| CPC F41H 13/0062 (2013.01) [B60R 16/033 (2013.01); G05D 1/242 (2024.01); G05D 1/243 (2024.01); G05D 1/622 (2024.01); G05D 1/689 (2024.01); G06T 7/73 (2017.01); G06V 10/30 (2022.01); G06V 10/72 (2022.01); G06V 20/58 (2022.01); H04N 23/695 (2023.01); B62D 63/02 (2013.01); G05D 2105/35 (2024.01); G06T 2207/30261 (2013.01); G06V 2201/07 (2022.01)] | 1 Claim |
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1. A mobile laser denial defense system, comprising: a mobile base vehicle, a pan/tilt head, a camera, an image processing device, a laser host, a laser, a cooling system, a control device, an automatic cruise and obstacle avoidance system, a power supply system, and a communication module; wherein
a mobile base on the mobile base vehicle is configured to bear the pan/tilt head, the camera, the laser host, the laser, the cooling system, the control device and the automatic cruise and obstacle avoidance system, wherein the mobile base vehicle is provided with omnidirectional wheels or tracks, the mobile base is arranged on the mobile base vehicle, the mobile base vehicle supports the mobile base to move and steer in a plurality of directions, and the laser host is arranged on the mobile base;
the pan/tilt head is mounted on the mobile base and configured to mount the camera and the laser, wherein the pan/tilt head is provided with a laser source, a first hole position and a second hole position, the camera is mounted on the first hole position, and the laser is connected to a laser source by a first telescopic optical fiber and is mounted on the second hole position of the pan/tilt head;
the camera is in communication connection with the image processing device and the control device, and is configured to perform real-time monitoring and target identification and transmit captured image data to the image processing device for image detection; and the image processing device transmits detected image data to the control device for processing;
the laser is fixed on the pan/tilt head and is connected to the laser host by a second telescopic optical fiber, and the laser is in communication connection with the control device;
the cooling system is connected to the laser and configured to dissipate heat from the laser, wherein the cooling system is connected to the laser by a coolant pipeline, and coolant in the coolant pipeline circulates between the laser and the cooling system;
the control device is connected to the camera and the laser, processes image data transmitted by the camera in real time, identifies a target and controls the laser to perform laser strikes, and the control device is also connected to the cooling system to monitor a temperature state of the cooling system in real time;
the automatic cruise and obstacle avoidance system is integrated in the mobile base, detects a surrounding environment by a sensor, and transmits data to the control device to adjust a traveling route so as to achieve automatic cruise and obstacle avoidance;
the power supply system provides power for components by a power line, and the communication module is connected to the components by a bus or in a wireless communication mode to achieve real-time transmission and remote control of information;
wherein the control device is configured to:
initialize the power supply system, the pan/tilt head, the camera, a lidar, the cooling system, and the automatic cruise and obstacle avoidance system;
send a state query instruction to the components by the communication module, detect whether the power supply system is normal, detect whether the automatic cruise and obstacle avoidance system provides data, detect whether states of the pan/tilt head, the camera and the laser are normal, and detect whether operation of the cooling system is normal; and
send a cruise instruction to the automatic cruise and obstacle avoidance system in response to determining that the automatic cruise and obstacle avoidance system is normal;
wherein the camera is configured to:
acquire image data in real time, and transmit the image data to the image processing device;
wherein the image processing device is configured to:
perform denoising, graying and normalization on the image data to obtain processed image data; and
perform target detection and identification on the processed image data by using a pre-trained target detection model to obtain a target identification result, and send the target identification result to the control device;
wherein the control device is further configured to:
receive the target identification result sent by the image processing device, judge whether the target identification result represents a threat object in a blacklist according to the target identification result;
when the target identification result represents the threat object in the blacklist, control the laser to perform laser strikes;
when the target identification result represents a whitelist object, continue to instruct the automatic cruise and obstacle avoidance system to cruise; and
when the target identification result is not judged, control an associated alarm device to send a warning signal and record the target identification result;
wherein the control device is further configured to:
calculate coordinates and a distance of a center point of the target according to target position information comprised in the target identification result;
determine an actual distance and a relative position of the target by parameters of focal length and field of view of the camera;
send rotation and pitching adjustment instructions to the pan/tilt head to align a laser transmitter head with the center of the target; and
adjust an output power of the laser according to the actual distance, and send a striking instruction to the laser.
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