CN108490446B

CN108490446B - Photoelectric three-coordinate searching and tracking device and method

Info

Publication number: CN108490446B
Application number: CN201810074431.0A
Authority: CN
Inventors: 王全喜; 杨军; 李庶中; 孙健; 李越强; 沈宏; 李洁; 赵东伟; 鉴福生
Original assignee: Beijing Dingliang Technology Co ltd; Unit 91977 Of Pla
Current assignee: Beijing Dingliang Technology Co ltd; Unit 91977 Of Pla
Priority date: 2018-01-25
Filing date: 2018-01-25
Publication date: 2020-12-01
Anticipated expiration: 2038-01-25
Also published as: CN108490446A

Abstract

The invention discloses a photoelectric three-coordinate searching and tracking device, which comprises: the device comprises a photoelectric detection assembly (1), a laser ranging assembly (2), a servo mechanism (3) and a processing assembly (4); the photoelectric detection assembly (1) searches or tracks a target by switching to a searching or tracking mode; the laser ranging component (2) is used for adjusting the pitch angle of the pitch reflector (12) according to the target angle position given by the processing component (4), and directing the laser beam to the angle so as to measure the distance of the target; the photoelectric detection assembly (1) and the laser ranging assembly (2) are installed on the servo mechanism (3) together; the servo mechanism (3) is used for driving the photoelectric detection assembly (1) and the laser ranging assembly (2) to search, track and range a target; the processing component (4) is used for processing the image information acquired by the photoelectric detection component (1), extracting the information of the target angle position and controlling the laser ranging component (2) to range the target.

Description

Photoelectric three-coordinate searching and tracking device and method

Technical Field

The invention belongs to the technical field of photoelectric detection and laser ranging, relates to a device and a method for searching and tracking a target by utilizing photoelectric detection equipment and ranging the target found by photoelectric search or the tracked target by utilizing a laser ranging machine so as to accurately and timely measure the position of the target, and particularly relates to a device and a method for searching and tracking a photoelectric three-coordinate.

Background

Small-size and subminiature unmanned aerial vehicle convenient to use, the management and control degree of difficulty is big, and the sensitive region is got into easily to the unauthorized, like civil aviation airport, brings serious hidden danger to the aircraft safety of taking off and land. Small and subminiature unmanned aerial vehicles belong to typical low-small-slow targets characterized by low flying height, small target characteristics and slow flying speed, and have complex backgrounds due to low flying height and close distance to ground trees and buildings.

At present, there are three main technical means for detecting an empty target: radar working in centimeter wave and longer wave band, millimeter wave radar working in millimeter wave band, and photoelectric detection equipment working in visible light and infrared band. The radar wave has poor low elevation angle tracking capability and low clutter resistance, and particularly has low capability of detecting low-altitude small targets; considering the need to actively emit electromagnetic waves, interference with the surrounding electromagnetic environment may result. This type of radar is therefore not suitable for detecting "low-small slow" targets in complex backgrounds (e.g. urban areas).

Photoelectric detection equipment is detection equipment of a passive working mode, and mainly realizes target detection by receiving target reflected light and/or target infrared radiation, and typical equipment comprises a television camera working in a visible light wave band, an infrared thermal imager working in medium wave infrared and/or long wave infrared, and a laser radar and a laser range finder which detect and/or measure a target distance by emitting laser to the target. Because the target tracking system works in a light wave band, the wavelength is generally 0.45-1.0 mu m, 3-5 mu m and 8-12 mu m, the wavelength is short, and the resolution is high, the low, small and slow target flying under a complex background can be effectively detected and tracked, and the target distance is measured back by using a laser range finder during tracking. However, the energy of the laser pulse emitted by the laser of the laser range finder is limited, and in order to realize the range finding of a small-size target at a longer distance, the divergence angle of the laser beam is generally smaller, so that the laser range finder can only be used when the photoelectric detection equipment accurately tracks the target: the target must be stably tracked so that it is precisely in the center of the field of view of the photodetection device. However, when the photoelectric detection device is used for searching a large-range target, the target can randomly appear at any position in the visual field of the photoelectric detection device. Therefore, the photoelectric warning device can only obtain the azimuth and the pitch angle of the searched and detected target, and does not have the target distance measurement capability, so that when the target of 'low, small and slow' is detected, the target cannot be threatened and judged due to the lack of the target distance value, and the searching efficiency of the photoelectric detection device is greatly reduced.

In summary, how to adopt a proper design and use mode enables the laser range finder to accurately and timely acquire the distance value of the target detected by the photoelectric detection device in the searching process of the photoelectric detection device, so as to realize photoelectric three-coordinate warning detection, and is an important research content for developing searching type photoelectric detection devices.

Disclosure of Invention

The invention aims to solve the problem that the distance of a searched target is difficult to obtain when the existing photoelectric detection equipment searches. Therefore, the photoelectric three-coordinate searching and tracking device organically integrating the photoelectric detection equipment and the laser range finder is provided, and three-dimensional coordinates of the position, the pitching and the distance of the target can be accurately obtained in a searching and tracking mode of the photoelectric detection equipment, so that the spatial position of the target can be accurately and timely determined.

In order to achieve the above object, the present invention provides an optoelectronic three-coordinate searching and tracking device and method, wherein the device operates in two operating modes: a search mode and a tracking mode, the apparatus comprising: the device comprises a photoelectric detection assembly 1, a laser ranging assembly 2, a servo mechanism 3 and a processing assembly 4; the photoelectric detection assembly 1 searches or tracks a target by switching to a searching or tracking mode; the laser ranging component 2 is used for determining the offset angle of a laser transmitting and receiving aiming line in the pitching direction according to a target pitch angle given by the processing component 4, pointing a laser transmitting beam and the receiving aiming line to the angle direction and measuring the distance of a target; the photoelectric detection assembly 1 and the laser ranging assembly 2 are installed on the servo mechanism 3 together; the servo mechanism 3 is used for driving the photoelectric detection assembly 1 and the laser ranging assembly 2 to search, track and range a target; the processing component 4 is used for processing the image information acquired by the photoelectric detection component 1, extracting the target angular position information, and controlling the laser ranging component 2 to perform ranging on the target with the acquired angular position information.

As an improvement of the above device, the laser ranging assembly 2 is used for measuring the distance of the target searched or tracked by the photoelectric detection assembly 1; the laser ranging assembly 2 includes: the device comprises a laser ranging optical window 8, a pitching reflector 12, a laser transmitter 13 and a laser receiver 14; wherein:

the laser ranging optical window 8 is a protection window of the laser ranging component 2, and a light transmitting waveband of the laser ranging optical window 8 is consistent with a working waveband of the laser ranging component 2;

the pitching reflector 12 can adjust a pitching reflection angle in real time according to a target pitch angle given by the processing assembly 4, reflect a laser beam emitted by the laser emitter 13 to a specified target pitch angle, and receive a laser echo reflected by a target to be reflected to the laser receiver 14, and in a tracking mode of the device, a laser emission beam direction 17 during tracking and a laser echo receiving direction 18 during tracking are generally parallel to a reflector normal direction 16 during tracking of the photoelectric detection assembly 1, so that the target stably tracked by the photoelectric detection assembly 1 is ensured to be subjected to ranging; in the searching mode of the device, the pitch angle of the pitch reflector 12 is adjusted, so that the laser emission beam direction 19 and the searching laser receiving direction 20 can point to the pitch angle of the detected target during searching;

the laser transmitter 13 is used for converting electric energy into a laser beam meeting the ranging requirement, and comprises: the device comprises a laser, a laser power supply and a laser emission optical system; the laser power supply provides electric energy for the laser, the laser converts the electric energy into laser and transmits the laser to the laser emission optical system, and the laser emission optical system emits the laser to the pitching reflector 12 after finishing the laser;

the laser receiver 14 is configured to convert a laser echo reflected by the target into an electrical signal, and after processing, obtain a distance from the laser ranging assembly 2 to the target to be measured, including: the device comprises a laser echo detector, a laser receiving optical system and a distance measurement processing electronic component; the laser receiving optical system converges the laser echo reflected by the pitching reflector 12 and focuses the laser echo on the laser detector, the laser detector converts the laser echo into an electric signal and transmits the electric signal to the ranging processing electronic component, and the ranging processing electronic component calculates the target distance by combining the emission time of the laser.

As a modification of the above apparatus, the servo mechanism 3 includes: a pitch assembly 5 and an azimuth assembly 6; the pitching assembly 5 is used for bearing the photoelectric detection assembly 1 and the laser ranging assembly 2, driving the photoelectric detection assembly 1 and the laser ranging assembly 2 to track a target in a pitching direction, and determining a pitching angle of the photoelectric detection assembly 1 during searching; the direction component 6 is used for bearing the pitching component 5, driving the photoelectric detection component 1 to search the direction, and driving the photoelectric detection component 1 and the laser ranging component 2 to track the target in the direction.

As an improvement of the above-mentioned device, the device will generate the motion image blur of the photoelectric detector during the scanning search, when the front mirror is used for the image motion compensation, the photoelectric detection assembly 1 includes: the device comprises a photoelectric detection optical window 7, a search tracking switching reflector 9, an optical system 10 and a photoelectric detector 11; wherein:

the photoelectric detection optical window 7 is a protection window of the photoelectric detection assembly 1, and a light-transmitting waveband of the photoelectric detection optical window 7 is consistent with a working waveband of the photoelectric detection assembly 1; the photoelectric detection optical window 7 and the laser ranging component 2 are arranged on the same side in parallel;

the search tracking switching mirror 9 is configured to reflect the light wave transmitted through the optical window for photoelectric detection 7 to the optical system 10, and the search tracking switching mirror 9 includes: a mirror and a servo control assembly; the servo control component realizes the switching of the searching and tracking modes of the device by adjusting the reflection angle of the reflector, and compensates the movement of the target image on the photosensitive surface of the photoelectric detector 11 caused by quick searching in the searching mode of the photoelectric detection component 1 of the device by controlling the searching and tracking switching reflector 9 to swing in a small range in real time, so that the photoelectric detector 11 can clearly image in the integration period;

the optical system 10 is configured to converge the target optical signal reflected by the search and tracking switching mirror 9, and focus and image the target optical signal onto a photosensitive surface of the photodetector 11;

the photodetector 11 is configured to convert the target optical signal collected by the optical system 10 into a target electrical signal, and transmit the target electrical signal to the processing component 4 for processing.

As an improvement of the above device, when the image motion compensation is performed by using the rear optical flyback mirror when the moving image blur of the photodetector occurs during the scanning search, the photodetecting assembly 1 includes: an optical window 7, a search-track switching mirror 9, an optical system 10, an optical retrace mirror 21 and a photodetector 11;

the optical window 7 is a protection window of the photoelectric detection assembly 1, and the light-transmitting waveband of the optical window 7 is consistent with the working waveband of the photoelectric detection assembly 1; the optical window 7 and the laser ranging component 2 are arranged on the same side in parallel;

the search tracking switching mirror 9 for reflecting the light wave transmitted through the optical window 7 to the optical system 10 includes: a mirror and a servo control assembly; the servo control component realizes the switching of the searching and tracking modes of the device by adjusting the reflection angle of the reflector;

the optical flyback mirror 21 is used for compensating the movement of a target image caused by quick search on the photosensitive surface of the photoelectric detector 11 in a search mode of the photoelectric detection assembly 1 through the small-range swing of the optical flyback mirror, so that the photoelectric detector 11 can clearly image in an integration period;

As an improvement of the above apparatus, when the motion image blur of the photodetector occurs during the scanning search, the photodetection assembly 1 comprises: the device comprises a photoelectric detection optical window 7, a search tracking switching reflector 9, an optical system 10 and a photoelectric detector 11;

the photoelectric detection optical window 7 is a protection window of the photoelectric detection assembly 1, and a light-transmitting waveband of the photoelectric detection optical window 7 is consistent with a working waveband of the photoelectric detection assembly 1; the photoelectric detection optical window 7 and the laser ranging component 2 are arranged on the same side;

the search tracking switching mirror 9 for reflecting the light wave transmitted through the photoelectric detection optical window 7 to the optical system 10 includes: a mirror and a servo control assembly; the servo control assembly realizes the switching of the searching and tracking modes of the device by adjusting the reflection angle of the reflector;

the photodetector 11 adopts a CCD camera with a time delay integration function, and solves the problem of image motion blur caused by the device in a search mode through an electronic motion compensation method according to the charge readout technology of the CCD camera.

As an improvement of the above device, the switching of the operating mode of the device is realized by the processing component 4 sending an instruction to adjust the reflection angle in the search tracking switching mirror 9, and the specific implementation process is as follows:

when the deflection angle between the mirror normal direction 15 along the scanning search direction at the time of searching for the tracking switching mirror 9 and the mirror normal direction 16 at the time of tracking is θ, the apparatus is in the search mode;

the deviation angle direction of the normal direction 15 of the reflector during searching is the same as the rotation searching direction of the device; the magnitude of the deflection angle θ satisfies:

wherein, t_{Lifting device}Time, v, required for the extraction of the target angular position of the photodetection assembly 1_SearchingSearching the angular velocity for the orientation of the photo detection assembly 1,_{square block}The field angle of the photoelectric detection assembly 1 in the azimuth direction;

when the normal direction of the reflector of the searching and tracking switching reflector 9 is positioned in the normal direction 16 of the reflector during tracking, the device is in a tracking mode, and the normal direction of the pitching reflector 12 of the laser ranging assembly 2 is parallel to the imaging view field center 23 of the photoelectric detection assembly 1; after the photoelectric detection assembly 1 stably tracks the target, the target is positioned at the imaging field center 23 of the photoelectric detection assembly 1, and the laser ranging assembly 2 emits a laser beam to measure back the linear distance of the target relative to the device.

As an improvement of the above device, the azimuth search angular velocity of the photodetection assembly 1 is:

v_searching＝(1-η)_{Square block}fr

If the imaging field of view 22 of the photoelectric detection assembly 1 is_{Square block}×∈_{Bow down}，∈_{Bow down}In order to tilt towards the field of view,_{square block}Is an azimuth field of view; if two adjacent images overlap in the azimuth direction, the ratio of the overlapping portion to the whole image is the overlapping ratio η, and fr is the imaging frame frequency of the photodetection assembly 1.

A photoelectric millimeter wave three-coordinate searching and tracking method specifically comprises the following steps:

step 1) when the device searches for the tracking switching mirror 9, the normal direction 15 of the mirror along the scanning search direction and the deflection angle with the normal direction 16 of the mirror during tracking are theta, the device works in a search mode;

a pitching assembly 5 of the device in the step 2) drives the photoelectric detection assembly 1 and the laser ranging assembly 2 to search a pitching angle beta;

step 3) an azimuth component 6 of the device drives a pitching component 5, a photoelectric detection component 1 and a laser ranging component 2 to rotate in an azimuth direction v_SearchingRotating at a constant speed;

step 4) the photoelectric detection component 1 of the device starts an image motion compensation means or method, performs imaging detection at a frame frequency fr, and sends a detected clear image to the processing component 4 for processing;

step 5), the processing component 4 processes the image and automatically extracts a first target 24 in the image; if the first target 24 is extracted from the ith image, and the azimuth angle x of the first target 24 relative to the imaging field center 23 of the photoelectric detection assembly 1 of the device is determined_iAnd a pitch angle of y_iMarked as target relative angular position (x)_i,y_i) (ii) a Let the angular position (α) of the imaging field center 23 of the ith image relative to the null direction of the device_iβ), then the angular position of the first target 24 in the image relative to the zero orientation of the device is (α)_i+x_i,β+y_i)；

Step 6) based on the angular position (α) of the first target 24_i+x_i,β+y_i) Pitch angle y in_iThe laser ranging component 2 searches to a target azimuth angle alpha along with the rotation of the device_i+x_iIn the course of which the pitch orientation of the pitch mirror 12 is adjusted to the target pitch angle y_iA laser emission beam direction 19 during searching and a laser receiving direction 20 during searching are made to point to the target in a pitch direction; based on the angular position (α) of the first target 24_i+x_i,β+y_i) Azimuth angle α in_i+x_iThe laser emitting beam direction 19 during searching of the laser ranging module 2 and the laser receiving direction 20 during searching are searched to the target azimuth angle alpha with the rotation of the device_i+x_iIn operation, the laser ranging assembly 2 emits a laser beam 26 such that the laser beam 26 impinges on the first target 24. The laser ranging assembly 2 measures the time t required from firing to returning from the first target 24_iThereby finding back the target distance R_i：

R_i＝ct_i/2

Wherein c is the electromagnetic wave velocity;

step 7) obtaining the three-dimensional coordinate (alpha) of the first target 24 in the ith image according to the step 5) and the step 6)_i+x_i,β+y_i,R_i)；

Step 8) the device continues from step 4) to step 7) assuming that the three-dimensional coordinates of the second object 25 found in the (i + 3) th image are (α)_i+3+x_i+3,β+y_i+3,R_i+3)；

Step 9) the device repeats the steps 4) to 7), and continues to carry out omnibearing search coverage along the search pitch angle beta;

step 10) the device detects and obtains three-dimensional coordinates of the first target 24 and the second target 25 for more than three times continuously, so that the speed and course target track information of the first target 24 and the second target 25 is obtained, and tracking and threat judgment of the first target 24 and the second target 25 are realized;

step 11) changing the search pitch angle β to another search pitch angle β 'by the processing assembly 4, and then the apparatus repeats steps 3) to 10) along the new search pitch angle β' to perform an all-around search.

As an improvement of the above method, the azimuth search angular velocity v of the photodetection assembly 1_SearchingComprises the following steps:

v_searching＝(1-η)_{Square block}fr

The invention has the advantages that:

1. the device searches a target through photoelectric detection equipment, and after the azimuth and pitch angle position of the target is determined, the laser distance measuring machine is quickly guided to emit laser beams to the position of the target to measure the distance of the target, the time delay between the laser beam and the target is short, and the influence on the measurement accuracy and the real-time performance of the obtained three-dimensional coordinate of the target is small, so that the problem of low, small and slow target searching warning under a complex background is solved;

2. according to the device, the search and tracking switching reflector is arranged in front of the photoelectric detection equipment, and the deflection angle of the search and tracking switching reflector in the azimuth direction is adjusted to realize the switching of the search and tracking modes of the device; meanwhile, the laser ranging component can adjust the ranging range in the pitching direction. When the device is in a searching mode, the searching and tracking switching reflector deflects at a certain angle in the azimuth direction, a clear target image is obtained when the device searches the fast azimuth direction, the azimuth and the pitch angle position of the target relative to the device are extracted through processing, then the target pitch angle is used for adjusting the pitch angle of the pitch reflector of the laser ranging assembly, and when the laser emitting and receiving directions of the laser ranging assembly are about to cross the azimuth angle of the target, the laser ranging assembly emits laser and detects the laser echo of the target, so that the measurement of the target distance is realized. Through the cooperative working mode, the problem that the photoelectric detection equipment obtains the target distance in the searching process is solved;

3. when the device is in a tracking mode, the photoelectric detection equipment tracks a target in real time, and the laser range finder measures the distance of the target tracked by the photoelectric detection equipment, so that high-speed and high-precision target three-dimensional coordinate data is obtained;

4. when the device of the invention is used for searching, two mechanical motion compensation methods and an electronic motion compensation method are provided aiming at the characteristics of the photoelectric detector in order to solve the problem of image blurring caused by quick searching of the photoelectric detector. The first mechanical motion compensation method is to adopt a searching and tracking reflector to realize motion compensation by retracing in the direction of the position searching of the inverse device during the integration period of the photoelectric detector; the second mechanical motion compensation method is to arrange an optical flyback mirror in front of the photoelectric detector, wherein the flyback mirror realizes motion compensation by flyback in the direction opposite to the direction of the device during the integration period of the photoelectric detector; the electronic motion compensation method is to realize motion compensation by electronic motion compensation on a Charge Coupled Device (CCD) when the CCD with time delay integration capability is used as a photoelectric detector. By adopting the three targeted measures, the photoelectric detection assembly can clearly image the target in the searching process.

Drawings

FIG. 1 is a block diagram of an optoelectronic three-coordinate search and tracking device according to the present invention;

FIG. 2 is a schematic diagram of the outline of the electro-optical three-coordinate searching and tracking device of the present invention;

FIG. 3(a) is a top view of the electro-optical three-coordinate search and tracking device of the present invention in search mode with search switching mirror retrace or electronic motion compensation to effect the search;

FIG. 3(b) is a side sectional view of FIG. 3 (a);

FIG. 3(c) is a front sectional view of FIG. 3 (a);

FIG. 4(a) is a top view of the electro-optical three-coordinate search and tracking apparatus of the present invention in a search mode with a scan accomplished by a fly-back mirror;

FIG. 4(b) is a side sectional view of FIG. 4 (a);

FIG. 4(c) is a front sectional view of FIG. 4 (a);

fig. 5 is a schematic diagram of an imaging search of the electro-optical three-coordinate search tracking device in the search mode.

The attached drawings are as follows:

1. photoelectric detection component 2, laser ranging component 3 and servo mechanism

4. Processing assembly 5, pitching assembly 6 and orientation assembly

7. Photoelectric detection optical window 8, laser ranging optical window 9 and search tracking switching reflector

10. Optical system 11, photodetector 12, and tilting mirror

13. Laser transmitter 14, laser receiver 15, and mirror normal direction at the time of search

16. Normal direction 17 of the mirror during tracking, and beam direction emitted by the laser during tracking

18. Laser echo receiving direction 19 during tracking and laser emission beam direction during searching

20. Laser receiving direction 21 during search, optical fly back mirror

22. Imaging field of view 23, imaging field of view center

24. First target 25, second target 26, laser beam

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples.

As shown in fig. 1 and 2, an electro-optical three-coordinate search and tracking device has two operation modes: a search mode and a tracking mode, the apparatus comprising: the device comprises a photoelectric detection assembly 1, a laser ranging assembly 2, a servo mechanism 3 and a processing assembly 4; the photoelectric detection optical window 7 and the laser ranging optical window 8 are arranged on the same side, the photoelectric detection assembly 1 and the laser ranging assembly 2 are arranged on the pitching assembly 5 of the servo mechanism 3 side by side, and then the whole is borne by the orientation assembly 6 of the servo mechanism 3.

The laser ranging assembly 2 is used for measuring the distance of a target searched or tracked by the photoelectric detection assembly 1; as shown in fig. 3 and 4, the laser ranging assembly 2 includes: the device comprises a laser ranging optical window 8, a pitching reflector 12, a laser transmitter 13 and a laser receiver 14; wherein:

the pitching reflector 12 can adjust a pitching reflection angle in real time according to a target pitch angle given by the processing assembly 4, reflect a laser beam emitted by the laser emitter 13 to a specified target pitch angle, and receive a laser echo reflected by a target to be reflected to the laser receiver 14, as shown in fig. 3(b), fig. 3(c), fig. 4(b), and fig. 4(c), in a tracking mode of the device, a laser emission beam direction 17 during tracking and a laser echo receiving direction 18 during tracking are generally parallel to a reflector normal direction 16 during tracking of the photoelectric detection assembly 1, so that ranging of the target stably tracked by the photoelectric detection assembly 1 is ensured; in the searching mode of the device, the pitch angle of the pitch reflector 12 is adjusted, so that the laser emission beam direction 19 and the searching laser receiving direction 20 can point to the pitch angle of the detected target during searching;

the laser transmitter 13 is used for converting electric energy into a laser beam meeting the distance measurement requirement, and generally comprises a laser, a laser power supply and a laser transmitting optical system; the laser power supply provides electric energy for the laser, the laser converts the electric energy into laser and transmits the laser to the laser emission optical system, and the laser emission optical system emits the laser to the pitching reflector 12 after finishing the laser;

The servo mechanism 3 is used for driving the photoelectric detection assembly 1 and the laser ranging assembly 2 to search or track a target and measuring the target distance and/or the radial speed; the servo mechanism 3 includes: a pitch assembly 5 and an azimuth assembly 6; wherein:

the direction component 6 bears the pitching component 5, the photoelectric detection component 1 and the laser ranging component 2, drives the photoelectric detection component 1 to search along the direction in a search mode, and drives the photoelectric detection component 1 and the laser ranging component 2 to track a target in the direction in a tracking mode;

the pitching assembly 5 bears the photoelectric detection assembly 1 and the laser ranging assembly 2, drives the photoelectric detection assembly 1 and the laser ranging assembly 2 to track a target in a pitching direction in a tracking mode, and points the photoelectric detection assembly 1 to a specified pitching angle in a searching mode;

the processing component 4 is used for controlling device search and tracking mode switching; displaying and processing image information acquired by the photoelectric detection assembly 1, and extracting target angular position information; and controlling the laser ranging component 2 to range the target of which the angular position information is obtained.

When the device is in a search mode, the device is driven by the servo mechanism 3 to continuously rotate along the azimuth direction, so that the warning search of an all-dimensional area is realized, and the scanning search angle of the device in the pitching direction can be adjusted through the servo mechanism 3, so that the warning search of the whole airspace is realized. In the searching process, the photoelectric detection assembly 1 is used for imaging detection of the scanned and searched area continuously, the detected image is processed by the processing assembly 4, the target is found, and the two-dimensional angular position information of the azimuth and the pitching of the target is extracted. Meanwhile, the processing component 4 controls the laser ranging component 2 to emit laser to the target by using the information, and measures the distance of the target, thereby obtaining the three-dimensional coordinate information of the target. When the device searches the target once by scanning, the three-dimensional coordinate information of the target is obtained once. If the target is searched for at least three times in succession, the accurate track of the target is given after being processed by the processing component 4.

When the device is in tracking mode, the device will always be pointed at the target. In the tracking process, the device uses the photoelectric detection assembly 1 to continuously track and lock the specified target, so that the target is always positioned in the imaging field center 23 of the photoelectric detection assembly 1, the photoelectric detection assembly 1 gives out the angular position of the target in real time, and the laser ranging assembly 2 measures the distance of the target, thereby giving out the three-dimensional coordinate information of the target in real time.

The photoelectric detection assembly 1 searches or tracks a target by using the photoelectric detector 11, acquires video image information of the target, sends the video image information to the processing assembly 4 for processing, and processes the image information by the processing assembly 4 to acquire the azimuth and the pitch angle of the target. When the photodetection assembly 1 scans and searches rapidly in the azimuth direction, the photodetector 11 needs a period of time to integrate the received light wave signal when detecting the target, and during the integration period, the image of the target on the photosensitive surface of the photodetector 11 will move, so that the image acquired by the photodetector 11 is blurred, and the quality of the image acquired by the photodetector 11 is seriously affected. Therefore, when the photodetection assembly 1 performs fast scan search, image motion compensation measures must be taken so that the object and background images imaged on the photosensitive surface of the photodetector 11 do not move during the integration period of the photodetector 11, so that the photodetector 11 acquires clear and non-blurred images. The composition of the photodetection assembly 1 can adopt different technical solutions according to the available image motion compensation methods.

In the present invention, three image motion compensation schemes are provided to solve the problem of motion image blur of the photodetector 11 during the scanning search of the device: two mechanical compensation schemes, a front mirror motion compensation method and a rear optical retrace mirror method, and an electronic motion compensation method.

(1) As shown in fig. 3(a), when the front mirror motion compensation method is adopted, the photodetection assembly 1 includes: the device comprises a photoelectric detection optical window 7, a search tracking switching reflector 9, an optical system 10 and a photoelectric detector 11; wherein:

the photoelectric detection optical window 7 is a protection window of the photoelectric detection assembly 1, and the light-transmitting waveband is consistent with the working waveband of the photoelectric detection assembly 1; the photoelectric detection optical window 7 and the laser ranging component 2 are arranged on the same side;

the search tracking switching mirror 9 for reflecting the light wave transmitted through the photoelectric detection optical window 7 to the optical system 10 includes: a mirror, a servo control assembly; the servo control component realizes the switching of the searching and tracking modes of the device by adjusting the reflecting angle of the reflector, and compensates the movement of the target image caused by rapid searching on the photosensitive surface of the photoelectric detector 11 when the photoelectric detection component 1 of the device is in the searching mode by controlling the searching and tracking switching reflector 9 to swing in a small range in real time, so that the photoelectric detector 11 can clearly image in the integration period;

(2) As shown in fig. 4(a), when the rear-optical fly-back mirror method is employed, the photodetection assembly 1 includes: the system comprises a photoelectric detection optical window 7, a search tracking switching reflector 9, an optical system 10, an optical retrace mirror 21 and a photoelectric detector 11;

the photoelectric detection optical window 7, the search and tracking switching mirror 9, the optical system 10, and the photoelectric detector 11 have the same main functions as those described in the aforementioned pre-mirror motion compensation method, except that the control and use of the search and tracking switching mirror 9 are adjusted so that the search and tracking switching mirror 9 is used only for switching between the search mode and the tracking mode of the apparatus. The motion compensation of the photoelectric detection component 1 of the device in the search mode is realized by controlling the search-and-follow switching reflector 8 to swing in a small range in real time, instead of controlling the search-and-follow switching reflector 9 to swing in a small range, and controlling the optical retrace mirror 21 to swing in a small range to compensate the motion of the target image brought by the fast search on the photosensitive surface of the photoelectric detector 11 of the photoelectric detection component 1 of the device in the search mode.

(3) Electronic motion compensation method

The photodetector 11 may be selected differently depending on the operating band of the photodetection assembly 1. Generally, when the photoelectric detection assembly 1 works in visible light and near infrared bands, the photoelectric detector 11 can adopt a CCD or CMOS camera; when the photoelectric detection component 1 works in the medium wave or long wave infrared band, the photoelectric detector 11 can adopt a sensitive medium wave or long wave infrared area array focal plane detector, and the infrared area array focal plane detector generally adopts a CMOS (complementary metal oxide semiconductor) type reading circuit. If the photodetector 11 is a CCD camera when the photodetection assembly 1 operates in the visible and near infrared bands, a CCD camera with a Time Delay Integration (TDI) function may be selected. According to the charge readout technology specific to the CCD camera, the TDI technology is designed and adopted, and the problem of image motion blur caused by the device in a search mode is solved through an electronic motion compensation method.

When the electronic motion compensation method is used, as shown in fig. 3(a), the composition of the photoelectric detection assembly 1 is similar to that of the photoelectric detection assembly 1 using the front reflector motion compensation method, except that the search and switching reflector 8 only undertakes switching between the device search mode and the tracking mode, and does not undertake image motion compensation during searching. Image motion compensation is accomplished by integrated electronic motion compensation measures of the CCD camera.

The adjustment of the working mode of the photoelectric three-coordinate searching and tracking device is realized by the processing component 4 sending an instruction to adjust the reflection angle in the searching and tracking switching reflector 8, and the specific realization method is as follows:

(1) a search mode. As shown in fig. 3(a) and 4(a), when the mirror normal direction 15 at the time of searching for the tracking switching mirror 9 differs from the mirror normal direction 16 at the time of tracking by a certain deflection angle θ, the apparatus is in the search mode;

(2) a tracking mode. When the mirror normal direction of the search tracking switching mirror 9 is located in the mirror normal direction at the time of tracking 16, the apparatus is in the tracking mode. In this mode, the laser emission beam direction 17 during tracking of the laser ranging assembly 2 and the laser echo receiving direction 18 during tracking point to the imaging view field center 23 of the photoelectric detection assembly 1 in parallel, after the photoelectric detection assembly 1 stably tracks the target, the target is located at the view field center 23 of the photoelectric detection assembly 1, the laser ranging assembly 2 emits laser, and the linear distance of the target relative to the device is measured.

When the device is in the search mode, the operating state parameters of the device are determined by:

(1) time delay t from acquisition of target angular position to acquisition of distance_{Delay time}；

When the device is in a search mode, firstly, the photoelectric detection assembly 1 acquires the azimuth and the pitch angle of a target, namely the angular position of the target, then, the laser ranging assembly 2 adjusts the pitch angle of the pitch reflector 12 to point to the pitch angle of the target in the process of waiting for the device to rotate to the azimuth angle of the target, when the device rotates to the azimuth angle of the target, laser beams are emitted to the target for ranging to obtain the distance value of the target, and the time delay t between the laser beam and the pitch angle is t_{Delay time}The real-time property of the device for acquiring the three-dimensional coordinates of the target is reflected. The time required for the photoelectric detection assembly 1 to acquire the angular position of the target depends on the time t required for the processing assembly 4 of the photoelectric detection assembly 1 to process the acquired images, extract and determine the orientation and elevation of the target_{Lifting device}(ii) a After the rotating angle of the device reaches the azimuth angle of the target, the laser ranging component 2 is triggered to emitThe laser beam starts to measure the distance, and the time required by the device to rotate to reach the azimuth angle of the target is t_{Rotating shaft}(ii) a The time required by the laser ranging component 2 to obtain the target distance depends on the time t required by the processing component 4 to send out control laser ranging component 2 to carry out ranging and emit laser beams according to the designated direction and the high and low angles to carry out ranging_MeasuringT is the time from triggering the laser transmitter 13 to the laser receiver 14 receiving the laser echo and processing to obtain the target distance since the laser ranging module 2 is short_MeasuringCan be ignored.

Thus, the time delay t_{Delay time}Comprises the following steps:

t_{delay time}＝t_{Lifting device}+t_{Rotating shaft} (1)

Wherein the device rotates to reach the azimuth angle time t of the target_{Rotating shaft}Directly related to the position of the object possibly in the field of view of the photo detection assembly 1. t is t_{Rotating shaft}Is the maximum deviation value when the target is located in the field of view of the photoelectric detection assembly 1, and the value is the angle of view of the azimuth direction_{Square block}If the device searches for an angular velocity v_SearchingAnd then:

(2) searching and tracking a deflection angle theta of the switching reflector 9 in the azimuth direction;

the deviation angle direction of the normal direction 15 of the reflector during searching is the same as the rotation searching direction of the device; the magnitude of the deflection angle theta depends on the time t required for the target angular position of the photodetection assembly 1_{Lifting device}Azimuth search angular velocity v of device_Searching(ii) a Meanwhile, because the laser beam 26 emitted by the laser ranging module 2 in the tracking mode is irradiated to the imaging view field center 23 of the photoelectric detection module 1, in order to ensure that when the photoelectric detection module 1 extracts a target angular position, the laser beam 26 of the laser ranging module 2 just sweeps a target which may be located at the view field azimuth edge angle of the photoelectric detection module 1, a half view field angle of the photoelectric detection module 1 should be added, that is:

(3) flyback speed v_{Go back to}；

The device is in a search mode, as shown in figure 3(a), with the device at a speed v_SearchingPerforming an azimuth search scan, during integration of the photodetector 11, the servo control component in the search-track switching mirror 9 controlling the mirror in the search-track switching mirror 9 to retrace in a direction opposite to the apparatus search direction; as shown in FIG. 4(a), the device is operated at a speed v_SearchingAn azimuth search scan is performed, and during integration by the photodetector 11, the optical retrace mirror 21 retraces in a direction opposite to the device search direction. Seeking to track the retrace velocity v of the switching mirror 9 or the optical retrace mirror 21_{Go back to}Searching angular velocity v with azimuth_SearchingOne half of (a), namely:

v_{go back to}＝-v_Searching/2 (4)

When the photoelectric detector 11 finishes integration and reads imaging data, the servo control component in the search and tracking switching reflector 8 controls the reflector or the optical retrace reflector 21 in the search and tracking switching reflector 9 to return to the state before retrace, and when the photoelectric detector 11 is integrated again, the search and tracking switching reflector 9 or the optical retrace reflector 21 repeats the working state.

(4) The photodetection assembly 1 searches for the angular velocity v_Searching；

As shown in FIG. 5, the imaging field of view 22 of the photodetection assembly 1 is_{Square block}×∈_{Bow down}In order to ensure that the device does not miss scanning in the azimuth direction, two adjacent images have certain overlap in the azimuth direction, the ratio of the overlapping part to the whole image is the overlap ratio eta, and the effective field angle of each image formed by the search of the photoelectric detection assembly 1 is as follows:

’_{square block}＝(1-η)_{Square block} (5)

The imaging amplitude k required for the photoelectric detection assembly 1 to complete 360 degrees in all directions is as follows:

κ＝2π/((1-η)_{square block}) (6)

The imaging frame frequency of the photoelectric detection assembly 1 is fr, and the time T' required for completing the omnibearing search is as follows:

T′＝κ/f＝2π/((1-η)_{square block}fr) (7)

In addition, the device searches for the angular velocity v in azimuth_SearchingThe uniform rotation is realized, and the time T for completing 360-degree all-dimensional search is as follows:

T＝2π/v_searching (8)

For the convenience of image processing and target extraction, the azimuth position of the image acquired by the photoelectric detection assembly 1 on the current circle is the same as the angle position of the image acquired on the previous circle, and T is required to be T', so the azimuth search angular velocity v of the device is_SearchingThe determination is as follows:

v_searching＝(1-η)_{Square block}fr (9)

(5) Azimuth angle_{Delay a}Pitch angle deviation_{Delay p}And a distance deviation Δ R in the radial direction;

the velocity components of the target in the azimuth and pitch directions relative to the device are respectively set to v_{Delay a}And v_{Delay p}In a radial direction v with respect to the device_{Delay z}Setting the distance of the target detected by the device to be R, then delaying for a time t_{Delay time}In the meantime, the target is deviated in azimuth and pitch directions due to the movement_{Delay a}、_{Delay p}And producing a distance deviation Δ R in the radial direction of:

_{delay a}＝atan(v_{Delay a}·t_{Delay time}/R)

_{Delay p}＝atan(v_{Delay p}·t_{Delay time}/R) (10)

ΔR＝v_{Delay z}·t_{Delay time}

(6) Beam divergence angle of the laser beam of the laser ranging assembly 2_m；

_m≥3_G+_{Delay time} (11)

In the formula (I), the compound is shown in the specification,_Gmeasuring a target azimuth error for the photodetection device 1;_{delay time}Is the deviation due to the movement of the target when the device detects the allowed minimum distance R of the target.

(7) The pitching adjustment range sigma of the pitching reflector 12 of the laser ranging assembly 2;

the laser ranging component 2 controls to emit laser beams in the pitching direction according to the target pitching angle given by the photoelectric detection component 1, and because the laser emission beam direction 17 during tracking and the laser echo receiving direction 18 during tracking of the laser ranging component 2 point to the middle of the pitching view field of the photoelectric detection component 1, the pitching adjusting range sigma is required to be not less than the pitching view field belonging to the photoelectric detection component 1_{Bow down}And/2, namely:

σ≥∈_{bow down}/2 (12)

Example (c): the photoelectric detector 11 of the photoelectric detection component 1 adopts a refrigeration type medium wave infrared focal plane, the number of pixels of the focal plane device is 640 multiplied by 512, the frame frequency fr is 100Hz, and the view field of the photoelectric detector 11 is taken_{Square block}×∈_{Bow down}3 ° × 4 °. The 640 pixels of the focal plane device are selected as the pitch direction in order to improve the coverage of the device in the pitch direction when searching.

In the device search, the overlapping rate η between the image acquired by the photodetection assembly 1 and the next image is 10%, and according to equation (9), the azimuth search angular velocity v is calculated_SearchingComprises the following steps:

v_searching＝100×(1-0.1)×3°＝270°/s

Extracting and determining the time t required for the azimuth and elevation of the target_{Lifting device}Directly related to the processing power of the processing component 4. According to the state of the art, the processing assembly 4 can be completed completely before the photodetector 11 completes outputting the next image to the processing assembly 4, so t can be taken_{Lifting device}＝1/fr＝0.01s。

Azimuthal time t when the device rotates past the target from equation (2)_{Rotating shaft}Maximum value t of_{Turn big}Comprises the following steps:

according to equation (1), the time delay t from the acquisition of the target angular position to the acquisition of the distance_{Delay time}＝0.015s。

The flight speed of small and medium-sized unmanned aerial vehicles is relatively low, for example, the flight speed I of a quad-rotor unmanned aerial vehicle using a battery as powerGenerally, the flying speed of the small and medium-sized fixed wing unmanned aerial vehicle taking a small internal combustion engine as power is higher in tens of kilometers per hour, and the small and medium-sized fixed wing unmanned aerial vehicle generally flies about 100-300 kilometers per hour. Taking a small and medium-sized fixed-wing unmanned aerial vehicle as an example, assuming that the flight speed of the unmanned aerial vehicle is 200km/h, considering two limits, according to the formula (10), the time delay t is_{Delay time}Influence on acquisition of the three-dimensional coordinates of the target:

(a) the unmanned aerial vehicle flies head to the device, and the time delay t is carried out at the moment_{Delay time}The resulting target distance measurement error Δ R is maximum, and is:

ΔR＝v×t_{delay time}＝200km/h×0.015s＝0.8m

(b) The flight direction of the unmanned aerial vehicle is the tangential direction searched by the device, and the distance R between the unmanned aerial vehicle and the device is assumed to be 1km, and the time delay t is realized at the moment_{Delay time}Induced target azimuth error_{Delay a}At maximum, it is:

_{delay a}＝atan(v/R×t_{Delay time})＝atan(200km/h×0.015s/1km)≈0.046°

The above calculations are based on comparative limit cases. It can be seen that the time delay t from the acquisition of the angular position of the target to the acquisition of the distance_{Delay time}And the generated measurement error is small, so that the high-precision detection of the target can be ensured.

According to the formula (3), the deflection angle θ of the seek tracking switching mirror 9 in the azimuth direction is:

θ＝0.01s×270°/s+3°/2＝4.2°

as shown in fig. 5, the steps of the photoelectric three-coordinate searching and tracking device in the search mode for searching for the target and acquiring the three-dimensional coordinate values of the azimuth, the pitch and the distance of the target are as follows:

step 1) the deflection angle between the normal direction 15 of the reflector during searching and the normal direction 16 of the reflector during tracking of the searching and tracking switching reflector 9 of the device is theta, so that the device works in a searching mode;

step 3) the azimuth component 6 of the device drives the pitching component 5 and the photoelectricityThe detection assembly 1 and the laser ranging assembly 2 are arranged along the azimuth direction v_SearchingRotating at a constant speed;

step 5), the processing component 4 processes the image and automatically extracts a first target 24 in the image; suppose that a first target 24 is extracted in the ith image and the azimuth angle x of the first target 24 with respect to the imaging field center 23 of the photodetection assembly 1 of the apparatus is determined_iAnd a pitch angle of y_iMarked as target relative angular position (x)_i,y_i). Let the angular position (α) of the imaging field center 23 of the ith image relative to the null direction of the device_iβ), then the angular position of the first target 24 in the image relative to the zero orientation of the device is (α)_i+x_i,β+y_i)；

R_i＝ct_i/2 (13)

Wherein c is the electromagnetic wave velocity;

step 7) according to the stepsStep 5) and step 6), obtaining the three-dimensional coordinate (alpha) of the first target 24 in the ith image_i+x_i,β+y_i,R_i)；

Step 8) the device continues from step 4) to step 7) assuming that the three-dimensional coordinate of the second 20 found in the (i + 3) th image is (α)_i+3+x_i+3,β+y_i+3,R_i+3)；

step 10) the device detects and obtains three-dimensional coordinates of the first target 24 and the second target 25 for more than three times continuously, and target track information such as the speed, the course and the like of the first target 24 and the second target 25 can be obtained by adopting a general mathematical processing method, so that the tracking and threat judgment of the first target 24 and the second target 25 are realized;

step 11) changing the search pitch angle β to another search pitch angle β 'by the processing assembly 4, and then the apparatus repeats steps 3) to 7) along the new search pitch angle β' to perform an all-around search.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. An electro-optical three-coordinate search and tracking device, said device operating in two modes of operation: a search mode and a tracking mode, wherein the apparatus comprises: the device comprises a photoelectric detection assembly (1), a laser ranging assembly (2), a servo mechanism (3) and a processing assembly (4); the photoelectric detection assembly (1) searches or tracks a target by switching to a searching or tracking mode; the laser ranging component (2) is used for adjusting the pitch angle of the pitching reflector (12) according to the target angle position given by the processing component (4), and directing the laser beam to the target angle direction to measure the distance of the target; the photoelectric detection assembly (1) and the laser ranging assembly (2) are installed on the servo mechanism (3) together; the servo mechanism (3) is used for driving the photoelectric detection assembly (1) and the laser ranging assembly (2) to search, track and range a target; the processing component (4) is used for processing the image information acquired by the photoelectric detection component (1), extracting the target angular position information and controlling the laser ranging component (2) to perform ranging on the target with the acquired angular position information;

the device can appear the photoelectric detector motion image blurring in the scanning search process, when adopting leading speculum to carry out image motion compensation, photoelectric detection subassembly (1) includes: the device comprises a photoelectric detection optical window (7), a search tracking switching reflector (9), an optical system (10) and a photoelectric detector (11); wherein:

the photoelectric detection optical window (7) is a protection window of the photoelectric detection assembly (1), and the light-transmitting wave band of the photoelectric detection optical window (7) is consistent with the working wave band of the photoelectric detection assembly (1); the photoelectric detection optical window (7) and the laser ranging optical window (8) are arranged on the same side in parallel;

the search tracking switching mirror (9) for reflecting the light wave transmitted through the optical window (7) to the optical system (10), the search tracking switching mirror (9) comprising: a mirror and a servo control assembly; the servo control component realizes the switching of the searching and tracking modes of the device by adjusting the reflection angle of the reflector, and compensates the movement of the target imaging on the photosensitive surface of the photoelectric detector (11) caused by rapid searching of the photoelectric detection component (1) of the device in the searching mode by controlling the searching and tracking switching reflector (9) to swing in a small range in real time, so that the photoelectric detector (11) can clearly image in the integration period;

the optical system (10) is used for converging, searching, tracking and switching the target optical signal reflected by the reflector (9) and focusing and imaging the target optical signal onto a photosensitive surface of the photoelectric detector (11);

the photoelectric detector (11) is used for converting a target optical signal converged by the optical system (10) into a target electric signal and transmitting the target electric signal to the processing component (4) for processing;

the switching of the working mode of the device is realized by the processing component (4) sending an instruction to adjust and search the reflection angle in the tracking switching reflector (9), and the specific realization process is as follows:

when the normal direction (15) of the reflector is different from the normal direction (16) of the reflector during tracking by a deflection angle theta along the scanning search direction during searching of the tracking switching reflector (9), the device is in a search mode;

the deviation angle direction of the normal direction (15) of the reflector during searching is the same as the rotation searching direction of the device; the magnitude of the deflection angle θ satisfies:

wherein, t_{Lifting device}Time required for the photoelectric detection assembly (1) to extract the target angular position, v_SearchingSearching the angular velocity for the orientation of the photodetection assembly (1),_{square block}An azimuth angle of view;

when the normal direction of the reflector of the searching and tracking switching reflector (9) is positioned in the normal direction (16) of the reflector during tracking, the device is in a tracking mode, and the normal direction of the pitching reflector (12) of the laser ranging assembly (2) points to the imaging view field center (23) of the photoelectric detection assembly (1) in parallel; after the photoelectric detection assembly (1) stably tracks the target, the target is located in the imaging view field center (23) of the photoelectric detection assembly (1), the laser ranging assembly (2) emits laser beams, and the linear distance of the target relative to the device is measured.

2. The electro-optical three-coordinate search and tracking device according to claim 1, wherein the laser ranging assembly (2) is capable of adjusting the laser beam emission and laser echo reception directions in elevation, the laser ranging assembly (2) comprising: the device comprises a laser ranging optical window (8), a pitching reflector (12), a laser transmitter (13) and a laser receiver (14); wherein:

the laser ranging optical window (8) is a protection window of the laser ranging assembly (2), and a light-transmitting wave band of the laser ranging optical window (8) is consistent with a working wave band of the laser ranging assembly (2);

the pitching reflector (12) is used for adjusting a pitching reflection angle in real time according to a target pitch angle given by the processing assembly (4), reflecting a laser beam emitted by the laser emitter (13) to a specified target pitch angle, and receiving a laser echo reflected by the target and reflecting the laser echo to the laser receiver (14);

the laser transmitter (13) is used for converting electric energy into a laser beam meeting the distance measurement requirement, and the laser transmitter (13) comprises: the device comprises a laser, a laser power supply and a laser emission optical system; the laser power supply provides electric energy for the laser, the laser converts the electric energy into laser and transmits the laser to the laser emission optical system, and the laser emission optical system finishes the laser and then emits the laser to the pitching reflecting mirror (12);

the laser receiver (14) is used for converting a laser echo reflected by a target into an electric signal, and obtaining the distance from the laser ranging component (2) to the measured target after processing, and the laser receiver (14) comprises: the device comprises a laser detector, a laser receiving optical system and a ranging processing electronic component; the laser receiving optical system converges laser echo reflected by the pitching reflector (12) and focuses the laser echo to the laser detector, the laser detector converts the laser echo into an electric signal and transmits the electric signal to the ranging processing electronic component, and the ranging processing electronic component combines the laser emission time to calculate the target distance.

3. Electro-optical three-coordinate search and tracking device according to claim 1, characterized in that the servo (3) comprises: a pitching assembly (5) and an orientation assembly (6); the pitching assembly (5) is used for bearing the photoelectric detection assembly (1) and the laser ranging assembly (2), driving the photoelectric detection assembly (1) and the laser ranging assembly (2) to track a target in a pitching direction, and determining a pitching angle of the photoelectric detection assembly (1) during searching; the azimuth assembly (6) is used for bearing the pitching assembly (5), driving the photoelectric detection assembly (1) and the laser ranging assembly (2) to search in the azimuth direction, and driving the photoelectric detection assembly (1) and the laser ranging assembly (2) to track a target in the azimuth direction.

4. Optoelectronic three-coordinate search and tracking device according to claim 1, characterized in that the azimuth search angular velocity of the optoelectronic detection assembly (1) is:

v_searching＝(1-η)_{Square block}fr

If the imaging field of view (22) of the photoelectric detection assembly (1) is_{Square block}×∈_{Bow down}，∈_{Bow down}In order to have a view angle in the pitch direction,_{square block}An azimuth angle of view; if two adjacent images are overlapped in the azimuth direction, the ratio of the overlapped part to the whole image is the overlapping rate eta, and fr is the imaging frame frequency of the photoelectric detection assembly (1).

5. An optoelectronic three-coordinate searching and tracking device, wherein the device operates in two operating modes: a search mode and a tracking mode, wherein the apparatus comprises: the device comprises a photoelectric detection assembly (1), a laser ranging assembly (2), a servo mechanism (3) and a processing assembly (4); the photoelectric detection assembly (1) searches or tracks a target by switching to a searching or tracking mode; the laser ranging component (2) is used for adjusting the pitch angle of the pitching reflector (12) according to the target angle position given by the processing component (4), and directing the laser beam to the target angle direction to measure the distance of the target; the photoelectric detection assembly (1) and the laser ranging assembly (2) are installed on the servo mechanism (3) together; the servo mechanism (3) is used for driving the photoelectric detection assembly (1) and the laser ranging assembly (2) to search, track and range a target; the processing component (4) is used for processing the image information acquired by the photoelectric detection component (1), extracting the target angular position information and controlling the laser ranging component (2) to perform ranging on the target with the acquired angular position information;

when the device has the moving image blur of a photoelectric detector in the scanning and searching process and adopts a rear optical flyback mirror to perform image motion compensation, the photoelectric detection assembly (1) comprises: the device comprises a photoelectric detection optical window (7), a search and tracking switching reflector (9), an optical system (10), an optical flyback mirror (21) and a photoelectric detector (11);

the search tracking switching mirror (9) for reflecting the light waves transmitted through the optical window (7) of the electro-optical detection to the optical system (10), comprising: a mirror and a servo control assembly; the servo control component realizes the switching of the searching and tracking modes of the device by adjusting the reflection angle of the reflector;

the optical flyback mirror (21) is used for compensating the movement of a target image caused by quick search on a photosensitive surface of the photoelectric detector (11) in a search mode of the photoelectric detection assembly (1) through the small-range swing of the optical flyback mirror, so that the photoelectric detector (11) can clearly image in an integration period;

6. The electro-optical three-coordinate search and tracking device according to claim 5, characterized in that the laser ranging assembly (2) is capable of adjusting the laser beam emission and laser echo reception directions in elevation, the laser ranging assembly (2) comprising: the device comprises a laser ranging optical window (8), a pitching reflector (12), a laser transmitter (13) and a laser receiver (14); wherein:

7. Electro-optical three-coordinate search and tracking device according to claim 5, characterized in that the servo mechanism (3) comprises: a pitching assembly (5) and an orientation assembly (6); the pitching assembly (5) is used for bearing the photoelectric detection assembly (1) and the laser ranging assembly (2), driving the photoelectric detection assembly (1) and the laser ranging assembly (2) to track a target in a pitching direction, and determining a pitching angle of the photoelectric detection assembly (1) during searching; the azimuth assembly (6) is used for bearing the pitching assembly (5), driving the photoelectric detection assembly (1) and the laser ranging assembly (2) to search in the azimuth direction, and driving the photoelectric detection assembly (1) and the laser ranging assembly (2) to track a target in the azimuth direction.

8. Optoelectronic three-coordinate search and tracking device according to claim 5, characterized in that the azimuth search angular velocity of the optoelectronic detection assembly (1) is:

v_searching＝(1-η)_{Square block}fr

9. An electro-optical three-coordinate search and tracking device, said device operating in two modes of operation: a search mode and a tracking mode, wherein the apparatus comprises: the device comprises a photoelectric detection assembly (1), a laser ranging assembly (2), a servo mechanism (3) and a processing assembly (4); the photoelectric detection assembly (1) searches or tracks a target by switching to a searching or tracking mode; the laser ranging component (2) is used for adjusting the pitch angle of the pitching reflector (12) according to the target angle position given by the processing component (4), and directing the laser beam to the target angle direction to measure the distance of the target; the photoelectric detection assembly (1) and the laser ranging assembly (2) are installed on the servo mechanism (3) together; the servo mechanism (3) is used for driving the photoelectric detection assembly (1) and the laser ranging assembly (2) to search, track and range a target; the processing component (4) is used for processing the image information acquired by the photoelectric detection component (1), extracting the target angular position information and controlling the laser ranging component (2) to perform ranging on the target with the acquired angular position information;

when the device has the moving image blur of the photoelectric detector in the scanning and searching process, when an electronic motion compensation method is adopted, the photoelectric detection assembly (1) comprises: the device comprises a photoelectric detection optical window (7), a search tracking switching reflector (9), an optical system (10) and a photoelectric detector (11);

the photoelectric detection optical window (7) is a protection window of the photoelectric detection assembly (1), and the light-transmitting wave band of the photoelectric detection optical window (7) is consistent with the working wave band of the photoelectric detection assembly (1); the photoelectric detection optical window (7) and the laser ranging optical window (8) are arranged on the same side;

the search tracking switching mirror (9) for reflecting the light waves transmitted through the optical window (7) of the electro-optical detection to the optical system (10), comprising: a mirror and a servo control assembly; the servo control assembly realizes the switching of the searching and tracking modes of the device by adjusting the reflection angle of the reflector;

the photoelectric detector (11) adopts a CCD camera with a time delay integration function, and solves the problem of image motion blur caused by the device in a search mode through an electronic motion compensation method according to the charge readout technology of the CCD camera;

10. The electro-optical three-coordinate search and tracking device according to claim 9, wherein the laser ranging assembly (2) is capable of adjusting the laser beam emission and laser echo reception directions in elevation, the laser ranging assembly (2) comprising: the device comprises a laser ranging optical window (8), a pitching reflector (12), a laser transmitter (13) and a laser receiver (14); wherein:

11. Electro-optical three-coordinate search and tracking device according to claim 9, characterized in that the servo (3) comprises: a pitching assembly (5) and an orientation assembly (6); the pitching assembly (5) is used for bearing the photoelectric detection assembly (1) and the laser ranging assembly (2), driving the photoelectric detection assembly (1) and the laser ranging assembly (2) to track a target in a pitching direction, and determining a pitching angle of the photoelectric detection assembly (1) during searching; the azimuth assembly (6) is used for bearing the pitching assembly (5), driving the photoelectric detection assembly (1) and the laser ranging assembly (2) to search in the azimuth direction, and driving the photoelectric detection assembly (1) and the laser ranging assembly (2) to track a target in the azimuth direction.

12. Electro-optical three-coordinate search and tracking device according to claim 9, characterized in that the azimuth search angular velocity of the photo-detection assembly (1) is:

v_searching＝(1-η)_{Square block}fr

13. An electro-optical three-coordinate search and tracking method implemented by the apparatus according to one of claims 1 to 4, the method comprising:

step 1) when the normal direction (15) of the reflector of the device is different from the normal direction (16) of the reflector during tracking along the scanning search direction by a deflection angle theta during searching of the tracking switching reflector (9), the device works in a search mode;

step 2), a pitching assembly (5) of the device drives the photoelectric detection assembly (1) and the laser ranging assembly (2) to search a pitching angle beta;

step 3) driving the pitching assembly (5), the photoelectric detection assembly (1) and the laser ranging assembly (2) by the azimuth assembly (6) of the device to rotate in the azimuth direction v_SearchingRotating at a constant speed;

step 4), the photoelectric detection component (1) of the device starts an image motion compensation means or method, imaging detection is carried out at a frame frequency fr, and a detected clear image is sent to the processing component (4) for processing;

step 5), the processing component (4) processes the image and automatically extracts a first target (24) in the image; if a first object (24) is extracted in the ith image, and the composition of the first object (24) relative to the photodetection assembly (1) of the apparatus is determinedThe azimuth angle of the image field center (23) is x_iAnd a pitch angle of y_iMarked as target relative angular position (x)_i,y_i) (ii) a Setting the angular position (alpha) of the imaging field center (23) of the ith image relative to the zero position of the device_iβ), then the angular position of the first target (19) in the image relative to the zero orientation of the device is (α)_i+x_i,β+y_i)；

Step 6) depending on the angular position (alpha) of the first target (24)_i+x_i,β+y_i) Pitch angle y in_iThe laser ranging component (2) searches to a target azimuth angle alpha in rotation with the device_i+x_iIn the process of (2), the pitch direction of the pitch mirror (12) is adjusted to a target pitch angle y_iA laser emission beam direction (19) during searching and a laser receiving direction (20) during searching are enabled to be pointed to the target in a pitching direction; based on the angular position (alpha) of the first target (24)_i+x_i,β+y_i) Azimuth angle α in_i+x_iWhen the laser ranging component (2) is searched, the laser emission beam direction (19) and the laser receiving direction (20) are searched to the target azimuth angle alpha along with the rotation of the device_i+x_iIn the time, the laser distance measuring assembly (2) emits a laser beam (26), so that the laser beam (26) irradiates a first target (24); the laser ranging assembly (2) is constructed by measuring the time t required from firing to returning from the first target (24)_iThereby finding back the target distance R_i：

R_i＝ct_i/2

Wherein c is the electromagnetic wave velocity;

step 7) obtaining the three-dimensional coordinate (alpha) of the first target (24) in the ith image according to the step 5) and the step 6)_i+x_i,β+y_i,R_i)；

Step 8) the device continues from step 4) to step 7) assuming that the three-dimensional coordinates of the second object (25) found in the (i + 3) th image are (α)_i+3+x_i+3,β+y_i+3,R_i+3)；

step 10), the device detects and obtains three-dimensional coordinates of the first target (24) and the second target (25) for more than three times continuously, so that the speed and course target track information of the first target (24) and the second target (25) is obtained, and tracking and threat judgment of the first target (24) and the second target (25) are realized;

and step 11) changing the search pitch angle beta into another search pitch angle beta 'through the processing assembly (4), and then the device repeats the steps 3) to 10) along the new search pitch angle beta' to perform all-around search.

14. Electro-optical three-coordinate search and tracking method according to claim 13, characterized in that the azimuth search angular velocity v of the photo detection assembly (1)_SearchingComprises the following steps:

v_searching＝(1-η)_{Square block}fr

15. An electro-optical three-coordinate search and tracking method implemented by the apparatus according to any one of claims 5 to 8, the method comprising:

step 5), the processing component (4) processes the image and automatically extracts a first target (24) in the image; if a first object (24) is extracted from the ith image, and the azimuth angle x of the first object (24) relative to the imaging field center (23) of the photoelectric detection assembly (1) of the device is determined_iAnd a pitch angle of y_iMarked as target relative angular position (x)_i,y_i) (ii) a Setting the angular position (alpha) of the imaging field center (23) of the ith image relative to the zero position of the device_iβ), then the angular position of the first target (19) in the image relative to the zero orientation of the device is (α)_i+x_i,β+y_i)；

R_i＝ct_i/2

Wherein c is the electromagnetic wave velocity;

16. Optoelectronic three-coordinate search and tracking method according to claim 15, characterized in that the azimuth search angular velocity v of the optoelectronic detection assembly (1)_SearchingComprises the following steps:

v_searching＝(1-η)_{Square block}fr

17. An electro-optical three-coordinate search and tracking method implemented by the apparatus according to one of claims 9 to 12, the method comprising:

step 5), the processing component (4) processes the image and automatically extracts a first target (24) in the image; if a first object (24) is extracted from the ith image, and the azimuth angle x of the first object (24) relative to the imaging field center (23) of the photoelectric detection assembly (1) of the device is determined_iAnd a pitch angle of y_iMarked as target relative angular position (x)_i,y_i) (ii) a Setting the angular position (alpha) of the imaging field center (23) of the ith image relative to the zero position of the device_iβ), then the angular position of the first target (24) in the image relative to the zero orientation of the device is (α)_i+x_i,β+y_i)；

R_i＝ct_i/2

Wherein c is the electromagnetic wave velocity;

18. Optoelectronic three-coordinate search and tracking method according to claim 17, characterized in that the azimuth search angular velocity v of the optoelectronic detection assembly (1)_SearchingComprises the following steps:

v_searching＝(1-η)_{Square block}fr