CN209765076U - optical path sharing device and pod apparatus - Google Patents

Abstract

The utility model provides a light path sharing device and nacelle equipment relates to optics technical field, and this light path sharing device includes: the system comprises a shared optical module, a photoelectric detection module, a laser ranging module and a laser irradiation module; visible light enters the photoelectric detection module through the shared optical module, and the photoelectric detection module is used for detecting and locking a target object; the laser ranging module comprises a laser ranging transmitting unit and a laser ranging receiving unit; the laser ranging transmitting unit is used for transmitting laser pulses to the target object, and the reflected laser pulses enter the laser ranging receiving unit through the shared optical module so as to measure the distance between the target object and the light path shared device; the laser irradiation module is used for emitting high-energy laser which is irradiated on a target object through the common optical module. The light path sharing device can realize that the target detection, the laser ranging and the laser irradiation share one light path, realizes the integration of observation and beating, and has smaller volume and lighter weight.

Description

Optical path sharing device and pod apparatus

Technical Field

the utility model belongs to the technical field of the optics technique and specifically relates to a light path sharing device and nacelle equipment are related to.

Background

in the current market, because technical reason, small-size airborne nacelle only possesses single function, or only possesses reconnaissance ability, or only possesses the ability of burning out, and generally burns out equipment volume and weight great, can not install on small-size unmanned aerial vehicle.

In addition, the general integrated equipment of beating of possessing often is bulky, and weight is heavier, can't satisfy and be applied to small-size unmanned aerial vehicle on, so can not carry out effectual processing and protection to the interference thing of low latitude.

SUMMERY OF THE UTILITY MODEL

in view of this, the utility model aims at providing a light path sharing device and nacelle equipment can realize that the target is surveyed, laser rangefinder and laser irradiation share a light path, realizes scouting and beats integratively, satisfies the target that detects and be the target that the laser melts down promptly, improves the accuracy that the laser melts down to the device equipment volume is littleer, weight is lighter.

In a first aspect, an embodiment of the present invention provides an optical path sharing device, including: the system comprises a shared optical module, a photoelectric detection module, a laser ranging module and a laser irradiation module; visible light enters the photoelectric detection module through the shared optical module, and the photoelectric detection module is used for detecting a target object and locking the target object; the laser ranging module comprises a laser ranging transmitting unit and a laser ranging receiving unit; the laser ranging transmitting unit is used for transmitting laser pulses to the target object, the laser pulses reflected by the target object enter the laser ranging receiving unit through the shared optical module, and the laser ranging receiving unit is used for measuring the distance between the target object and the light path shared device; the laser irradiation module is used for emitting high-energy laser which is irradiated on a target object through the common optical module.

With reference to the first aspect, embodiments of the present invention provide a first possible implementation manner of the first aspect, where the common optical module includes: the first common optical window and the first reflector are positioned on the same light path and are sequentially arranged; the return mirror is positioned on a reflection light path of the first reflector; the first common lens, the first laser reflector, the first spectroscope and the second reflector are arranged on a reflection light path of the turning mirror in sequence; the first reflecting mirror and the turning mirror are arranged in parallel.

With reference to the first possible implementation manner of the first aspect, the present invention provides a second possible implementation manner of the first aspect, wherein the photodetection module includes a large-field-of-view optical component and a small-field-of-view optical component; the large-field optical assembly is positioned on a reflection light path of the first reflector; the small field of view optical assembly is located in the reflected light path of the second mirror.

In combination with the first possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the laser ranging emission unit, the laser irradiation module, and the first common optical window are located on a same optical path; the laser ranging receiving unit is positioned on a reflection light path of the first laser reflector.

With reference to one of the first to third possible implementation manners of the first aspect, the present invention provides a fourth possible implementation manner of the first aspect, wherein a germanium single crystal is disposed on the first common optical window; the first reflector and the second reflector are both of a shared honeycomb structure; the laser irradiation module is a small-sized fiber laser.

With reference to the first aspect, embodiments of the present invention provide a fifth possible implementation manner of the first aspect, where the shared optical module includes: the second common optical window, the second common lens, the second laser reflector, the second beam splitter and the third reflector are sequentially arranged on the first light path; the laser window and the adjustable reflector are positioned on the second light path, and the fourth reflector is positioned on the reflection light path of the adjustable reflector; the adjustable reflector and the fourth reflector are arranged in parallel; the first optical path is parallel to the second optical path.

in combination with the fifth possible implementation manner of the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the photodetection module includes an optical component, and the optical component is located on a reflection light path of the third reflector.

With reference to the sixth possible implementation manner of the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, wherein the laser ranging emission unit and the second common optical window are located on the same optical path; the laser ranging receiving unit is positioned on a reflection light path of the second laser reflector; the laser irradiation module is positioned on a reflection light path of the fourth reflector.

in a second aspect, embodiments of the present invention further provide a pod device, including: the nacelle body, and the optical path sharing device provided in the first aspect and one of the possible embodiments; the optical path sharing device is arranged in the nacelle body.

With reference to the second aspect, embodiments of the present invention further provide a first possible implementation manner of the second aspect, wherein the pod apparatus further includes: a stabilizing platform and a cushioning base; the nacelle body is arranged on the stable platform; the buffer base is connected with the stable platform.

The embodiment of the utility model provides a following beneficial effect has been brought:

The utility model provides a pair of light path sharing device and nacelle equipment, this light path sharing device includes: the system comprises a shared optical module, a photoelectric detection module, a laser ranging module and a laser irradiation module; visible light enters the photoelectric detection module through the shared optical module, and the photoelectric detection module is used for detecting a target object and locking the target object; the laser ranging module comprises a laser ranging transmitting unit and a laser ranging receiving unit; the laser ranging transmitting unit is used for transmitting laser pulses to the target object, the laser pulses reflected by the target object enter the laser ranging receiving unit through the shared optical module, and the laser ranging receiving unit is used for measuring the distance between the target object and the light path shared device; the laser irradiation module is used for emitting high-energy laser which is irradiated on a target object through the common optical module. The utility model provides a light path sharing device can realize that target detection, laser rangefinder and laser shine a light path of sharing, realizes scouting and beats integratively, satisfies the target that detects and is the target that laser melts down promptly, improves the accuracy that laser melted down to the device volume is littleer and handy, weight is more light.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of a scene in which an optical sharing device provided by an embodiment of the present invention is applied to an optical sighting of an unmanned aerial vehicle;

Fig. 2 is a schematic structural diagram of an optical path sharing device according to an embodiment of the present invention;

Fig. 3 is a schematic diagram of a design of a fiber laser according to an embodiment of the present invention;

Fig. 4 is a schematic structural diagram of another optical path sharing device according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of another optical path sharing device according to an embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a pod device according to an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of another pod apparatus provided in an embodiment of the present invention;

Fig. 8 is a schematic structural diagram of another pod device according to an embodiment of the present invention;

Fig. 9 is a schematic structural diagram of an integrated pod control system for an unmanned aerial vehicle according to an embodiment of the present invention.

icon: 100-a small drone; 200-a pod; 300-optical path sharing means; 400-a target object; 21-a common optical module; 22-a photodetection module; 23-laser ranging module; 24-a laser irradiation module; 31-red LD; 32-pump LD; 33-a combiner; 34-a total reflective grating; 35-gain fiber; 36-an output grating; 37-cladding light leak; 38-fiber output head; 39-PIN detector; 210-a first common optical window; 211-a first mirror; 212-a fold back mirror; 213-first common lens; 214-a first laser mirror; 215-first beam splitter; 216-a second mirror; 221-large field of view optical assembly; 222-small field of view optics; 231-a laser ranging emitting unit; 232-laser ranging receiving unit; 41-a second common optical window; 42-a second common lens; 43-a second laser mirror; 44-a second beam splitter; 45-a third mirror; 46-laser window; 47-an adjustable mirror; 48-a fourth mirror; 51-a nacelle body; 52-a stabilization platform; 53-a buffer base; 91-a stabilized platform control subsystem; 92-cabin management subsystem; 93-an image processing subsystem; 94-ground control subsystem.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

With the vigorous development of the unmanned aerial vehicle industry at home and abroad, the requirements of an unmanned aerial vehicle system on the functions and technical indexes of an aviation pod are higher and higher, and only the photoelectric pod does not meet the application requirements any more, but a reconnaissance and striking device for locking and damaging a reconnaissance target is needed. Particularly, in recent years, frequent occurrence of airborne interferents requires that the pod has functions of searching, locking and striking a target, and the low-altitude interferents are more accurately and quickly treated so as to perfect and improve safety guarantee in the low-altitude field.

For the treatment needs of the low-altitude interferent, on one hand, the small pod which can be used for the unmanned aerial vehicle has a single function, the capabilities of reconnaissance, ranging and burning are often only one of the functions, the low-altitude interferent cannot be accurately and quickly treated, and the treatment of the low-altitude interferent can be completed only by sequentially matching a plurality of different devices. On the other hand, the general equipment that possesses the scouting and beating integral type is often great, and weight is heavier, can't satisfy and be applied to small-size unmanned aerial vehicle on, so can not carry out effectual processing and protection to the interference thing of low latitude.

Based on this, the embodiment of the utility model provides a pair of light path sharing device and nacelle equipment can realize that target detection, laser rangefinder and laser shine a light path of sharing, realizes the inspection and beats integratively, satisfies the target that detects and be the target that laser melts down promptly, improves the accuracy that laser melted down to the device equipment volume is littleer, weight is lighter. Referring to fig. 1, for the embodiment of the present invention provides an optical sharing device applied to a scene schematic diagram of an unmanned aerial vehicle optical sight disposal, wherein, the optical path sharing device 300 is disposed on the small unmanned aerial vehicle 100 through the pod 200, when a certain target object 400 needs to be disposed, after the small unmanned aerial vehicle 100 is lifted off, firstly, the target detection is performed through the optical path sharing device 300, the target object 400 needing to be disposed is observed and searched, and the optical path sharing device 300 further emits a ranging laser to the target object 400 for detecting a distance between the target object 400 and the unmanned aerial vehicle in real time, as the unmanned aerial vehicle approaches the target object 400, when reaching a certain range, the optical path sharing pod locks the target object 400, and irradiates a high-energy laser beam to the target object 400, so as to ignite or melt the target object 400.

For the convenience of understanding the present embodiment, a detailed description will be given first of all to an optical path sharing device disclosed in an embodiment of the present invention.

the first embodiment is as follows:

As shown in fig. 2, for the structural schematic diagram of the optical path sharing device provided in the embodiment of the present invention, as can be seen from fig. 2, the optical path sharing device 300 includes a shared optical module 21, a photodetection module 22, a laser ranging module 23, and a laser irradiation module 24.

The photo detection module 22 is used to detect the target object and lock the target object. The target object is an object to be treated, and in this embodiment, the target object is treated by irradiating with a high-energy laser to be melted or ignited or burned at a high temperature, wherein the target object may be on the ground or in the air.

In actual operation, visible light enters the photo-detection module 22 through the common optical module 21, and the photo-detection module 22 can acquire an image of an external scene to search for, find, and finally lock a target object. In one embodiment, the photo detection module 22 may obtain a photo or video of the external scene by taking a picture and/or a video, and further find, track and lock the target object according to the photo or video.

In addition, the laser ranging module 23 includes a laser ranging transmitting unit 231 and a laser ranging receiving unit 232. The laser ranging unit 231 is configured to emit a laser pulse to the target object, and the laser pulse reflected by the target object enters the laser ranging receiving unit 232 through the common optical module 21 of the optical path sharing device 300, and the laser ranging receiving unit 232 is configured to measure a distance between the target object and the optical path sharing device 300. Thus, the distance information of the target object can be obtained in real time by the laser ranging module 23. In one embodiment, the laser distance measuring module 23 may be a light laser distance measuring device, which is available in the prior art, to realize laser distance measurement and perform angle tracking. Specifically, the laser ranging transmission unit 231 may be a laser diode for transmitting laser pulses; the laser ranging receiving unit 232 may be a laser detector.

In the optical path sharing apparatus 300, the laser irradiation module 24 is configured to emit high-energy laser light, and the high-energy laser light is irradiated on the target object through the shared optical module 21. In one possible embodiment, the laser irradiation module 24 may be a small fiber laser. Here, the small-sized fiber laser has a small size and a light weight, thereby contributing to the volume simplification and the light weight of the entire optical path sharing apparatus 300.

Referring to fig. 3, a schematic diagram of the design of a fibre laser is provided, which in the embodiment shown in fig. 3 employs a single resonant cavity structure. In the Fiber laser, a core/clad Ytterbium-doped double clad Fiber is used as the gain Fiber 35 (YDF); the resonator mirror employs a pair of gratings including a fully reflective grating 34 and an output grating 36. In addition, a pumping LD32(Laser Diode) adopts a single-clad fiber with the core/cladding diameter of 105/125 μm for output, the LD rated power is 30W, and the total injection pumping power is 180W; the pump light is coupled and injected into the gain fiber 35 through the (6+1) × 1 beam combiner 33, wherein the pump arms are single-clad fibers with the core/cladding diameter of 105/125 μm, and the main fiber is a double-clad fiber. Second, the cladding light leak unit 37 is a special device for leaking cladding light, which includes residual pump light generated by incomplete absorption by the gain fiber 35 and laser light leaking from the core into the cladding due to problems such as fiber bending and melting point loss. The cladding light can degrade the quality of the light beam, reduce the brightness of the output laser, and further seriously affect the effect of the laser on the target. In addition, the fiber output head 38 serves as a laser output collimation, and ensures the parallel output of the output laser beams. The indicating light uses red LD31 as light source, and is coupled into the main optical path through the signal injection end of the (6+1) × 1 beam combiner 33. In addition, in order to ensure that the 100W optical fiber laser works stably and reliably for a long time, the optical fiber laser has power control and alarm functions. When the power of the monitoring node is too low, the laser fails, and an alarm is given or the working power supply of the fiber laser is directly cut off. The fiber oscillator power monitoring point is shown in fig. 3, and a high-sensitivity PIN detector 39 is used for monitoring the laser power.

In actual operation, since the effect of laser irradiation is related to the distance, the closer to the target, the higher the energy of the irradiated laser, and therefore, it is often necessary to perform laser irradiation when the distance to the target object is within a certain range. Specifically, after the photoelectric detection module 22 finds a target object, the target object is approached, locked and tracked; meanwhile, the laser ranging module 23 sends ranging laser to the target object to obtain the distance between the target object and the optical path sharing device in real time, and when the distance between the target object and the optical path sharing device is within a certain range, the laser irradiation module 24 irradiates high-energy laser to the target object to melt the target object.

In this way, the photoelectric detection module 22, the laser ranging module 23 and the laser irradiation module 24 in the optical path sharing device share one optical module, so that the optical path sharing is realized, and thus, the target detected by the photoelectric detection module 22 is also the target aimed and irradiated by the laser irradiation module 24, and the purpose of 'finding and destroying' is achieved.

The utility model provides a pair of light path sharing device, this light path sharing device includes: the system comprises a shared optical module, a photoelectric detection module, a laser ranging module and a laser irradiation module; visible light enters the photoelectric detection module through the shared optical module, and the photoelectric detection module is used for detecting a target object and locking the target object; the laser ranging module comprises a laser ranging transmitting unit and a laser ranging receiving unit; the laser ranging transmitting unit is used for transmitting laser pulses to the target object, the laser pulses reflected by the target object enter the laser ranging receiving unit through the shared optical module, and the laser ranging receiving unit is used for measuring the distance between the target object and the light path shared device; the laser irradiation module is used for emitting high-energy laser which is irradiated on a target object through the common optical module. The light path sharing device can realize that the target detection, the laser ranging and the laser irradiation share one light path, realizes the integration of observation and beating, satisfies the detected target that the laser is the target of laser melting, improves the accuracy of laser melting, and has smaller and more handy device equipment volume and lighter weight.

example two:

in order to better understand the working process of the optical path sharing device described in the first embodiment, the second embodiment describes the shared optical module in the optical path sharing device in detail, and describes two implementation manners of the shared optical module.

Referring to fig. 4, in order to provide a schematic structural diagram of another optical path sharing device according to an embodiment of the present invention, in an implementation shown in fig. 4, the shared optical module includes: a first common optical window 210 and a first reflecting mirror 211 which are arranged in sequence on the same optical path; a folding mirror 212 positioned on the reflection optical path of the first reflecting mirror 211; a first common lens 213, a first laser mirror 214, a first beam splitter 215, and a second mirror 216, which are arranged in this order, are positioned on the reflection light path of the folding mirror 212. The first reflecting mirror 211 and the folding mirror 212 are arranged in parallel. Here, the first common optical window 210 is provided with a germanium single crystal for passage of visible light and laser light. Moreover, the first reflector 211 and the second reflector 216 are both configured to have a common honeycomb structure, and mainly function to reflect light. The first beam splitter 215 serves as a light splitting (or color splitting) film for reflecting the laser light and transmitting the visible light, so that the same optical path for the distance measurement of the visible light and the laser light is realized.

Second, the photodetection module includes a large field of view optical assembly 221 and a small field of view optical assembly 222. Wherein, the large field of view optical assembly 221 is located on the reflected light path of the first reflector 211; the small field of view optical assembly 222 is positioned in the reflected light path of second mirror 216. The large-field optical assembly 221 is mainly used for long-distance search, has a small focal length, and is suitable for large-range and long-distance search; the small field of view optical assembly 222 is mainly used for locking and tracking, and after a target object is searched, the target object can be stably locked and tracked by increasing the focal length.

In addition, the laser ranging transmitting unit, the laser irradiation module, and the first common optical window 210 are located on the same optical path. Specifically, the laser ranging emitting unit and the laser irradiation module may be disposed in a staggered manner, and emit laser beams that do not interfere with each other, and the laser beams emitted by the laser ranging emitting unit and the laser irradiation module are emitted through the first common optical window 210, so that a common optical path is also implemented. The laser ranging receiving unit is located on a reflection light path of the first laser reflector 214.

in actual operation, when the photodetection module performs target search detection, visible light is emitted from the first common optical window 210, and directly enters the large-field optical assembly 221 after passing through the first reflector 211, and meanwhile, the visible light after passing through the first reflector 211 is reflected by the turning mirror 212, passes through the first common lens 213 and the first beam splitter 215, and is emitted from the second reflector 216 to enter the small-field optical assembly 222.

When the photoelectric detection module detects a target object and locks the target object, the laser ranging transmitting unit transmits laser pulses to the target object. First, a laser pulse is emitted from the first common optical window 210, and the target object reflects the laser, and the reflected laser pulse enters through the first common optical window 210, is reflected by the first reflecting mirror 211 and the turning mirror 212, and then is irradiated onto the first laser emitting mirror through the first common lens 213, and enters into the laser ranging receiving unit through the reflection of the first laser emitting mirror, thereby achieving ranging.

when the distance between the target object and the laser irradiation module is within a certain range, the laser irradiation module irradiates laser to the target object, the specific irradiation time can be controlled according to requirements, usually, laser spots are required to be continuously irradiated on the same part of the target object, and the target can be melted down through energy accumulation for a certain time. Here, the laser irradiation module emits high-energy laser light and is emitted from the first common optical window 210.

Like this, this light path sharing device has realized that target detection, laser rangefinder and laser irradiation share a light path, realizes observing and beats integratively, satisfies the target that detects promptly and is the target of laser meltdown, compares in the target of current optical detection and laser meltdown separation and observes and beats equipment, and the light path sharing device in this embodiment has higher laser meltdown accuracy, also more high-efficient swift.

In another embodiment, referring to fig. 5, a schematic structural diagram of another optical path sharing device is shown, in the embodiment shown in fig. 5, an optical path is divided into two paths, and specifically, as shown in fig. 5, the shared optical module includes: a second common optical window 41, a second common lens 42, a second laser reflector 43, a second beam splitter 44 and a third reflector 45 which are arranged in sequence on the first optical path; a laser window 46 and an adjustable mirror 47 located on the second optical path, and a fourth mirror 48 located on the reflection optical path of the adjustable mirror 47; the adjustable mirror 47 and the fourth mirror 48 are arranged in parallel; the first optical path is parallel to the second optical path.

And, the photodetection module includes an optical component, which is located on the reflected light path of the third reflecting mirror 45. The laser ranging emission unit and the second common optical window 41 are located on the same optical path; the laser ranging receiving unit is positioned on the reflection light path of the second laser reflector 43; the laser irradiation module is located on the reflected light path of the fourth mirror 48.

In actual operation, visible light enters from the second common optical window 41, passes through the second common lens 42 and the second beam splitter 44 in sequence, is reflected by the third reflector 45, and is received by the optical assembly. The optical assembly is used for photographing or shooting an external scene. The laser pulse emitted by the laser ranging emitting unit is directly emitted from the second common optical window 41, and the returned laser pulse enters through the second common optical window 41, passes through the second common lens 42, is reflected by the second laser reflector 43, and is received by the laser ranging receiving unit, so as to realize ranging. In addition, the laser irradiation module emits high-energy laser, and emits the laser after twice reflection of the fourth reflecting mirror 48 and the adjustable transmitting mirror, wherein the angle of the adjustable transmitting mirror is adjustable, so that the reflected high-energy laser and the incident light can be kept parallel, the found target object is the target object irradiated by the laser, and the purpose of finding and destroying the target object is achieved.

Example three:

The third embodiment further provides a pod device, referring to fig. 6, which is a schematic structural diagram of the pod device, as can be seen from fig. 6, the pod device includes a pod body 51, and the optical path sharing device provided in the first embodiment, the second embodiment and one of the possible embodiments thereof. The optical path sharing device is disposed in the nacelle body 51.

In another embodiment, referring to fig. 7, a schematic structural diagram of another pod apparatus is shown, and in the embodiment shown in fig. 7, the pod apparatus further includes: a stabilizing platform 52 and a cushioning base 53. Wherein the nacelle body 51 is arranged on a stable platform 52 and the damping base 53 is connected to the stable platform 52. The stabilizing platform 52 is used for stabilizing the nacelle body 51, so as to ensure the optical path and the visual axis of the optical path sharing device in the nacelle to be stable. The bottom end of the buffering base 53 is connected with the stabilizing platform 52, and the top end of the buffering base can be connected with the unmanned aerial vehicle, so that the pod equipment can be mounted on the unmanned aerial vehicle, and the target object can be detected and melted in the air.

In another embodiment, referring to fig. 8, there is shown a schematic structural view of another pod apparatus, which has a stabilizing platform 52 and a buffer base 53, as well as the pod apparatus shown in fig. 7, wherein in the pod apparatus shown in fig. 8, one end of the stabilizing platform 52 is connected to a side surface of a pod body 51, and the stabilizing platform 52 is shaped like a "7" as a whole.

Based on the pod device shown in fig. 7 or fig. 8, the present embodiment also provides an unmanned aerial vehicle integrated pod control system for controlling the operation of the pod device to realize a scouting and batting integration. Referring to fig. 9, a schematic structural diagram of the pod control system is shown, wherein the pod control system includes: a stable platform control subsystem 91, a cabin management subsystem 92, an image processing subsystem 93 and a ground control subsystem 94.

The stabilized objects of the stabilized platform control subsystem 91 are a photoelectric detection module, a laser ranging module and a laser irradiation module which are loaded on the stabilized platform, namely, the aiming line of an optical system of a stabilized photoelectric and laser shared light path can provide two-axis stable control of a azimuth axis and a pitching axis according to functional requirements, and meanwhile, the tracking control and manual locking control of a target can be realized.

the stabilization platform realizes the stabilization of a visual axis, pointing control, scene scanning search, target identification tracking and laser ranging under the control of the servo control assembly and the image tracking assembly; the imaging system realizes high-speed and high-definition imaging of visible light; the image tracker identifies and tracks the selected target in the field of view, calculates the azimuth and pitching position error information of the target and transmits the azimuth and pitching position error information to the servo board, the servo board compares the target position information with the measured angle information, calculates to obtain a control error signal, and drives the stable platform motor through the power amplifier board, thereby realizing the automatic tracking of the selected target and simultaneously completing the superposition processing of the graph and the character.

The image processing subsystem 93 processes the image data of the photoelectric detection load, outputs the image data together with the system parameters transmitted by the cabin service management subsystem 92 to a display, performs an image locking and tracking function according to instructions of the ground control subsystem 94 (for example, a manual control box), and sends the image servo feedback quantity to the stable platform control subsystem 91 through the cabin service management subsystem 92.

The cabin management subsystem 92 is responsible for managing the status of the various devices in the nacelle and coordinating the management of commands, processing manual control box commands, managing the power and clock, and monitoring the status of the various devices in the system.

In actual operation, after the unmanned aerial vehicle reaches a specified place according to the guidance of the position information of the target or the position information of the target area, the integrated pod is operated by the ground control center to search. Firstly, operating the integrated pod and searching a target by using a photoelectric detection module; and after the target is found, locking the target and automatically tracking the target. Then, the integrated pod guides the unmanned aerial vehicle to carry out accompanying flight and tracking flight, and the unmanned aerial vehicle gradually approaches to the target. Meanwhile, the integrated pod measures the distance of the target in real time by using the distance measuring function and controls the relative distance between the target and the target. When the target enters a certain distance range, the integrated pod utilizes the high-energy laser of the laser irradiation module to perform irradiation and meltdown treatment on the target after stable and continuous target locking is realized.

Compared with the traditional visible light pod and laser pod equipment, the laser spot position on the target is changed due to the influence of the movement of the carrier and the air flow, and the coordinates of the position of the traditional laser irradiation point and the position of the focal point of visible light are inconsistent and difficult to unify. The unmanned aerial vehicle integration nacelle control system that this embodiment provided adopts the light path technique altogether, can make nacelle focus position and laser irradiation position keep in the same point to stably keep the duration irradiation time more than 1 second, thereby have higher success rate and accomplish the burnout to the target.

The third embodiment of the present invention provides a pod device having the same technical features as the first and second embodiments of the present invention, so that the same technical problems can be solved and the same technical effects can be achieved.

it is clear to those skilled in the art that, for the convenience and simplicity of description, the detailed working process of the pod apparatus described above can refer to the corresponding process of the optical path sharing device in the foregoing method embodiment, and will not be described herein again.

In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.

in addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

Finally, it should be noted that: the above embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still modify or easily conceive of changes in the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. An optical path sharing apparatus, comprising: the system comprises a shared optical module, a photoelectric detection module, a laser ranging module and a laser irradiation module;

Visible light enters the photoelectric detection module through the common optical module, and the photoelectric detection module is used for detecting a target object and locking the target object;

The laser ranging module comprises a laser ranging transmitting unit and a laser ranging receiving unit; the laser ranging transmitting unit is used for transmitting laser pulses to the target object, the laser pulses reflected by the target object enter the laser ranging receiving unit through the shared optical module, and the laser ranging receiving unit is used for measuring the distance between the target object and the optical path shared device;

The laser irradiation module is used for emitting high-energy laser, and the high-energy laser is irradiated on the target object through the common optical module.

2. the optical circuit sharing device according to claim 1, wherein the shared optical module includes: the first common optical window and the first reflector are positioned on the same light path and are sequentially arranged;

The folding mirror is positioned on a reflection light path of the first reflecting mirror;

the first common lens, the first laser reflector, the first spectroscope and the second reflector are arranged on a reflection light path of the turning mirror in sequence;

The first reflecting mirror and the turning mirror are arranged in parallel.

3. The optical circuit sharing device according to claim 2, wherein the photodetection module comprises a large field-of-view optical component and a small field-of-view optical component;

The large-field-of-view optical assembly is positioned on a reflection light path of the first reflector;

The small-field-of-view optical assembly is positioned on a reflected light path of the second reflecting mirror.

4. The optical path sharing device according to claim 3, wherein the laser ranging transmitting unit, the laser irradiation module and the first common optical window are located on the same optical path;

the laser ranging receiving unit is positioned on a reflection light path of the first laser reflector.

5. The optical circuit sharing device according to any one of claims 2 to 4, wherein a germanium single crystal is disposed on the first common optical window; the first reflector and the second reflector are both of a common honeycomb structure; the laser irradiation module is a small-sized fiber laser.

6. The optical circuit sharing device according to claim 1, wherein the shared optical module includes: the second common optical window, the second common lens, the second laser reflector, the second beam splitter and the third reflector are sequentially arranged on the first light path;

The laser window and the adjustable reflector are positioned on the second light path, and the fourth reflector is positioned on the reflection light path of the adjustable reflector;

The adjustable reflector and the fourth reflector are arranged in parallel; the first optical path is parallel to the second optical path.

7. The optical path sharing device according to claim 6, wherein the photodetection module comprises an optical component, and the optical component is located on the reflected optical path of the third reflecting mirror.

8. the optical path sharing device according to claim 7, wherein the laser ranging transmission unit is located on the same optical path as the second common optical window;

the laser ranging receiving unit is positioned on a reflection light path of the second laser reflector;

the laser irradiation module is positioned on a reflection light path of the fourth reflector.

9. A pod apparatus, comprising: a nacelle body and the optical path sharing device of any one of claims 1 to 8;

The light path sharing device is arranged in the nacelle cabin.

10. The pod apparatus of claim 9, further comprising: a stabilizing platform and a cushioning base; the nacelle body is arranged on the stabilizing platform; the buffer base is connected with the stable platform.