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CN-121977387-A - Remote control high-energy laser explosion-eliminating system and intelligent aiming control method

CN121977387ACN 121977387 ACN121977387 ACN 121977387ACN-121977387-A

Abstract

The invention discloses a remote control high-energy laser explosion-eliminating system and a high-precision intelligent aiming control method thereof. The system comprises a front operation unit and a rear control unit, and remote cooperative control is realized through a wireless link. The method comprises the steps of obtaining target pixel coordinates and ranging information through human-computer collaborative target calibration, solving a rough aiming angle by combining a camera-cradle head space transformation model, constructing a base inclination dynamic compensation closed loop by utilizing fusion of an inertia measurement unit and an encoder, introducing a visual servo rough aiming closed loop based on a self-adaptive image jacobian matrix on the basis to realize pixel-level target locking, and automatically planning laser power and focusing parameters and executing laser irradiation according to target distance and materials after target stable locking. The scheme obviously improves the aiming precision, stability and automation level of the remote micro target, reduces the burden of operators, and is suitable for unmanned explosion venting operation in complex environments.

Inventors

  • GONG YINYING
  • LIU LI

Assignees

  • 北京北创芯通科技有限公司

Dates

Publication Date
20260505
Application Date
20260203

Claims (10)

  1. 1. A high-precision intelligent aiming control method of a remote control high-energy laser explosive-removal system is characterized by comprising the following steps: real-time images of a target area are acquired through a visible light camera, and target pixel coordinates calibrated by an operator are acquired in a remote man-machine interaction terminal ; Controlling a laser rangefinder to measure target distance The target distance is sent to an embedded industrial personal computer in a vehicle-mounted control box; Controlling the high-precision attitude control cradle head to perform coarse aiming motion towards the target direction, and simultaneously respectively reading the relative attitude angles of the cradle head output by the motor encoder Cloud deck absolute attitude angle output by inertial measurement unit ; The base tilt error is calculated according to: ; ; Tilt error of the base And Inputting the compensation controller to calculate the compensation control quantity of the pitching axis and the azimuth axis of the cradle head ) And the compensation control quantity is calculated ) The dynamic compensation closed-loop control of the base inclination is formed by being overlapped in a control instruction of a position ring of the cradle head; In the coordinates of the target pixel The method comprises the steps of constructing a local template area in a video image as a center, extracting and tracking characteristic points of a target, and calculating the current frame of the target And construct a target image error vector ; Initial image jacobian matrix obtained based on system calibration stage And combine with the current distance measurement Performing scale correction on the image jacobian matrix to obtain a real-time image jacobian matrix : ; In the middle of The reference distance is calibrated; from image error vectors Calculating an angle fine adjustment amount: ; Wherein the method comprises the steps of Is a convergent gain coefficient; the angle fine adjustment amount is used for updating a cradle head control instruction, the cradle head is controlled to execute corresponding angle fine adjustment to form visual servo fine aiming closed loop control, and when the image error vector is And when the preset convergence condition is met, judging that target locking is completed and entering a laser striking preparation state.
  2. 2. The method of claim 1, said calculating pixel locations of the target in the current frame and constructing a target image error vector The specific steps of (a) include: With calibrated coordinates of the target pixel Centered, a local template region of size w×h is constructed in the current video frame: ; extracting by using Kanade-Lucas-Tomasi (KLT) feature point detection algorithm in the template region R The feature points form an initial feature point set: ; in the subsequent video frame k, a corresponding feature point set is obtained through optical flow tracking: the number of the effective tracking feature points is lower than a preset threshold value When the template region reconstruction or target recalibration mechanism is automatically triggered; calculating the barycenter coordinates of all effective tracking feature points in the current frame k: = ; = ; Let the image center coordinates be Constructing the image error vector : 。
  3. 3. The method of claim 2, the image error vector When the preset convergence condition is met, judging that the target locking is finished and the laser striking preparation state is entered, wherein when the continuous frames meet the following convergence criteria: Time (in which And (5) a pixel threshold value), judging that the target is stably locked, automatically exiting from a visual servo closed-loop control mode, locking the current holder posture angle into a laser striking posture, and entering a laser emission preparation state.
  4. 4. The method of claim 1, wherein the base tilt error And Inputting the compensation controller to calculate the compensation control quantity of the pitching axis and the azimuth axis of the cradle head ) The following formula is adopted for calculation: ; ; Wherein the method comprises the steps of 、 The compensation controller is a proportional-integral-derivative controller.
  5. 5. The method of claim 1, wherein the image jacobian matrix The method is obtained by applying small-angle disturbance to the cradle head and measuring the displacement of the image characteristic points.
  6. 6. A remote control high energy laser explosive removing system, comprising: the front edge operation unit and the rear control unit are communicated through a wireless data transmission link; the front edge operation unit comprises a chassis, a high-precision attitude control cradle head, a composite sensing and striking head, a high-energy laser and a vehicle-mounted control box; the composite sensing and striking head comprises a visible light camera, a thermal infrared imager and a laser range finder; the high-precision attitude control cradle head is provided with a motor encoder and an inertia measurement unit; The embedded industrial personal computer arranged in the vehicle-mounted control box is configured to execute the high-precision intelligent aiming control method according to any one of claims 1-5.
  7. 7. A computer readable storage medium having stored thereon a computer program, which, when executed by a processor, causes the processor to perform the high precision intelligent aiming control method according to one of claims 1 to 6.
  8. 8. A computer program product comprising computer program instructions, which, when executed by a processor, are adapted to implement the high precision intelligent aiming control method of any one of claims 1 to 6.
  9. 9. A computer device comprising a processor, a memory, wherein the memory has stored therein a computer program which, when run on the processor, causes the processor to perform the high precision intelligent aiming control method of any one of claims 1 to 6.
  10. 10. The intelligent aiming control device is applied to a remote control high-energy laser explosion-eliminating system and is characterized by comprising a processor, a memory and a control program stored in the memory; wherein the control program, when executed on the processor, is configured to obtain target pixel coordinates Target distance D, relative posture of cradle head Absolute attitude angle ; Calculating base tilt error And Building local template region, extracting and tracking target feature point, calculating image error vector According to the target distance And controlling the cradle head to finish visual servo closed-loop fine aiming and outputting a laser striking readiness signal.

Description

Remote control high-energy laser explosion-eliminating system and intelligent aiming control method Technical Field The invention relates to the technical field of unmanned explosive removing equipment and high-energy laser precise control, in particular to an explosive removing system integrated with a remote motorized platform and high-energy laser striking capability, and particularly relates to a core method for realizing remote, high-precision and intelligent aiming and control. Background The high-energy laser explosion venting technology has become an important development direction for replacing the traditional dangerous explosion venting means due to the non-contact and high-precision characteristics. In the prior art, a remote control type high-energy laser explosive-removing system is generally composed of a crawler-type mobile platform, a laser emitter carried by a cradle head and a remote control terminal, and aims to realize remote control destruction of a non-explosive bomb outside a safe distance by an operator. However, prior to the realization of the present application, the present inventors found that there is at least a core technical bottleneck in the prior art that restricts the practical application thereof, on the one hand, the explosion venting operation requires laser irradiation with millimeter-level precision on the key parts (such as fuze) of the nonexplosive material, which are tens to hundreds of meters outside and are usually only a few centimeters to tens of centimeters in size. The existing system generally adopts a rough aiming mode of 'remote video observation and manual rocker control cradle head'. The method is highly dependent on experience and state of operators, and has the inherent defects that firstly, long-distance video transmission has delay and image quality loss, the three-dimensional space position is judged to be large by two-dimensional images manually, accurate aiming is difficult to realize, secondly, manual control response is slow and easy to overshoot, and stable locking of a dynamic tiny target is difficult to realize and maintain under the interference of self vibration of a mobile platform, uneven ground and the like. This results in existing systems being "seen but not hit" in a physically complex environment, the hit being inefficient and even exposing their own position due to multiple ineffective shots. The existing system integrates modules such as movement, vision, striking and the like, but each module often works independently, information and instruction flow are split, and closed loop intelligent coordination cannot be formed. For example, the posture change of the mobile chassis can directly influence the direction of the cradle head, but the system lacks a mechanism for dynamically compensating the aiming line in real time by utilizing the data of an Inertial Measurement Unit (IMU) of the chassis, and for example, the laser preparation is independent of the aiming process, the operation flow is complex, and the laser parameters cannot be automatically pre-adjusted according to the aiming state. The information island phenomenon makes the whole precision, response speed and automation degree of the system difficult to improve, the operation is complex, and the fault tolerance rate is low. Therefore, how to break through the limit of manual control precision, an intelligent aiming control method capable of automatically, rapidly and highly accurately aiming laser beams at and locking remote micro targets under a complex environment is realized, perception and control of a mobile platform and a striking unit are effectively fused, and the intelligent aiming control method becomes a key technical problem that the trend of remote control high-energy laser explosion-discharging equipment is essentially solved. Disclosure of Invention In view of the problems in the prior art, the primary purpose of the invention is to provide a remote control high-energy laser explosion-discharging system aiming at the core problems of low remote manual aiming precision, poor stability and insufficient cooperation of multiple system units in the background art. Specifically, one aspect of the invention provides a high-precision intelligent aiming control method for a remote control high-energy laser explosion suppression system, which is characterized by comprising the following steps: real-time images of a target area are acquired through a visible light camera, and target pixel coordinates calibrated by an operator are acquired in a remote man-machine interaction terminal ; Controlling a laser rangefinder to measure target distanceThe target distance is sent to an embedded industrial personal computer in a vehicle-mounted control box; Controlling the high-precision attitude control cradle head to perform coarse aiming motion towards the target direction, and simultaneously respectively reading the relative attitude angles of the cradle head output by the mot