CN115265285B - Reaction method and system for miniature flying target - Google Patents
Reaction method and system for miniature flying target Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
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Abstract
The application relates to the technical field of photoelectric reaction, and discloses a reaction method and a reaction system for a miniature flying target, wherein the method comprises the following steps: the image acquisition module acquires a visible light image containing a target; the image processing module processes the obtained image to obtain the spatial position of the target; and the reaction striking module controls laser to strike a target according to the obtained spatial position. The method adopts the photoelectric detection and laser striking modes, can detect various targets with different types, has strong target resolution capability and high detection precision, can intercept and treat various targets, can achieve different striking effects by adjusting laser power, further realize the efficient and intelligent reaction of the miniature flying targets, has the characteristics of high speed, high precision, high efficiency, cost ratio and the like, and can be applied to various fields including national defense safety, home defense, pest control and the like.
Description
Technical Field
The invention relates to the technical field of photoelectric reaction, in particular to a reaction method and a reaction system aiming at a miniature flying target.
Background
According to the initial data, the micro-aircraft can be expressed as follows, and the characteristic dimension is not more than 15cm; the speed per hour is 30-60km/h; weight is only 50-100g, and can carry 20g of effective load; flying for 20-60min; the image may be transmitted in real time. Along with the continuous progress of unmanned aerial vehicle technique, unmanned aerial vehicle cost constantly falls, and microminiature unmanned aerial vehicle is constantly popularized, and microminiature unmanned aerial vehicle bee colony appears widely. In recent years, uncontrolled production, use and spread of aircraft featuring "low-slowness" represented by civilian unmanned aerial vehicles, kongming lights, balloons, etc., has made such "low-slowness" target markets at risk of runaway and have become a potential non-traditional air threat to national, civil and public security.
The low-speed small aircrafts typified by unmanned planes are various in variety, flexible in flying, and various sensor detection technologies are greatly developed in countries of the world, and mainly comprise radar detection and radio detection. At present, radar and wireless electrolytic equipment are mainly adopted in the market as unmanned aerial vehicle discovery means, but the detection of objects with smaller sizes is difficult, and the distinction between cooperative and non-cooperative objects is difficult.
In the current stage, a plurality of low-speed and small-target countering means are adopted, wherein electromagnetic interference, laser striking, high-energy microwave weapons, net bullets and net capturing are the most typical, the advantages and disadvantages of all countering means are combined, a radio interference mode is mostly adopted in the current market, but the number of target types applied by the mode is small, and the countering effect is difficult to achieve for flying targets outside an interference frequency band or organisms flying or moving faster.
Therefore, how to solve the problem that the existing reaction system is difficult to realize reaction to the miniature flying target is a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the invention aims to provide a method and a system for countering a miniature flying target, which can realize high-efficiency intelligent countering of the miniature flying target, and has high speed, high precision and high efficiency-cost ratio. The specific scheme is as follows:
a countering method for a miniature flying target, comprising:
the image acquisition module acquires a visible light image containing a target;
the image processing module processes the obtained image to obtain the spatial position of the target;
and the counterattack module controls laser to strike the target according to the obtained space position.
Preferably, in the above method for countering a micro flying object provided by the embodiment of the present invention, the image acquisition module includes a binocular camera;
the image acquisition module acquires a visible light image containing a target, including:
and acquiring left and right visible light images containing the target by using the binocular camera.
Preferably, in the above method for countering a micro flying object provided by the embodiment of the present invention, the image processing module includes a raspberry group;
the image processing module processes the obtained image to obtain the spatial position of the target, and the method comprises the following steps:
and processing the two images obtained by using the raspberry party, and calculating the spatial position of the target in a camera coordinate system.
Preferably, in the above method for counteracting a micro flying target provided by the embodiment of the present invention, calculating a spatial position of the target in a camera coordinate system includes:
extracting the image plane coordinates of the target by using a target detection unit;
and calculating the spatial position of the target in a camera coordinate system by using a target positioning unit according to the extracted image plane coordinates and imaging parameters.
Preferably, in the above method for counteracting a micro flying object provided by the embodiment of the present invention, the counteracting striking module includes a galvanometer, a galvanometer control board, a laser, and a DA chip;
the counterattack module controls laser to strike the target according to the obtained spatial position, and comprises:
calculating a reflector corner corresponding to the target according to the obtained spatial position, the position relation between the binocular camera and the galvanometer and the position relation between the laser and the galvanometer;
the DA chip converts the calculated angle information into voltage information of the vibrating mirror drive and transmits the voltage information to the vibrating mirror control board;
and the vibrating mirror control board controls the two reflecting mirrors of the vibrating mirror to rotate so as to direct the laser emitted by the laser to the target.
Preferably, in the method for counteracting a micro flying target provided by the embodiment of the present invention, before the two left and right visible light images including the target are acquired by using the binocular camera, the method further includes:
and calibrating the binocular camera, the galvanometer and the laser in a combined way.
The embodiment of the invention also provides a reaction system for the miniature flying object, which comprises the following components:
the image acquisition module is used for acquiring a visible light image containing a target;
the image processing module is used for processing the obtained image to obtain the spatial position of the target;
and the reaction striking module is used for controlling laser to strike the target according to the obtained space position.
Preferably, in the above reaction system for miniature flying objects provided in the embodiment of the present invention, the image acquisition module includes a binocular camera;
the image acquisition module is specifically used for acquiring left and right visible light images containing a target by using the binocular camera.
Preferably, in the above reaction system for micro flight targets provided by the embodiment of the present invention, the image processing module includes a raspberry group;
the image processing module is specifically configured to process two images obtained by using a raspberry party, and calculate a spatial position of the target in a camera coordinate system.
Preferably, in the above reaction system for micro flying objects provided by the embodiment of the present invention, the reaction striking module includes a galvanometer, a galvanometer control board, a laser, and a DA chip;
the countering striking module is specifically configured to calculate a mirror rotation angle corresponding to the target according to the obtained spatial position, the positional relationship between the binocular camera and the galvanometer, and the positional relationship between the laser and the galvanometer; the DA chip converts the calculated angle information into voltage information of the vibrating mirror drive and transmits the voltage information to the vibrating mirror control board; and the vibrating mirror control board controls the two reflecting mirrors of the vibrating mirror to rotate so as to direct the laser emitted by the laser to the target.
According to the technical scheme, the method for countering the miniature flying object provided by the invention comprises the following steps: the image acquisition module acquires a visible light image containing a target; the image processing module processes the obtained image to obtain the spatial position of the target; and the reaction striking module controls laser to strike a target according to the obtained spatial position.
The method for countering the miniature flying target provided by the invention adopts the photoelectric detection and laser striking modes, can detect various targets of different types, has strong target resolution capability and high detection precision, can intercept and treat various targets, can achieve different striking effects by adjusting laser power, further realize high-efficiency intelligent countering of the miniature flying target, has the characteristics of high speed, high precision, high efficiency cost ratio and the like, can be simultaneously applied to a plurality of fields including national defense safety, home protection, pest control and the like, and can meet different application requirements by changing hardware equipment in different modules and modifying algorithms.
In addition, the invention also provides a corresponding system for the above-mentioned reaction method, further makes the above-mentioned reaction method more practical, and the system has corresponding advantages.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is apparent that the drawings in the following description are only embodiments of the present invention, and other drawings may be obtained according to the provided drawings without inventive effort for those skilled in the art.
FIG. 1 is a flow chart of a method for countering a miniature flying target according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a camera coordinate system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a galvanometer coordinate system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a specific flow of an image processing and countering striking process in the countering method according to the embodiment of the invention;
FIG. 5 is a schematic diagram of a reaction system for miniature flying objects according to an embodiment of the present invention;
FIG. 6 is a diagram of a system accuracy test provided by an embodiment of the present invention;
fig. 7 is a system speed test chart according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a counteraction method for a miniature flying target, which is shown in fig. 1 and comprises the following steps:
s101, an image acquisition module acquires a visible light image containing a target;
s102, an image processing module processes the obtained image to obtain the spatial position of the target;
s103, controlling laser to strike a target by the reaction striking module according to the obtained spatial position.
In the method for countering the miniature flying target provided by the embodiment of the invention, the photoelectric detection and laser striking modes are adopted, so that various targets of different types can be detected, the target resolution capability is high, the detection precision is high, the targets can be found out, the targets can be intercepted and treated variously, different striking effects can be achieved by adjusting the laser power, further, the efficient and intelligent countering of the miniature flying target is realized, and the method has the characteristics of high speed, high precision, high efficiency, cost ratio and the like, and can be applied to various fields including national defense safety, home protection, pest control and the like, and in addition, different application requirements can be met by changing hardware equipment in different modules and modifying algorithms.
It should be noted that, the invention firstly uses the image acquisition module to acquire the visible light image containing the target, then uses the image processing module to process the acquired image, thereby acquiring the coordinates of the target in the real space, and finally uses the counterattack module to precisely control the laser to hit the target. According to the hardware architecture design provided by the invention, each module can automatically replace products of the same type with different performances, so that different application requirements are met, and the hardware architecture design has strong expansibility.
Further, in a specific implementation, in the above method for countering a micro flying object provided by the embodiment of the present invention, a main device of an image acquisition module may include a binocular camera; the main components of the image processing module may include raspberry group; the main components of the countering striking module may include a galvanometer, a galvanometer control board, a laser, and a DA chip. The architecture design can realize the rapid reaction of the miniature flying target by using conventional hardware equipment, and can reach higher precision.
In a specific implementation, in the method for countering a micro flying target provided by the embodiment of the present invention, before the left and right visible light images including the target are acquired by using a binocular camera, the method may further include: and calibrating the binocular camera, the galvanometer and the laser in a combined way.
In practical application, after assembling different devices, corresponding coordinate systems including a binocular camera coordinate system, a laser source coordinate system and a galvanometer coordinate system are required to be established according to the relative positions of the instruments; wherein, the camera coordinate system is defined as follows: as shown in fig. 2, the origin of the spatial coordinate system of the left camera 01 defines the left camera lens center, the Z axis is parallel to the main optical axis of the camera, the X axis is directed toward the right camera 02 lens center and perpendicular to the Z axis, and the Y axis meets the right hand criterion and is directed vertically toward the ground. The right camera spatial coordinate system is defined according to the same rule. The scheme takes the left camera space coordinate system as a binocular camera coordinate system O 4 -xyz。
It should be noted that the left camera space coordinate system O 4 -xyz and ideal image space coordinate system O 3 Xyz ideally remains coincident. In actual cases, however, the camera coordinate system O 4 -xyz and ideal image space coordinate system O 3 There must be an angular installation deviation between xyz. This deviation is actually composed of both an attitude deviation and a position deviation. Since the positional deviations are usually small and can be equivalently fused into other error systems, the translational errors are not processed anymore for simplicity reasons and only the attitude errors are considered when processing these errors.
Wherein M represents a 3×3 installation error matrix represented by an ideal image space coordinate system O 3 -xyz to camera coordinate system O 4 -a transform matrix of xyz. It should be noted that any rotation of a rigid body or vector can be described by a 3×3 matrix, which is a common operation in positioning. M may be expressed as a rotation matrix formed by 3 euler angles.
Let the parameters in the left camera be f, c u ,c v ，[u,v]For the image coordinates of a point on the image, the spatial orientation of the point in the binocular coordinate system is:
let [ x, y, z ]]Is a binocular camera coordinate system O 4 -a point in xyz, [ x ] r ,y r ,z r ]Is a point in the space coordinate system of the right camera
Wherein R is c ,T c The positional relationship of the right camera space coordinate system with respect to the left camera space coordinate system is represented.
Next, the laser source coordinate system and the galvanometer coordinate system are defined as follows:
the internal geometry of the laser galvanometer can be described by three coordinate systems, as shown in FIG. 3, which are the laser source coordinate systems S 1 -xyz, galvanometer coordinate system S 2 -xyz、S 3 -xyz. The three coordinate systems are parallel to each other, so that the z-axis and the rotation axis of the vibrating mirror n1 can be madeParallel, x-axis and rotation axis of galvanometer n2 +.>The parallel, y-axis then meets the right hand criterion and points vertically to the ground. Wherein V is k Is a measurement error and has the following characteristics:
in a laser source coordinate system S 1 In xyz, the laser source firing angle is set to [ θ ] 1 ,θ 2 ]，θ 2 For the included angle theta between the laser emission and xz plane 1 The included angle between the projection of the laser to the xz plane and the x axis is that:
due to the laser source coordinate system S 1 -xyz and galvanometer coordinate system S 2 -xyz、S 3 Coordinate axes of xyz are mutuallyParallel, the laser is emitted to:
wherein R is e Representing the identity matrix.
And then calibrating the camera, and calibrating the camera, the vibrating mirror and the laser in a combined way. After the calibration is completed, the system can start to work.
In a specific implementation, the step S101 of the image acquisition module acquiring a visible light image including a target may specifically include: and acquiring left and right visible light images containing the target by using a binocular camera.
In a specific implementation, the step S102 of the image processing module processing the obtained image to obtain the spatial position of the target may specifically include: and processing the two images obtained by the raspberry party, and calculating the spatial position of the target in the camera coordinate system.
The calculating the spatial position of the target in the camera coordinate system in the above steps, as shown in fig. 4, may specifically include: extracting the image plane coordinates of the target by using a target detection unit; and calculating the spatial position of the target in the camera coordinate system by using the target positioning unit according to the extracted image plane coordinates and imaging parameters.
In a specific implementation, the step S103 of reversing the striking module to control the laser to strike the target according to the obtained spatial position may specifically include: firstly, calculating the turning angle of a reflecting mirror (two reflecting mirrors of a vibrating mirror) corresponding to a target by utilizing a laser tracking control part according to the obtained spatial position, the position relation between a binocular camera and the vibrating mirror and the position relation between a laser and the vibrating mirror; on the basis, the calculated angle information is converted into voltage information of the vibrating mirror drive by the DA chip and is transmitted to a vibrating mirror control board; finally, the two reflectors of the vibrating mirror are controlled by the vibrating mirror control board to rotate so as to direct the laser emitted by the laser to the target.
Based on the same inventive concept, the embodiment of the invention also provides a countering system for the micro flying object, and because the principle of solving the problem of the system is similar to that of the countering method for the micro flying object, the implementation of the system can refer to the implementation of the countering method for the micro flying object, and the repetition is omitted.
In specific implementation, the reaction system for a micro flying object provided by the embodiment of the present invention, as shown in fig. 5, specifically includes:
an image acquisition module 11 for acquiring a visible light image containing a target;
an image processing module 12, configured to process the obtained image to obtain a spatial position of the target;
the reaction striking module 13 is used for controlling the laser to strike the target according to the obtained spatial position.
In the reaction system for the miniature flying target provided by the embodiment of the invention, various targets of different types can be detected and intercepted through the interaction of the three modules, the target resolution capability is high, the efficient and intelligent reaction of the miniature flying target is effectively realized, the reaction system has the characteristics of high speed, high precision, high efficiency cost ratio and the like, and meanwhile, the reaction system can be applied to various fields including national defense safety, home protection, pest control and the like, and in addition, different application requirements can be met through the replacement of hardware equipment in different modules and the modification of algorithms.
In a specific implementation, in the above-mentioned reaction system for micro flying objects provided in the embodiment of the present invention, the image acquisition module 11 includes a binocular camera;
the image acquisition module 11 is specifically configured to acquire two left and right visible light images including a target by using a binocular camera.
In particular embodiments, in the above-described countering system for miniature flying objects provided in the embodiments of the present invention, the image processing module 12 includes a raspberry group;
the image processing module 12 is specifically configured to process the two images obtained by using the raspberry party, and calculate a spatial position of the target in the camera coordinate system.
Specifically, the raspberry group includes a target detecting unit and a target locating unit. The image processing module 12 may specifically be configured to extract the image plane coordinates of the target by using the target detection unit; and calculating the spatial position of the target in the camera coordinate system by using the target positioning unit according to the extracted image plane coordinates and imaging parameters.
In a specific implementation, in the above-mentioned reaction system for micro flying targets provided by the embodiment of the present invention, the reaction striking module 13 includes a galvanometer, a galvanometer control board, a laser, and a DA chip;
the countering striking module 13 is specifically configured to calculate a mirror rotation angle corresponding to the target according to the obtained spatial position, the positional relationship between the binocular camera and the galvanometer, and the positional relationship between the laser and the galvanometer; the DA chip converts the calculated angle information into voltage information of the vibrating mirror drive and transmits the voltage information to a vibrating mirror control board; the two reflectors of the vibrating mirror are controlled by the vibrating mirror control board to rotate so as to direct the laser emitted by the laser to the target.
In a specific implementation, in the above reaction system for micro flying objects provided by the embodiment of the present invention, the reaction system may further include: and the calibration module is used for calibrating the binocular camera and carrying out joint calibration on the binocular camera, the galvanometer and the laser.
For more specific working procedures of the above modules, reference may be made to the corresponding contents disclosed in the foregoing embodiments, and no further description is given here.
Fig. 6 is a system accuracy test chart. The precision test index is that the control system strikes the target, the relative distance between the laser spot striking position and the actual position of the center of the target is measured, the test target is provided with a plurality of black solid circles with the diameter of 7cm, the targets are numbered from 1 to 21, the distance between the laser spot and the center of the circle is arranged at the position about 10 meters away from the system, and the test system strikes the distance between the laser spot and the center of the circle. The system hits each target error result as shown in fig. 6, and the test result analysis: as can be seen from the figure, the average error of the accuracy test of 21 points at the position about 10 meters from the system is 15.3mm, and the error RMSE is 17.22mm, so that targets with the size of 2cm can be effectively hit within the range of 10 meters.
Fig. 7 is a diagram of a system speed test, where the speed test index is the time of processing one frame by the system, and as can be seen from fig. 7, the average processing time of a single frame by the system is 76.8ms, the processing speed can reach 13pfs, and the final effect can be achieved by combining hardware equipment, so that five small targets can be hit simultaneously in one minute.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
In summary, the method for countering a miniature flying target provided by the embodiment of the invention comprises the following steps: the image acquisition module acquires a visible light image containing a target; the image processing module processes the obtained image to obtain the spatial position of the target; and the reaction striking module controls laser to strike a target according to the obtained spatial position. The method for countering the micro flying target adopts the photoelectric detection and laser striking modes, can detect various targets with different types, has strong target resolution capability and high detection precision, can intercept and treat various targets, can achieve different striking effects by adjusting laser power, further realize the efficient intelligent countering of the micro flying target, has the characteristics of high speed, high precision, high efficiency, high cost ratio and the like, can be applied to various fields including national defense safety, home protection, pest control and the like, and can meet different application requirements by changing hardware equipment in different modules and modifying algorithms. In addition, the invention also provides a corresponding system for the above-mentioned reaction method, further makes the above-mentioned reaction method more practical, and the system has corresponding advantages.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description of the present invention provides a method and system for countering a micro-flying object, and specific examples are applied to illustrate the principles and embodiments of the present invention, and the above examples are only used to help understand the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (3)
1. A countering method for a miniature flying target, comprising:
the image acquisition module acquires a visible light image containing a target;
the image processing module processes the obtained image to obtain the spatial position of the target;
the countering striking module controls laser striking to the target according to the obtained space position;
wherein the image acquisition module comprises a binocular camera;
the image acquisition module acquires a visible light image containing a target, including:
acquiring left and right visible light images containing a target by using the binocular camera;
wherein the image processing module comprises a raspberry group;
the image processing module processes the obtained image to obtain the spatial position of the target, and the method comprises the following steps:
processing the two images obtained by the raspberry party, and calculating the spatial position of the target in a camera coordinate system;
wherein calculating the spatial position of the target in the camera coordinate system comprises:
extracting the image plane coordinates of the target by using a target detection unit;
calculating the spatial position of the target in a camera coordinate system according to the extracted image plane coordinates and imaging parameters by using a target positioning unit;
the counterattack module comprises a vibrating mirror, a vibrating mirror control board, a laser and a DA chip;
the counterattack module controls laser to strike the target according to the obtained spatial position, and comprises:
calculating a reflector corner corresponding to the target according to the obtained spatial position, the position relation between the binocular camera and the galvanometer and the position relation between the laser and the galvanometer;
the DA chip converts the calculated angle information into voltage information of the vibrating mirror drive and transmits the voltage information to the vibrating mirror control board;
and the vibrating mirror control board controls the two reflecting mirrors of the vibrating mirror to rotate so as to direct the laser emitted by the laser to the target.
2. The method of claim 1, further comprising, prior to acquiring the left and right visible light images containing the target with the binocular camera:
and calibrating the binocular camera, the galvanometer and the laser in a combined way.
3. A countering system for a miniature flying target, comprising:
the image acquisition module is used for acquiring a visible light image containing a target;
the image processing module is used for processing the obtained image to obtain the spatial position of the target;
the countering striking module is used for controlling laser to strike the target according to the obtained space position;
wherein the image acquisition module comprises a binocular camera;
the image acquisition module is specifically used for acquiring left and right visible light images containing a target by using the binocular camera;
wherein the image processing module comprises a raspberry group;
the process of processing the obtained image by the image processing module to obtain the spatial position of the target comprises the following steps: processing the two images obtained by the raspberry party, and calculating the spatial position of the target in a camera coordinate system;
wherein the process of calculating, by the image processing module, the spatial position of the object in the camera coordinate system comprises: extracting the image plane coordinates of the target by using a target detection unit; calculating the spatial position of the target in a camera coordinate system according to the extracted image plane coordinates and imaging parameters by using a target positioning unit;
the counterattack module comprises a vibrating mirror, a vibrating mirror control board, a laser and a DA chip;
controlling, by the countering striking module, a process of striking the target with the laser according to the obtained spatial position, including: calculating a reflector corner corresponding to the target according to the obtained spatial position, the position relation between the binocular camera and the galvanometer and the position relation between the laser and the galvanometer; the DA chip converts the calculated angle information into voltage information of the vibrating mirror drive and transmits the voltage information to the vibrating mirror control board; and the vibrating mirror control board controls the two reflecting mirrors of the vibrating mirror to rotate so as to direct the laser emitted by the laser to the target.
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