking ranging in the staring state of the traditional photoelectric system, also can finish directional ranging to the target in the periodic scanning search process, reduces the false alarm rate through three-dimensional information and improves the search efficiency; the invention has high reliability, the target detection and the navigation establishment, the miss distance transmission and the control signal transmission are all completed in the Nth circle, the (N + 1) th circle only needs to complete the laser control, each flow is relatively independent, the influence of the system delay is small, the reliability is high, and the stability is good.
Drawings
Fig. 1 is a block diagram of an infrared alarm system for fast periodic scanning and directional ranging according to an embodiment of the present invention;
FIG. 2 is a schematic laser triggering diagram of an infrared alarm system with fast periodic scanning and directional ranging according to an embodiment of the present invention;
fig. 3 is a distance measurement method of an infrared alarm system for fast periodic scanning and directional distance measurement according to an embodiment of the present invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
As shown in fig. 1, an embodiment of the present invention provides an infrared alarm system for fast periodic scanning and directional ranging, which includes an infrared imaging subsystem, a two-dimensional turntable subsystem, a laser ranging subsystem and a data processing subsystem, where the infrared imaging subsystem and the laser ranging subsystem are both mounted on the two-dimensional turntable subsystem, the laser ranging subsystem includes a laser ranging assembly and a two-dimensional fast mirror assembly, and the two-dimensional fast mirror assembly can adjust a laser optical axis of the laser ranging assembly; the two-dimensional turntable subsystem comprises a torque motor, a rotary transformer assembly, a gyro assembly, a photoelectric slip ring, a frame structural member, a servo control board and the like, and is used for driving the infrared imaging subsystem and the laser ranging subsystem to rotate and search, and entering a person sweeping state, and specifically can scan at the speed of 360 DEG/S; the infrared imaging subsystem is used for acquiring an infrared image sequence in the periodic scanning process and transmitting the infrared image sequence to the data processing subsystem, and specifically imaging can be carried out according to 100 Hz; the data processing subsystem comprises a data processing component and a comprehensive control component and is used for carrying out target detection on the infrared image, acquiring the azimuth and pitch angle information of the target, carrying out stable navigation on the target after N circles of scanning, predicting the azimuth and pitch angle information of the target at N +1 circles of scanning and sending the information to the two-dimensional fast-response mirror component; the two-dimensional fast-reflection mirror assembly is used for adjusting the laser axis of the laser ranging assembly according to the target azimuth and the pitching angle information when the cycle is N +1, so that the laser axis always keeps unchanged over the target direction in the process of transmitting laser to receiving laser; the laser ranging assembly is used for measuring a target distance and acquiring target depth information, and the laser optical axis is always kept unchanged over the target direction in the process that laser of the laser ranging assembly is transmitted to a receiving device through the two-dimensional fast-reflection mirror assembly, so that the target distance can be directly measured, and the target ranging is realized in the circumferential scanning process.
Preferably, the two-dimensional turntable subsystem is further configured to measure and record turntable angle information in a periodic scanning process, and transmit the turntable angle information to the data processing subsystem after being superimposed with the infrared image acquired at the corresponding angle, so that the corresponding turntable angle when the infrared image is shot is conveniently acquired; the data processing subsystem carries out target detection on the infrared image, and the obtaining of the azimuth and pitch angle information of the target specifically comprises the following steps: the data processing subsystem carries out target detection on the infrared image to obtain a target image, calculates the dispersion of the target in the target image, aligns the dispersion of the target with the time sequence of the rotating table angle corresponding to the target image, and then calculates the azimuth and pitch angle information of the target.
Further preferably, the data processing subsystem predicts the azimuth and pitch angle information of the target at the N +1 th cycle of the sweep, and the adjusting of the laser axis of the laser ranging assembly by the two-dimensional fast-reflection mirror assembly according to the azimuth and pitch angle information of the target at the N +1 th cycle of the sweep specifically includes:
the data processing subsystem acquires a turntable angle A corresponding to a target image when the target image is scanned in the nth circle, namely an azimuth code disc value A, predicts a target deviation amount in the target image corresponding to the turntable angle A when the target image is scanned in the (N + 1) th circle according to the navigation data of the target, and adjusts the laser axis of the laser ranging assembly according to the turntable angle A and the target deviation amount when the two-dimensional fast-reflection mirror assembly is scanned in the (N + 1) th circle. The laser optical axis can be conveniently adjusted through the angle A of the rotary table and the target difference taking amount, and finally the laser optical axis always keeps unchanged over the target direction in the process of emitting laser to a receiving device.
Referring to fig. 2, it is further preferable that the two-dimensional turntable subsystem is further configured to send a high level to trigger the laser ranging assembly to lase when the turntable angle is determined to be (a- α) in the N +1 th cycle of the sweep, and the α angle is an angle at which the turntable deflects during a response process from the trigger level sent by the turntable servo control board to laser detection and laser ablation is completed, so that an error caused by laser response delay is avoided. The angle can also be used as a debugging variable in the actual debugging process to correct the system error.
Preferably, the infrared imaging subsystem comprises an infrared thermal image assembly and a mirror vibration assembly, the infrared thermal image assembly is used for collecting an infrared image sequence, and the mirror vibration assembly is used for performing image motion compensation on the infrared image to ensure that the image is clear in the scanning process, so that target detection and distance measurement are facilitated.
As shown in fig. 3, an embodiment of the present invention further provides a distance measurement method for an infrared alarm system with fast periodic scanning and directional distance measurement, where the infrared alarm system with fast periodic scanning and directional distance measurement is adopted, and the method includes the following steps:
initializing the system, wherein the process completes the initialization of an infrared imaging subsystem, a two-dimensional turntable subsystem, a laser ranging subsystem and a data processing subsystem; after the initialization is finished, the laser ranging subsystem is in a standby state and waits for a difference taking amount and a laser hitting signal transmitted by a comprehensive control assembly of the data processing subsystem;
after initialization is completed, the two-dimensional turntable subsystem drives the infrared imaging subsystem and the laser ranging subsystem to rotate and search according to an external instruction, enters a periodic scanning state, and scans at a speed of 360 DEG/S; the laser ranging subsystem comprises a laser ranging assembly and a two-dimensional fast reflection mirror assembly;
the infrared imaging subsystem collects an infrared image sequence according to the frequency of 100Hz in the periodic scanning process and transmits the infrared image sequence to the data processing subsystem through an optical fiber;
the data processing subsystem carries out target detection on the infrared image, acquires azimuth and pitch angle information of the target, stably builds navigation on the target after N circles of scanning, predicts the azimuth and pitch angle information of the target when N +1 circles of scanning are carried out, and sends the information to the two-dimensional quick-response mirror assembly;
the two-dimensional fast-reflection mirror assembly is used for adjusting the laser axis of the laser ranging assembly according to the target azimuth and the pitching angle information when the cycle is N +1, so that the laser axis always keeps unchanged over the target direction in the process of transmitting laser to receiving laser;
and the laser ranging assembly measures the target distance to acquire target depth information.
Further, the two-dimensional turntable subsystem measures and records turntable angle information in a periodic scanning process, specifically performs real-time angle measurement at a frequency of 10KHz, transmits the turntable angle information corresponding to the integration time of the movement to the movement, superimposes the turntable angle information and an infrared image acquired at a corresponding angle, and transmits the superimposed turntable angle information and the infrared image acquired at the corresponding angle to the data processing subsystem, which performs target detection on the infrared image, and acquiring azimuth and pitch angle information of a target specifically includes:
the data processing subsystem carries out target detection on the infrared image to obtain a target image, calculates the dispersion amount of the target in the target image, aligns the dispersion amount of the target with the rotary table angle time sequence corresponding to the target image, and then calculates the azimuth and pitch angle information of the target.
Further, the data processing subsystem predicts the azimuth and pitch angle information of the target at the N +1 th circle of sweep, and the adjusting of the laser axis of the laser ranging assembly by the two-dimensional fast-reflection mirror assembly according to the azimuth and pitch angle information of the target at the N +1 th circle of sweep specifically comprises:
the data processing subsystem acquires a rotary table angle A corresponding to a target image in the nth scanning circle, the comprehensive control assembly transmits the rotary table angle A corresponding to a frame of the target to the servo control board, the target deviation amount in the target image corresponding to the rotary table angle A in the (N + 1) th scanning circle is predicted according to the navigation data of the target, the comprehensive control assembly sends the target deviation amount to the two-dimensional fast-reflection mirror assembly, the two-dimensional fast-reflection mirror assembly is controlled to rapidly move to a corresponding position and be stable after receiving the deviation amount, and the two-dimensional fast-reflection mirror assembly adjusts the laser optical axis of the laser ranging assembly according to the rotary table angle A and the target deviation amount in the (N + 1) th scanning circle.
Further, the method further comprises: and when the two-dimensional turntable subsystem receives a turntable angle A corresponding to a target occurrence frame, the moment when the next circle of rotation has an angle (A-alpha) is judged in real time, when the two-dimensional turntable subsystem conducts the sweep (N + 1) th circle, a high level is sent out to trigger the laser ranging assembly to shoot laser when the turntable angle is judged to be (A-alpha), and the angle alpha is the angle of deflection of the turntable in the response process of sending out a trigger level to laser detection and completing the shooting of laser.
Further, the infrared imaging subsystem includes an infrared thermal image component and a galvanometer component, and the infrared imaging subsystem specifically includes, in the periodic scanning process, acquiring an infrared image sequence:
the infrared thermal imaging assembly collects an infrared image sequence, and the galvanometer assembly performs image motion compensation on the infrared image to ensure that the image is clear in the periodic scanning process.
In summary, the infrared alarm system and the distance measurement method thereof for fast periodic scanning and directional distance measurement provided by the embodiments of the present invention use a laser distance measurement component with a two-dimensional fast-reflecting mirror to realize high dynamic target directional distance measurement by synchronously controlling laser emitting and receiving optical axes; the invention can realize tracking ranging in the staring state of the traditional photoelectric system, also can finish directional ranging to the target in the periodic scanning search process, reduces the false alarm rate through three-dimensional information and improves the search efficiency; the invention has high reliability, the target detection and the navigation establishment, the miss distance transmission and the control signal transmission are all completed in the Nth circle, the (N + 1) th circle only needs to complete the laser control, each flow is relatively independent, the influence of the system delay is small, the reliability is high, and the stability is good.
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 (10)
1. The utility model provides an infrared alarm system of directional range finding is swept to quick week, includes infrared imaging subsystem, two-dimentional revolving stage subsystem, laser range finding subsystem and data processing subsystem, its characterized in that: the laser ranging subsystem comprises a laser ranging assembly and a two-dimensional fast reflection mirror assembly;
the two-dimensional turntable subsystem is used for driving the infrared imaging subsystem and the laser ranging subsystem to rotate and search and enter a periodic scanning state;
the infrared imaging subsystem is used for collecting an infrared image sequence in the periodic scanning process and transmitting the infrared image sequence to the data processing subsystem;
the data processing subsystem is used for carrying out target detection on the infrared image, acquiring the azimuth and pitch angle information of the target, stably constructing the navigation on the target after N circles of scanning, predicting the azimuth and pitch angle information of the target when N +1 circles of scanning are carried out, and sending the information to the two-dimensional fast-reflection mirror assembly;
the two-dimensional fast-reflection mirror assembly is used for adjusting the laser axis of the laser ranging assembly according to the target azimuth and the pitching angle information when the cycle is N +1, so that the laser axis always keeps unchanged over the target direction in the process of transmitting laser to receiving laser;
the laser ranging assembly is used for measuring the target distance and acquiring target depth information.
2. The infrared warning system of fast periodic sweep directional ranging as claimed in claim 1, wherein: the two-dimensional turntable subsystem is also used for measuring and recording the angle information of the turntable in the periodic scanning process, and transmitting the information to the data processing subsystem after being superposed with the infrared image acquired at the corresponding angle; the data processing subsystem carries out target detection on the infrared image, and the obtaining of the azimuth and pitch angle information of the target specifically comprises the following steps:
the data processing subsystem carries out target detection on the infrared image to obtain a target image, calculates the dispersion amount of the target in the target image, aligns the dispersion amount of the target with the rotary table angle time sequence corresponding to the target image, and then calculates the azimuth and pitch angle information of the target.
3. The infrared alarm system of claim 1, wherein the data processing subsystem predicts the azimuth and elevation angle information of the target at the N +1 th round of the sweep, and the adjusting the laser axis of the laser ranging assembly by the two-dimensional fast-reflection mirror assembly according to the azimuth and elevation angle information of the target at the N +1 th round of the sweep specifically comprises:
the data processing subsystem acquires a turntable angle A corresponding to a target image during the nth scanning circle, predicts a target deviation amount in the target image corresponding to the turntable angle A during the (N + 1) th scanning circle according to the navigation data of the target, and adjusts the laser axis of the laser ranging assembly according to the turntable angle A and the target deviation amount during the (N + 1) th scanning circle by the two-dimensional fast-reflection mirror assembly.
4. The infrared warning system of fast periodic sweep directional ranging as claimed in claim 3, wherein: and the two-dimensional turntable subsystem is also used for sending high level to trigger the laser ranging component to beat laser when judging that the angle of the turntable is (A-alpha) in the N +1 th cycle of the sweep, wherein the alpha angle is the angle of the turntable deflection in the response process of sending trigger level to laser detection and finishing beating laser.
5. The infrared warning system of fast periodic sweep directional ranging as claimed in claim 1, wherein: the infrared imaging subsystem comprises an infrared thermal image assembly and a vibrating mirror assembly, the infrared thermal image assembly is used for collecting an infrared image sequence, and the vibrating mirror assembly is used for carrying out image motion compensation on the infrared image to ensure that the image is clear in the periodic scanning process.
6. A distance measurement method of an infrared alarm system for rapid periodic scanning and directional distance measurement is characterized by comprising the following steps:
the two-dimensional turntable subsystem drives the infrared imaging subsystem and the laser ranging subsystem to rotate and search, and enters a circumferential scanning state; the laser ranging subsystem comprises a laser ranging assembly and a two-dimensional fast reflection mirror assembly;
the infrared imaging subsystem collects an infrared image sequence in the periodic scanning process and transmits the infrared image sequence to the data processing subsystem;
the data processing subsystem carries out target detection on the infrared image, acquires azimuth and pitch angle information of the target, stably builds navigation on the target after N circles of scanning, predicts the azimuth and pitch angle information of the target when N +1 circles of scanning are carried out, and sends the information to the two-dimensional quick-response mirror assembly;
the two-dimensional fast-reflection mirror assembly is used for adjusting the laser axis of the laser ranging assembly according to the target azimuth and the pitching angle information when the cycle is N +1, so that the laser axis always keeps unchanged over the target direction in the process of transmitting laser to receiving laser;
and the laser ranging assembly measures the target distance to acquire target depth information.
7. The method as claimed in claim 1, wherein the two-dimensional turntable subsystem measures and records the angle information of the turntable during the periodic scanning process, and transmits the information to the data processing subsystem after being superposed with the infrared image acquired at the corresponding angle; the data processing subsystem carries out target detection on the infrared image, and the obtaining of the azimuth and pitch angle information of the target specifically comprises the following steps:
the data processing subsystem carries out target detection on the infrared image to obtain a target image, calculates the dispersion amount of the target in the target image, aligns the dispersion amount of the target with the rotary table angle time sequence corresponding to the target image, and then calculates the azimuth and pitch angle information of the target.
8. The method as claimed in claim 1, wherein the data processing subsystem predicts the azimuth and elevation angle information of the target at N +1 of the sweep, and the adjusting the laser axis of the laser ranging assembly according to the azimuth and elevation angle information of the target at N +1 of the sweep by the two-dimensional fast-reflection mirror assembly specifically comprises:
the data processing subsystem acquires a turntable angle A corresponding to a target image during the nth scanning circle, predicts a target deviation amount in the target image corresponding to the turntable angle A during the (N + 1) th scanning circle according to the navigation data of the target, and adjusts the laser axis of the laser ranging assembly according to the turntable angle A and the target deviation amount during the (N + 1) th scanning circle by the two-dimensional fast-reflection mirror assembly.
9. The method of claim 8, further comprising:
and when the two-dimensional turntable subsystem scans the N +1 th circle, a high level is sent out to trigger the laser ranging assembly to beat the laser when the turntable angle is judged to be (A-alpha), and the alpha angle is the angle of deflection of the turntable in the response process of sending out the trigger level to laser detection and finishing beating the laser.
10. The method as claimed in claim 1, wherein the infrared imaging subsystem comprises an infrared thermal image component and a galvanometer component, and the step of acquiring the infrared image sequence by the infrared imaging subsystem in the scanning process specifically comprises:
the infrared thermal imaging assembly collects an infrared image sequence, and the galvanometer assembly performs image motion compensation on the infrared image to ensure that the image is clear in the periodic scanning process.
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