Self-adaptive laser bird repelling device and control system

Abstract

The invention discloses a self-adaptive laser bird repelling device and a control system, and relates to the technical field of laser bird repelling device control, and the self-adaptive laser bird repelling device comprises an information analysis module, a laser emission angle analysis module, a motion trail generation module and a laser bird repelling device control module; the information analysis module is used for analyzing the flight speed of the target object and analyzing the light receiving inclination angle of the photovoltaic power generation mechanism according to the exposure of the collected image; the laser emission angle analysis module is used for analyzing the laser emission angle of the laser double-holder at the next moment; and the motion trail analysis module is used for analyzing the optimal motion trail of the laser double-holder. According to the invention, while the irradiation range of the laser double-holder is expanded, the transfer efficiency of the laser double-holder can be improved, and the motion trail of the laser double-holder can be adaptively adjusted according to the motion condition of the target object.

Description

Technical Field

[0001] The present invention relates to the technical field of laser bird repellent device control, and specifically to an adaptive laser bird repellent device and control system. Background Art

[0002] In recent years, with the improvement of the ecological environment and the enhancement of the awareness of protecting birds, the number of birds has been increasing. Excessive birds will pose a threat to the normal operation of outdoor power transformation equipment. At the same time, the feces produced by birds have certain electrical conductivity and corrosiveness, which will cause tripping and line burning, resulting in large losses.

[0003] In the prior art, the green laser emitted by the device is used to drive away birds. The existing devices only make technical improvements in the irradiation range of the laser, and cannot adaptively control the movement trajectory of the laser emission device according to the flight state of the birds. For birds with too high flight speed or too high flight density, the effect of the laser bird repellent device will be greatly reduced. At the same time, the existing laser bird repellent device cannot quickly lock the target birds nearby, which may cause the birds to come into contact with dangerous objects due to stress reaction before flying to the dangerous objects. Summary of the Invention

[0004] The purpose of the present invention is to provide an adaptive laser bird repellent device and control system to solve the problems proposed in the prior art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: An adaptive laser bird repellent device, the laser bird repellent device includes a base, a photovoltaic power generation mechanism, a control terminal, an angle adjustment mechanism, a laser double gimbal and a monitoring mechanism. A support column is fixedly installed on the base. The lower half of the support column has threads. The photovoltaic power generation mechanism, the control terminal and the angle adjustment mechanism are fixedly installed on the support column in sequence from bottom to top. The laser double gimbal and the monitoring mechanism are fixedly installed on the angle adjustment mechanism. The angle adjustment mechanism and the monitoring mechanism are respectively electrically connected to the control terminal.

[0006] Further, the photovoltaic power generation mechanism includes a threaded drive rotating member, a first fixing member, a first drive plate, a second fixing member, a second drive plate, a photovoltaic fixing plate, and a photovoltaic power generation plate. The threaded drive rotating member is threadedly installed on the external thread of the support column. The first fixing members are annularly distributed on the outer wall of the threaded drive rotating member. The first drive plate is rotatably installed on the first fixing member. The other end of the first drive plate is rotatably installed at one end of the photovoltaic fixing plate. The second fixing members are annularly distributed on the outer wall of the support column. The second drive plate is rotatably installed on the second fixing member. The other end of the second drive plate is rotatably installed at the other end of the photovoltaic fixing plate. The photovoltaic power generation plate is fixedly installed on the photovoltaic fixing plate. By using the first drive plate and the second drive plate with different lengths, when the threaded drive rotating member moves, the light-receiving angle of the photovoltaic fixing plate can be adjusted, ensuring that the photovoltaic power generation plate can utilize light energy for power generation to the maximum extent, which is beneficial to ensuring the normal operation of the laser bird repellent device.

[0007] Further, the angle adjustment mechanism includes a support frame, a first drive motor, a drive rod, a second drive motor, a rotating motion member, a moving block, an angle control element, and a connecting rod. The support frame is fixedly installed on the outer side wall of the support rod, and the support frame is located between the first drive motor and the control terminal. The top of the support frame is rotatably installed with an angle control element through a fixing rod. The first drive motor is fixedly installed on the top of the support rod. The output end of the first drive motor is fixedly installed with a drive rod. A second drive motor is fixedly installed on the side of the drive rod away from the first drive motor. The output end of the second drive motor is fixedly installed with a rotating motion member. A moving block is fixedly installed on the side of the rotating motion member away from the second drive motor. The moving block is embedded in the groove inner cavity of the angle control element. A connecting rod is fixedly installed on the right side of the angle control element. The other end of the connecting rod is fixedly installed with a laser double gimbal. The first drive motor and the drive rod drive the laser double gimbal to perform a circular motion. The second drive motor, the rotating motion member, the moving block, and the angle control element drive the laser double gimbal to move up and down, expanding the working range of the laser double gimbal and effectively preventing the target object from moving into the dangerous range.

[0008] An adaptive laser bird repellent control system, the system includes an information analysis module, a laser emission angle analysis module, a motion trajectory generation module, and a laser bird repellent device control module;

[0009] The information analysis module identifies the target object in the image information collected by the monitoring mechanism, analyzes the flight speed of the target object according to the motion trajectory of the target object, and analyzes the light-receiving inclination angle of the photovoltaic power generation mechanism according to the exposure amount of the collected image and the shooting angle of the monitoring mechanism;

[0010] The laser emission angle analysis module calculates the real-time danger index of each target object to each dangerous object according to the flight speed of the target object and the positional relationship of the target object relative to the dangerous object, and analyzes the laser emission angle of the double-laser cloud platform at the next moment according to the calculation result;

[0011] The motion trajectory analysis module analyzes the optimal motion trajectory of the double-laser cloud platform according to the set motion trajectory of the double-laser cloud platform and the laser emission angle of the double-laser cloud platform at the next moment analyzed by the laser emission angle analysis module;

[0012] The laser bird repellent device control module controls the motion states of the threaded drive rotating member, the first drive motor, and the second drive motor by mobilizing the control terminal according to the optimal motion trajectory of the double-laser cloud platform.

[0013] Further, the information analysis module includes a target object recognition unit, a flight speed analysis unit, and a light-receiving tilt angle analysis unit;

[0014] The target object recognition unit extracts the recognizable entities in the images collected by the monitoring mechanism, and performs feature matching on the extracted recognizable entities with the entity objects stored in the recognizable entity database. If the matching is successful, the extracted recognizable entity is used as the target object. If the matching is unsuccessful, the extracted recognizable entity is not used as the target object;

[0015] The flight speed analysis unit obtains the images with target objects captured by the monitoring mechanism, obtains the motion trajectory of the target object, and calculates the real-time flight speed of the target object using the distance-speed-time formula;

[0016] The light-receiving tilt angle analysis unit obtains the images captured by the monitoring mechanism at each shooting angle, collects the exposure amount and exposure time displayed on the monitor of the monitoring mechanism when the monitoring mechanism captures each image, numbers the obtained captured images, and the numbering result is: i = 1, 2,..., n; n represents the total number of captured images obtained by the light-receiving tilt angle analysis unit. Calculate the product Ri between the exposure amount corresponding to the image numbered i and the square of the distance value between the laser bird repellent device and the solar light source, calculate the ratio Wi between Ri and the exposure time corresponding to the image numbered i captured by the monitoring mechanism, and obtain the light intensity value Ei received by the monitoring mechanism when capturing the image numbered i. Denote the image number corresponding to the maximum calculated light intensity value as j, and use the shooting angle corresponding to the image numbered j captured by the monitoring mechanism as the light-receiving tilt angle hj of the photovoltaic power generation mechanism, where j = 1, 2,..., n and j ≠ i.

[0017] Further, the laser emission angle analysis module includes a hazard analysis unit and a laser emission angle analysis unit;

[0018] The danger analysis unit extracts the dangerous entities in the images taken by the monitoring mechanism, performs feature matching between the extracted dangerous entities and the dangerous objects stored in the dangerous entity database, and if the match is successful, the extracted dangerous entity is used as the target dangerous object; if the match is unsuccessful, the extracted dangerous entity is not used as the target dangerous entity, and a point is randomly selected in the three-dimensional space as the coordinate origin to construct a three-dimensional space coordinate system, and according to the real-time position coordinates of each target dangerous object and each target object in the three-dimensional space coordinate system, the real-time minimum distance value of each target object from each target dangerous object is calculated using the space distance formula, and a real-time minimum distance value is randomly selected, and the target object corresponding to the selected minimum distance value is recorded as the target object U, and the target dangerous object corresponding to the selected minimum distance value is recorded as the target dangerous object J, and the ratio S between the selected minimum distance value and the real-time flight speed of the target object U is calculated, and the ratio between S and the time required for the first driving motor to drive the driving rod to move one circle is used as the real-time danger index of the target object U to the target dangerous object J, and the calculated real-time minimum distance values are traversed, and the target object corresponding to the calculated real-time danger index maximum value is recorded as the selected target object, and the target dangerous object corresponding to the calculated real-time danger index maximum value is recorded as the selected target dangerous object;

[0019] The laser emission angle analysis unit analyzes the laser emission angle of the laser dual pan-tilt platform at the next moment according to the real-time risk coefficient of the selected target object to the selected target dangerous object.

[0020] Furthermore, the specific method for the laser emission angle analysis unit to analyze the laser emission angle of the laser dual pan-tilt platform at the next moment is:

[0021] S1: Obtain the position coordinates of the center of the selected target object and the center of the laser dual gimbal in the three-dimensional space coordinate system, and use the two-point vector formula to obtain the vector A between the center of the selected target object and the center of the laser beam emitted by the laser dual gimbal in real time, as well as the direction vector B of the center line of the laser beam emitted by the laser dual gimbal in real time. According to the vector angle formula, the angle β between vector A and vector B is calculated. AB Perform calculations;

[0022] S2: According to the method in S1, the angle β′ calculated at the last moment for the selected target object AB Calculate the modulus a of vector A and the angle β AB The product of the tangent values of a*tanβ AB Calculate the modulus c and the angle β′ of the vector between the center of the selected target object and the center of the laser beam emitted by the laser dual pan-tilt platform 5 at the last momentAB The product of the tangent values c * tanβ′ AB is calculated;

[0023] S3: For a * tanβ AB and c * tanβ′ AB Calculate the ratio between them to obtain the real-time longitudinal motion change rate g of the laser double gimbal (5) AB , for β AB - β′ AB and β′ AB Calculate the ratio f AB between them to obtain the real-time lateral motion change rate of the laser double gimbal (5). The laser emission angle of the laser double gimbal (5) at the next moment is β AB *(1 + f AB ), and the longitudinal motion distance of the laser double gimbal (5) at the next moment is a * tanβ AB * g AB .

[0024] Furthermore, the motion trajectory analysis module includes a trajectory comparison unit and an optimal motion trajectory analysis unit;

[0025] The trajectory comparison unit obtains the set motion trajectory of the laser double gimbal and the laser emission angle of the laser double gimbal at the next moment. In a three-dimensional space coordinate system, use a smooth curve to draw the motion trajectory of the laser double gimbal from the real-time stop position to the position of the laser emission angle at the next moment, and compare the drawn motion trajectory with the set motion trajectory. In the three-dimensional space coordinate system, regard the set motion trajectory with non-coincident motion trajectories as an abnormal motion trajectory, and regard the drawn motion trajectory with non-coincident motion trajectories as a motion trajectory to be adjusted;

[0026] The optimal motion trajectory analysis unit analyzes the deviation degree between the abnormal motion trajectory and the motion trajectory to be adjusted, and based on the analysis result, analyzes the optimal motion trajectory of the laser double gimbal.

[0027] Furthermore, the specific method for the optimal motion trajectory analysis unit to analyze the optimal motion trajectory of the laser double gimbal is as follows:

[0028] Obtain the lateral movement speed V1 and the longitudinal movement speed V2 of the laser double pan-tilt. According to the movement direction of the set movement trajectory, take the first intersection point of the abnormal movement trajectory and the movement trajectory to be adjusted as the endpoint F. Calculate the product G between the square of d*V1 and the square of d*V2, and perform a square root operation on the product G to obtain the movement distance value L of the laser double pan-tilt within time d. Starting from the endpoint F, intercept a trajectory line P1 with a length of L on the movement trajectory to be adjusted, and obtain the position coordinates C1 of the end point of the trajectory line P1 in the three-dimensional space coordinate system. Starting from the endpoint F, intercept a trajectory line P2 with a length of L on the abnormal movement trajectory, and obtain the position coordinates C2 of the end point of the trajectory line P2 in the three-dimensional space coordinate system;

[0029] According to historical experience data, when the laser double pan-tilt moves to the position coordinates C2, obtain the position coordinates C3 of the center of the laser beam emitted by the laser double pan-tilt in the three-dimensional space coordinate system. According to the execution method of S1, for the vector and the vector calculate the included angle γ between them, and take the included angle γ as the lateral deviation value between point C1 and point C2. According to the execution direction of S2, take the product η between the modulus length of the vector and the tangent value of the included angle γ as the longitudinal deviation value between point C1 and point C2. According to r1*(1 - e γ ) + r2*(1 - e η ) calculate the deviation degree P t+d of the abnormal movement trajectory and the movement trajectory to be adjusted at time t + d, where r1 and r2 both represent proportionality coefficients and r1 + r2 = 1, t represents the time value corresponding to when the laser double pan-tilt moves to the endpoint F according to the set movement trajectory, and e represents a constant and 0 < e < 1;

[0030] If 0.3 < P t+d ≤ 1, then adjust the movement trajectory of the laser double pan-tilt according to r1*(1 - e γ ) and r2*(1 - e η ). The specific adjustment method is as follows: when r1*(1 - e γ ) > r2*(1 - e η ), first adjust the lateral movement trajectory of the laser double pan-tilt, and at time t + {[r1*(1 - e γ )] / [r2*(1 - e η )]}*d, adjust the longitudinal movement trajectory of the laser double pan-tilt. When r1*(1 - e γ ) < r2*(1 - e η ), first adjust the longitudinal movement trajectory of the laser double pan-tilt, and at time t + {[r2*(1 - e η )] / [r1*(1 - eγ )]} At time d, adjust the lateral movement trajectory of the laser double gimbal; this can avoid the influence of the force generated when the second drive motor drives the connecting rod on the rotation effect of the first drive motor, ensuring that while expanding the irradiation range of the laser double gimbal, the mobilization efficiency of the laser double gimbal can also be improved;

[0031] When 0 ≤ P ≤ 0.3, adjust both the lateral movement trajectory and the longitudinal movement trajectory of the laser double gimbal simultaneously;

[0032] The optimal movement trajectory of the laser double gimbal is jointly composed of the overlapping part of the drawn movement trajectory and the set movement trajectory, as well as the adjusted movement trajectory.

[0033] Further, the laser bird repellent device control module includes a photovoltaic control unit, a first drive motor control unit, and a second drive motor control unit;

[0034] The photovoltaic control unit adjusts the tilt angle of the photovoltaic power generation panel to (π / 2) - hj by mobilizing the control terminal to control the up and down movement of the threaded drive rotating part according to the light-receiving tilt angle of the photovoltaic power generation mechanism analyzed by the light-receiving tilt angle analysis unit;

[0035] The first drive motor control unit mobilizes the control terminal to control the movement of the first drive motor at the corresponding adjustment time according to the adjustment result of the lateral movement trajectory of the laser double gimbal;

[0036] The second drive motor control unit mobilizes the control terminal to control the movement of the second drive motor at the corresponding adjustment time according to the adjustment result of the longitudinal movement trajectory of the laser double gimbal.

[0037] Compared with the prior art, the beneficial effects of the present invention are:

[0038] 1. By setting the first drive plate and the second drive plate with different lengths, the present invention adjusts the light-receiving angle of the photovoltaic power generation panel, and determines the optimal light-receiving angle of the photovoltaic power generation panel through the captured images collected by the monitoring mechanism 6, ensuring that the photovoltaic power generation panel can utilize solar energy for power generation to the maximum extent, which is beneficial to ensuring the normal operation of the laser bird repellent device.

[0039] 2. By setting the first drive motor and the drive rod to drive the laser double gimbal to make a circular motion, and setting the second drive motor, the rotating part, the moving block, and the angle control element to drive the laser double gimbal to move up and down, the present invention expands the action range of the laser double gimbal.

[0040] 3. The present invention simulates the target object and the target dangerous object in a three-dimensional space coordinate system, analyzes the danger index of each target object to each target dangerous object according to the positional relationship between the target object and the target dangerous object, and predicts the laser emission angle of the double-laser cloud platform at the next moment based on the analysis result, which is beneficial to ensuring that when the bird flight density is too high, the laser bird repellent device can quickly lock the most dangerous target object. Based on the prediction result, the best movement trajectory of the double-laser cloud platform is automatically generated according to the deviation of the abnormal movement trajectory and the movement trajectory to be adjusted in the horizontal and vertical directions, ensuring that the movement trajectory of the double-laser cloud platform can be adaptively adjusted according to the movement of the target object.

[0041] 4. The present invention adjusts the horizontal movement and vertical movement of the double-laser cloud platform separately, which can avoid the influence of the force generated when the second driving motor drives the connecting rod on the rotation effect of the first driving motor, ensuring that while expanding the irradiation range of the double-laser cloud platform, the mobilization efficiency of the double-laser cloud platform can also be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is the front view of an adaptive laser bird repellent device of the present invention;

[0043] Figure 2 is the schematic diagram of the angle control element of an adaptive laser bird repellent device of the present invention;

[0044] Figure 3 is the top view of an adaptive laser bird repellent device of the present invention;

[0045] Figure 4 is the schematic diagram of the angle adjustment mechanism of an adaptive laser bird repellent device of the present invention;

[0046] Figure 5 is the schematic diagram of the working principle structure of an adaptive laser bird repellent control system of the present invention.

[0047] In the figure: 1, base; 2, photovoltaic power generation mechanism; 21, threaded drive rotating part; 22, first fixing part; 23, first driving plate; 24, second fixing part; 25, second driving plate; 26, photovoltaic fixing plate; 27, photovoltaic power generation panel; 3, control terminal; 4, angle adjustment mechanism; 41, support frame; 42, first driving motor; 43, driving rod; 44, second driving motor; 45, rotating moving part; 46, moving block; 47, angle control element; 48, connecting rod; 5, double-laser cloud platform; 6, monitoring mechanism. DETAILED DESCRIPTION OF THE INVENTION

[0048] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0049] As Figures 1 - 5 shown, the present invention provides a technical solution for an adaptive laser bird repellent device and a control system. An adaptive laser bird repellent device includes a base 1, a photovoltaic power generation mechanism 2, a control terminal 3, an angle adjustment mechanism 4, a laser dual pan-tilt 5 and a monitoring mechanism 6. A support column is fixedly installed on the base 1. The lower half of the support column is provided with threads. The base 1 is used to install the support column. The photovoltaic power generation mechanism 2, the control terminal 3 and the angle adjustment mechanism 4 are fixedly installed on the support column in sequence from bottom to top. The photovoltaic power generation mechanism 2 is used to supply power to the control terminal 3, the angle adjustment mechanism 4 and the monitoring mechanism 6. The control terminal 3 is used to control the angle adjustment mechanism 4 to adjust the laser emission position of the laser dual pan-tilt 5 according to the monitoring information transmitted by the monitoring mechanism 6. The control terminal 3 is also used to control the threaded drive rotating member 21 to adjust the light-receiving inclination angle of the photovoltaic panel 27 according to the image information transmitted by the monitoring mechanism 6. The angle adjustment mechanism 4 is used to adjust the laser emission position of the laser dual pan-tilt 5. The laser dual pan-tilt 5 and the monitoring mechanism 6 are fixedly installed on the angle adjustment mechanism 4. The laser dual pan-tilt 5 is used to alternately emit green laser and red laser with a wavelength of 532 nm and a power of 500 mw. Birds are most sensitive to the laser beam of 532 nm. By alternately emitting red laser and green laser, the adaptation degree of the target object to the laser beam can be reduced. The monitoring mechanism 6 is an omnidirectional monitoring camera, which is used to quickly identify the target object. The angle adjustment mechanism 4 and the monitoring mechanism 6 are respectively electrically connected to the control terminal 3;

[0050] The photovoltaic power generation mechanism 2 includes a threaded drive rotating member 21, a first fixing member 22, a first drive plate 23, a second fixing member 24, a second drive plate 25, a photovoltaic fixing plate 26, and a photovoltaic power generation panel 27. The threaded drive rotating member 21 is threadedly installed on the external thread of the support column. The threaded drive rotating member 21 is used to drive the first drive plate 23 and the second drive plate 25 to adjust the light-receiving angle of the photovoltaic power generation panel 27, which is beneficial to ensuring the normal operation of the laser bird repellent device. The first fixing members 22 are annularly distributed on the outer wall of the threaded drive rotating member 21. The first fixing members 22 are used to install the first drive plate 23. The first drive plate 23 is rotatably installed on the first fixing members 22. The other end of the first drive plate 23 is rotatably installed at one end of the photovoltaic fixing plate 26. The first drive plate 23 is used to cooperate with the second drive plate 25 to adjust the inclination angle of the photovoltaic fixing plate 26. The second fixing members 24 are annularly distributed on the outer wall of the support column. The second fixing members 24 are used to install the second drive plate 25. The second drive plate 25 is rotatably installed on the second fixing members 24. The other end of the second drive plate 25 is rotatably installed at the other end of the photovoltaic fixing plate 26. The photovoltaic fixing plate 26 is used to fixedly install the photovoltaic power generation panel 27. The photovoltaic power generation panel 27 is fixedly installed on the photovoltaic fixing plate 26. The length of the first drive plate 23 is greater than the length of the second drive plate 25;

[0051] The angle adjustment mechanism 4 includes a support frame 41, a first drive motor 42, a drive rod 43, a second drive motor 44, a rotary moving member 45, a moving block 46, an angle control element 47, and a connecting rod 48. The support frame 41 is fixedly installed on the outer side wall of the support rod, and the support frame 41 is located between the first drive motor 42 and the control terminal 3. The top of the support frame 41 is rotatably installed with the angle control element 47 through a fixing rod. The support frame 41 is used to install the angle control element 47. The first drive motor 42 is fixedly installed on the top of the support rod. The first drive motor 42 is used to drive the drive rod 43 to perform a circular motion. The output end of the first drive motor 42 is fixedly installed with the drive rod 43. The drive rod 43 is used to drive the rotary moving member 45 to perform a circular motion. A second drive motor 44 is fixedly installed on the side of the drive rod 43 away from the first drive motor 42. The second drive motor 44 is used to drive the rotary moving member 45 to move. The output end of the second drive motor 44 is fixedly installed with the rotary moving member 45. The rotary moving member 45 is used to cooperate with the moving block 46 and the angle control element 47 to drive the laser double pan-tilt 5 to move up and down. The moving block 46 is fixedly installed on the side of the rotary moving member 45 away from the second drive motor 44. The moving block 46 is embedded in the groove cavity of the angle control element 47. The connecting rod 48 is fixedly installed on the right side of the angle control element 47. The connecting rod 48 is used to install the laser double pan-tilt 5. The other end of the connecting rod 48 is fixedly installed with the laser double pan-tilt 5.

[0052] An adaptive laser bird repelling control system, characterized in that: the system includes an information analysis module, a laser emission angle analysis module, a motion trajectory generation module and a laser bird repelling device control module;

[0053] The information analysis module identifies the target object in the image information collected by the monitoring mechanism 6, analyzes the flight speed of the target object according to the motion trajectory of the target object, and analyzes the light receiving tilt angle of the photovoltaic power generation mechanism 2 according to the exposure amount of the collected image and the shooting angle of the monitoring mechanism 6;

[0054] The information analysis module includes a target object recognition unit, a flight speed analysis unit and a light receiving tilt angle analysis unit;

[0055] The target object recognition unit extracts the recognizable entities in the image collected by the monitoring mechanism 6. The recognizable entities refer to bird animals. The extracted recognizable entities are subjected to feature matching with the entity objects stored in the recognizable entity database. If the matching is successful, the extracted recognizable entity is used as the target object. If the matching is unsuccessful, the extracted recognizable entity is not used as the target object. The method of image feature matching belongs to the prior art. The image feature matching method in the prior art is realized through three steps: feature extraction, feature description and feature matching;

[0056] The flight speed analysis unit obtains the images with the target object taken by the monitoring mechanism 6, obtains the motion trajectory of the target object, and calculates the real-time flight speed of the target object by using the distance-speed-time formula;

[0057] The light receiving tilt angle analysis unit obtains the images taken by the monitoring mechanism 6 at various shooting angles, and collects the exposure amount and exposure time displayed on the monitor of the monitoring mechanism 6 when the monitoring mechanism 6 takes each image. The obtained images taken at each shooting are numbered, and the numbering result is: i = 1, 2,..., n; n represents the total number of images taken by the light receiving tilt angle analysis unit. Calculate the product Ri between the exposure amount corresponding to the image numbered i and the square of the distance value of the laser bird repelling device from the sun light source, and calculate the ratio Wi between Ri and the exposure time corresponding to the image numbered i taken by the monitoring mechanism 6 to obtain the light intensity value Ei received by the monitoring mechanism 6 when taking the image numbered i. Record the image number corresponding to the maximum calculated light intensity value as j, and use the shooting angle corresponding to the image numbered j taken by the monitoring mechanism 6 as the light receiving tilt angle hj of the photovoltaic power generation mechanism 2, where j = 1, 2,..., n and j ≠ i. The shooting angle of the monitoring mechanism 6 refers to the angle between the line connecting the center of the monitoring mechanism 6 and the center of the photographed object and the plane where the monitoring mechanism 6 is located. The plane where the monitoring mechanism 6 is located is parallel to the plane where the base 1 is located;

[0058] The laser emission angle analysis module calculates the real-time danger index of each target object relative to each dangerous object based on the flight speed of the target object and the positional relationship between the target object and the dangerous object, and analyzes the laser emission angle of the double-laser pan-tilt 5 at the next moment according to the calculation result;

[0059] The laser emission angle analysis module includes a danger analysis unit and a laser emission angle analysis unit;

[0060] The danger analysis unit extracts dangerous entities in the images captured by the monitoring mechanism 6. The dangerous entities refer to power equipment. The extracted dangerous entities are matched with the dangerous objects stored in the dangerous entity database in terms of features. If the match is successful, the extracted dangerous entity is used as the target dangerous object. If the match is unsuccessful, the extracted dangerous entity is not used as the target dangerous entity. An arbitrary point in the three-dimensional space is selected as the coordinate origin to construct a three-dimensional space coordinate system. According to the real-time position coordinates of each target dangerous object and each target object in the three-dimensional space coordinate system, the spatial distance formula is used to calculate the real-time minimum distance value of each target object from each target dangerous object. A real-time minimum distance value is randomly selected. Denote the target object corresponding to the selected minimum distance value as target object U, and the target dangerous object corresponding to the selected minimum distance value as target dangerous object J. Calculate the ratio S of the selected minimum distance value to the real-time flight speed of target object U. Take the ratio of S to the time required for the first driving motor 42 to drive the driving rod 43 to make one revolution as the real-time danger index of target object U relative to target dangerous object J. Traverse the calculated real-time minimum distance values. Denote the target object corresponding to the maximum calculated real-time danger index as the selected target object, and the target dangerous object corresponding to the maximum calculated real-time danger index as the selected target dangerous object;

[0061] The laser emission angle analysis unit analyzes the laser emission angle of the double-laser pan-tilt 5 at the next moment according to the real-time danger coefficient of the selected target object relative to the selected target dangerous object. The specific method is as follows:

[0062] S1: Obtain the position coordinates of the center of the selected target object and the center of the double-laser pan-tilt 5 in the three-dimensional space coordinate system. Use the two-point vector formula to obtain the vector A between the center of the selected target object and the center of the laser beam emitted by the double-laser pan-tilt 5 in real time. The direction of vector A is from the center of the laser beam emitted by the double-laser pan-tilt 5 in real time to the center of the selected target object, and obtain the direction vector B of the center line of the laser beam emitted by the double-laser pan-tilt 5 in real time. According to the vector included angle formula, calculate the included angle β AB between vector A and vector B;

[0063] S2: Calculate the included angle β′ AB calculated for the selected target object at the previous moment according to the method in S1, where β′AB Denote the angle between the vector representing the center of the selected target object and the center of the laser beam emitted by the dual-laser pan-tilt 5 at the previous moment, and the direction vector of the center line of the laser beam emitted by the dual-laser pan-tilt 5 at the previous moment. For the magnitude a of vector A and the angle β AB calculate the product a * tanβ of the tangent value of AB For the magnitude c of the vector between the center of the selected target object and the center of the laser beam emitted by the dual-laser pan-tilt 5 at the previous moment and the angle β′ AB calculate the product c * tanβ′ of the tangent value of AB perform the calculation;

[0064] S3: Calculate the ratio between a * tanβ AB and c * tanβ′ AB to obtain the real-time longitudinal motion change rate g of the dual-laser pan-tilt (5). AB For β AB - β′ AB and β′ AB calculate the ratio f AB to obtain the real-time lateral motion change rate of the dual-laser pan-tilt 5. The laser emission angle of the dual-laser pan-tilt (5) at the next moment is β AB *(1 + f AB ), and the longitudinal motion distance of the dual-laser pan-tilt (5) at the next moment is a * tanβ AB * g AB ;

[0065] The motion trajectory analysis module analyzes the optimal motion trajectory of the dual-laser pan-tilt 5 based on the set motion trajectory of the dual-laser pan-tilt 5 and the laser emission angle of the dual-laser pan-tilt 5 at the next moment analyzed by the laser emission angle analysis module;

[0066] The motion trajectory analysis module includes a trajectory comparison unit and an optimal motion trajectory analysis unit;

[0067] The trajectory comparison unit obtains the set motion trajectory of the dual-laser pan-tilt 5 and the laser emission angle of the dual-laser pan-tilt 5 at the next moment. In the three-dimensional space coordinate system, use a smooth curve to draw the motion trajectory of the dual-laser pan-tilt 5 from the real-time stop position to the position where the laser emission angle is located at the next moment, and compare the drawn motion trajectory with the set motion trajectory. In the three-dimensional space coordinate system, regard the set motion trajectory with non-coincident motion trajectories as an abnormal motion trajectory, and regard the drawn motion trajectory with non-coincident motion trajectories as a motion trajectory to be adjusted;

[0068] The best motion trajectory analysis unit analyzes the deviation degree between the abnormal motion trajectory and the motion trajectory to be adjusted. Based on the analysis results, it analyzes the best motion trajectory of the double-laser pan-tilt 5. The specific method is as follows:

[0069] Obtain the horizontal motion speed V1 and vertical motion speed V2 of the double-laser pan-tilt 5. The horizontal motion speed refers to the distance value that the driving rod 43 moves within a unit time, and the vertical motion speed refers to the distance value that the connecting rod 48 moves within a unit time. According to the motion direction of the set motion trajectory, take the first intersection point of the abnormal motion trajectory and the motion trajectory to be adjusted as the end point F, calculate the product G between the square of d*V1 and the square of d*V2, perform a square root operation on the product G to obtain the motion distance value L of the double-laser pan-tilt 5 within time d. Starting from the end point F, intercept a trajectory line P1 with a length of L on the motion trajectory to be adjusted, and obtain the position coordinates C1 of the end point of the trajectory line P1 in the three-dimensional space coordinate system. Starting from the end point F, intercept a trajectory line P2 with a length of L on the abnormal motion trajectory, and obtain the position coordinates C2 of the end point of the trajectory line P2 in the three-dimensional space coordinate system;

[0070] According to the historical experience data, when the double-laser pan-tilt 5 moves to the position coordinates C2, obtain the position coordinates C3 of the center of the laser beam emitted by the double-laser pan-tilt 5 in the three-dimensional space coordinate system. According to the execution method of S1, for the vector and the vector calculate the included angle γ between them, and take the included angle γ as the horizontal deviation value between point C1 and point C2. According to the execution direction of S2, take the product η between the modulus length of the vector and the tangent value of the included angle γ as the vertical deviation value between point C1 and point C2. According to r1*(1 - e γ ) + r2*(1 - e η ) calculate the deviation degree P t+d between the abnormal motion trajectory and the motion trajectory to be adjusted at time t + d, where r1 and r2 both represent proportionality coefficients and r1 + r2 = 1, t represents the time value corresponding to when the double-laser pan-tilt 5 moves to the end point F according to the set motion trajectory, and e represents a constant and 0 < e < 1;

[0071] If 0.3 < P t+d ≤ 1, then adjust the motion trajectory of the double-laser pan-tilt 5 according to r1*(1 - e γ ) and r2*(1 - e η ). The specific adjustment method is as follows: when r1*(1 - e γ ) > r2*(1 - e η ), first adjust the horizontal motion trajectory of the double-laser pan-tilt 5. At t + {[r1*(1 - e γ)] / [r2*(1 - e η )]} * At time d, adjust the longitudinal movement trajectory of the laser double gimbal 5. When r1*(1 - e γ ) < r2*(1 - e η )), first adjust the longitudinal movement trajectory of the laser double gimbal 5. At time t + {[r2*(1 - e η )] / [r1*(1 - e γ )]} * d, adjust the lateral movement trajectory of the laser double gimbal 5;

[0072] When 0 ≤ P ≤ 0.3, adjust the lateral and longitudinal movement trajectories of the laser double gimbal 5 simultaneously;

[0073] The optimal movement trajectory of the laser double gimbal 5 is composed of the overlapping part of the drawn movement trajectory and the set movement trajectory, as well as the adjusted movement trajectory;

[0074] The laser bird repellent device control module controls the movement states of the threaded drive rotating member 21, the first drive motor 42, and the second drive motor 44 of the control terminal 3 according to the optimal movement trajectory of the laser double gimbal 5;

[0075] The laser bird repellent device control module includes a photovoltaic control unit, a first drive motor control unit, and a second drive motor control unit;

[0076] The photovoltaic control unit adjusts the inclination angle of the photovoltaic power generation panel 27 to (π / 2) - hj by mobilizing the control terminal 3 to control the up and down movement of the threaded drive rotating member 21 according to the light receiving inclination angle of the photovoltaic power generation mechanism 2 analyzed by the light receiving inclination angle analysis unit. The inclination angle of the photovoltaic power generation panel 27 refers to the angle between the plane where the photovoltaic power generation panel 27 is located and the plane where the base (1) is located. The inclination angle of the photovoltaic power generation panel 27 is between 0 degrees and 90 degrees;

[0077] The first drive motor control unit controls the movement of the first drive motor 42 of the control terminal 3 at the corresponding adjustment time according to the adjustment result of the lateral movement trajectory of the laser double gimbal 5;

[0078] The second drive motor control unit controls the movement of the second drive motor 44 of the control terminal 3 at the corresponding adjustment time according to the adjustment result of the longitudinal movement trajectory of the laser double gimbal 5.

[0079] Working principle of the laser bird repellent device: Place the laser bird repellent device near the target substation. The monitoring mechanism 6 collects the aerial images of the location of the target substation, analyzes the collected images through the information analysis module, determines the light-receiving tilt angle of the photovoltaic power generation mechanism 2 according to the analysis results, and the control terminal 3 controls the up and down movement of the threaded drive rotating member 21 according to the determined light-receiving tilt angle until the tilt angle of the photovoltaic panel 27 is adjusted to (π / 2)-hj;

[0080] The control terminal 3 controls the movement of the first drive motor 42 or the second drive motor 44 at the corresponding adjustment time according to the optimal movement trajectory of the laser double gimbal 5 analyzed by the optimal movement trajectory analysis module and the analysis results of the movement trajectory adjustment of the laser double gimbal 5 in the horizontal and vertical directions. The first drive motor 42 drives the second drive motor 44 to make a circular motion through the drive rod 43. The second drive motor 44 drives the rotary moving member 45 and the moving block 46 to make a circular motion. The moving block 46 arranged in the groove inner cavity of the angle adjustment element 47 drives the angle adjustment element 47 to move up and down. The connecting rod 48 installed on the angle adjustment element 57 drives the laser double gimbal 5 to move. The laser double gimbal 5 makes horizontal and vertical movements driven by the first drive motor 42 and the second drive motor 44.

[0081] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. An adaptive laser bird repellent device, characterized in that: The laser bird repellent device includes a base (1), a photovoltaic power generation mechanism (2), a control terminal (3), an angle adjustment mechanism (4), a laser double pan-tilt (5) and a monitoring mechanism (6). A support column is fixedly installed on the base (1). The lower half of the support column is provided with threads. The photovoltaic power generation mechanism (2), the control terminal (3) and the angle adjustment mechanism (4) are fixedly installed on the support column in sequence from bottom to top. The laser double pan-tilt (5) and the monitoring mechanism (6) are fixedly installed on the angle adjustment mechanism (4). The angle adjustment mechanism (4) and the monitoring mechanism (6) are electrically connected to the control terminal (3) respectively.

2. The adaptive laser bird repellent device according to claim 1, wherein: The photovoltaic power generation mechanism (2) includes a threaded drive rotating part (21), a first fixing part (22), a first drive plate (23), a second fixing part (24), a second drive plate (25), a photovoltaic fixing plate (26) and a photovoltaic power generation panel (27). The threaded drive rotating part (21) is threadedly installed on the external thread of the support column. The first fixing parts (22) are annularly distributed on the outer wall of the threaded drive rotating part (21). The first drive plate (23) is rotatably installed on the first fixing part (22). The other end of the first drive plate (23) is rotatably installed at one end of the photovoltaic fixing plate (26). The second fixing parts (24) are annularly distributed on the outer wall of the support column. The second drive plate (25) is rotatably installed on the second fixing part (24). The other end of the second drive plate (25) is rotatably installed at the other end of the photovoltaic fixing plate (26). The photovoltaic power generation panel (27) is fixedly installed on the photovoltaic fixing plate (26).

3. The adaptive laser bird repellent device according to claim 2, wherein: The angle adjustment mechanism (4) includes a support frame (41), a first drive motor (42), a drive rod (43), a second drive motor (44), a rotary motion part (45), a moving block (46), an angle control element (47) and a connecting rod (48). The support frame (41) is fixedly installed on the outer side wall of the support rod, and the support frame (41) is located between the first drive motor (42) and the control terminal (3). The top of the support frame (41) is rotatably installed with an angle control element (47) through a fixed rod. The first drive motor (42) is fixedly installed at the top of the support rod. The output end of the first drive motor (42) is fixedly installed with a drive rod (43). A second drive motor (44) is fixedly installed on the side of the drive rod (43) away from the first drive motor (42). The output end of the second drive motor (44) is fixedly installed with a rotary motion part (45). A moving block (46) is fixedly installed on the side of the rotary motion part (45) away from the second drive motor (44). The moving block (46) is embedded in the groove cavity of the angle control element (47). A connecting rod (48) is fixedly installed on the right side of the angle control element (47). The other end of the connecting rod (48) is fixedly installed with a laser double pan-tilt (5).

4. An adaptive laser bird repelling control system applied to the adaptive laser bird repelling device according to any one of claims 1-3, characterized in that: The system includes an information analysis module, a laser emission angle analysis module, a motion trajectory generation module and a laser bird repellent device control module; The information analysis module identifies the target objects in the image information collected by the monitoring mechanism (6), analyzes the flight speed of the target objects according to the movement trajectories of the target objects, and analyzes the light-receiving inclination angle of the photovoltaic power generation mechanism (2) according to the exposure amount of the collected images and the shooting angles of the monitoring mechanism (6); The laser emission angle analysis module calculates the real-time danger index of each target object to each dangerous object according to the flight speed of the target object and the positional relationship of the target object relative to the dangerous object, and analyzes the laser emission angle of the laser double pan-tilt (5) at the next moment according to the calculation result; The movement trajectory analysis module analyzes the optimal movement trajectory of the laser double pan-tilt (5) according to the set movement trajectory of the laser double pan-tilt (5) and the laser emission angle of the laser double pan-tilt (5) at the next moment analyzed by the laser emission angle analysis module; The laser bird repellent device control module controls the movement states of the threaded drive rotating member (21), the first drive motor (42) and the second drive motor (44) by mobilizing the control terminal (3) according to the optimal movement trajectory of the laser double pan-tilt (5).

5. The adaptive laser bird repelling control system according to claim 4, characterized in that: The information analysis module includes a target object recognition unit, a flight speed analysis unit and a light-receiving inclination angle analysis unit; The target object recognition unit extracts the recognizable entities in the images collected by the monitoring mechanism (6), performs feature matching on the extracted recognizable entities and the entity objects stored in the recognizable entity database. If the matching is successful, the extracted recognizable entity is used as the target object. If the matching is unsuccessful, the extracted recognizable entity is not used as the target object; The flight speed analysis unit obtains the images with target objects taken by the monitoring mechanism (6), obtains the movement trajectories of the target objects, and calculates the real-time flight speed of the target objects by using the distance-speed-time formula; The light-receiving inclination angle analysis unit obtains the images taken by the monitoring mechanism (6) at each shooting angle, and collects the exposure amount and exposure time displayed on the monitor of the monitoring mechanism (6) when the monitoring mechanism (6) takes each image. The obtained images taken at each shooting angle are numbered, and the numbering result is: i = 1, 2,..., n; n represents the total number of images taken by the light-receiving inclination angle analysis unit. Calculate the product Ri between the exposure amount corresponding to the image numbered i and the square of the distance value of the laser bird repellent device from the sun light source, and calculate the ratio Wi between Ri and the exposure time corresponding to the image numbered i taken by the monitoring mechanism (6) to obtain the light intensity value Ei received by the monitoring mechanism (6) when taking the image numbered i. Denote the image number corresponding to the maximum calculated light intensity value as j, and use the shooting angle corresponding to the image numbered j taken by the monitoring mechanism (6) as the light-receiving inclination angle hj of the photovoltaic power generation mechanism (2), where j = 1, 2,..., n and j ≠ i.

6. The adaptive laser bird repelling control system according to claim 5, characterized in that: The laser emission angle analysis module includes a danger analysis unit and a laser emission angle analysis unit; The hazard analysis unit extracts hazard entities from the images captured by the monitoring mechanism (6), and matches the features of the extracted hazard entities with the hazard objects stored in the hazard entity database. If the match is successful, the extracted hazard entity is regarded as the target hazard object. If the match is unsuccessful, the extracted hazard entity is not regarded as the target hazard entity. Arbitrarily select a point in the three-dimensional space as the coordinate origin to construct a three-dimensional space coordinate system. According to the real-time position coordinates of each target hazard object and each target object in the three-dimensional space coordinate system, use the spatial distance formula to calculate the real-time minimum distance value of each target object from each target hazard object. Randomly select a real-time minimum distance value, record the target object corresponding to the selected minimum distance value as target object U, and record the target hazard object corresponding to the selected minimum distance value as target hazard object J. Calculate the ratio S between the selected minimum distance value and the real-time flight speed of target object U. Take the ratio between S and the time required for the first driving motor (42) to drive the driving rod (43) to move one week as the real-time hazard index of target object U with respect to target hazard object J. Traverse the calculated real-time minimum distance values, record the target object corresponding to the maximum calculated real-time hazard index as the selected target object, and record the target hazard object corresponding to the maximum calculated real-time hazard index as the selected target hazard object; The laser emission angle analysis unit analyzes the laser emission angle of the laser double gimbal (5) at the next moment according to the real-time hazard coefficient of the selected target object with respect to the selected target hazard object.

7. The adaptive laser bird repelling control system according to claim 6, wherein: The specific method for the laser emission angle analysis unit to analyze the laser emission angle of the laser double gimbal (5) at the next moment is as follows: S1: Obtain the position coordinates of the center of the selected target object and the center of the laser double gimbal (5) in the three-dimensional space coordinate system. Using the two-point vector formula, calculate the vector A between the center of the selected target object and the center of the laser beam emitted by the laser double gimbal (5) in real time, and the direction vector B of the center line of the laser beam emitted by the laser double gimbal (5) in real time. According to the vector angle formula, calculate the angle β between the vector A and the vector B AB for calculation; S2: Calculate the included angle β' calculated for the selected target object at the previous moment according to the method in S1 AB Perform calculations on the modulus length a of vector A and the included angle β AB For the product a * tanβ between the tangent value of AB Perform calculations on the modulus length c of the vector between the center of the selected target object and the center of the laser beam emitted by the laser double pan-tilt 5 at the previous moment and the included angle β' AB For the product c * tanβ' between the tangent value of AB Perform calculations; S3: for a*tanβ AB and c*tanβ′ AB The ratio between them is calculated to obtain the real-time longitudinal motion change rate g of the laser dual gimbal (5) AB , for β AB -β′ AB and β′ AB The ratio f AB Calculation is performed to obtain the real-time lateral motion change rate of the laser dual-pan platform (5). The laser emission angle of the laser dual-pan platform (5) at the next moment is β AB *(1+f AB ), the longitudinal movement distance of the laser dual gimbal (5) at the next moment is a*tanβ AB *g AB .

8. The adaptive laser bird repelling control system according to claim 7, wherein: The motion trajectory analysis module includes a trajectory comparison unit and an optimal motion trajectory analysis unit; The trajectory comparison unit obtains the set motion trajectory of the laser double gimbal (5) and the laser emission angle of the laser double gimbal (5) at the next moment. In the three-dimensional space coordinate system, use a smooth curve to draw the motion trajectory of the laser emission double gimbal (5) moving from the real-time stop position to the position of the laser emission angle at the next moment, and compare the drawn motion trajectory with the set motion trajectory. In the three-dimensional space coordinate system, regard the set motion trajectory with non-coincident motion trajectories as the abnormal motion trajectory, and regard the drawn motion trajectory with non-coincident motion trajectories as the motion trajectory to be adjusted; The optimal motion trajectory analysis unit analyzes the deviation degree between the abnormal motion trajectory and the motion trajectory to be adjusted, and based on the analysis result, analyzes the optimal motion trajectory of the laser double gimbal (5).

9. The adaptive laser bird repelling control system according to claim 8, wherein: The specific method for the optimal motion trajectory analysis unit to analyze the optimal motion trajectory of the laser double gimbal (5) is as follows: Obtain the lateral movement speed V1 and the longitudinal movement speed V2 of the laser double pan-tilt (5). According to the movement direction of the set movement trajectory, take the first intersection point of the abnormal movement trajectory and the movement trajectory to be adjusted as the endpoint F. Calculate the product G between the square of d*V1 and the square of d*V2, and perform a square root operation on the product G to obtain the movement distance value L of the laser double pan-tilt (5) within the time d. Starting from the endpoint F, intercept a trajectory line P1 with a length of L on the movement trajectory to be adjusted, and obtain the position coordinates C1 of the end point of the trajectory line P1 in the three-dimensional space coordinate system. Starting from the endpoint F, intercept a trajectory line P2 with a length of L on the abnormal movement trajectory, and obtain the position coordinates C2 of the end point of the trajectory line P2 in the three-dimensional space coordinate system; According to historical empirical data, when the laser double gimbal (5) moves to the position coordinate C2, the position coordinate C3 of the center of the laser beam emitted by the laser double gimbal (5) in the three-dimensional space coordinate system is obtained. According to the execution method of S1, for the vector and the vector , the included angle γ between them is calculated, and the included angle γ is used as the lateral deviation value between point C1 and point C2. According to the execution direction of S2, the product η of the modulus length of the vector and the tangent value of the included angle γ is used as the longitudinal deviation value between point C1 and point C2. According to r1*(1 - e γ ) + r2*(1 - e η ), the deviation degree P t+d of the abnormal motion trajectory and the motion trajectory to be adjusted at the moment t + d is calculated, where r1 and r2 both represent proportionality coefficients and r1 + r2 = 1, t represents the time value corresponding to when the laser double gimbal (5) moves to the end point F according to the set motion trajectory, and e represents a constant and 0 < e < 1; If 0.3 < P t+d ≤ 1, then the motion trajectory of the laser double pan-tilt (5) is adjusted according to r1*(1 - e γ ) and r2*(1 - e η ). The specific adjustment method is as follows: when r1*(1 - e γ ) > r2*(1 - e η ), first adjust the lateral motion trajectory of the laser double pan-tilt (5). At the moment of t + {[r1*(1 - e γ )] / [r2*(1 - e η )]}*d, adjust the longitudinal motion trajectory of the laser double pan-tilt (5). When r1*(1 - e γ ) < r2*(1 - e η ), first adjust the longitudinal motion trajectory of the laser double pan-tilt (5). At the moment of t + {[r2*(1 - e η )] / [r1*(1 - e γ )]}*d, adjust the lateral motion trajectory of the laser double pan-tilt (5); When 0 ≤ P ≤ 0.3, adjust the lateral movement trajectory and the longitudinal movement trajectory of the laser double pan-tilt (5) simultaneously; The optimal movement trajectory of the laser double pan-tilt (5) is jointly composed of the overlapping part of the drawn movement trajectory and the set movement trajectory, and the adjusted movement trajectory.

10. The adaptive laser bird repelling control system according to claim 9, wherein: The laser bird repellent device control module includes a photovoltaic control unit, a first drive motor control unit, and a second drive motor control unit; The photovoltaic control unit, according to the light-receiving tilt angle of the photovoltaic power generation mechanism (2) analyzed by the light-receiving tilt angle analysis unit, mobilizes the control terminal (3) to control the up and down movement of the threaded drive rotating member (21), and adjusts the tilt angle of the photovoltaic power generation panel (27) to (π / 2) - hj; The first drive motor control unit, according to the adjustment result of the lateral movement trajectory of the laser double pan-tilt (5), mobilizes the control terminal (3) to control the movement of the first drive motor (42) at the corresponding adjustment time; The second drive motor control unit, according to the adjustment result of the longitudinal movement trajectory of the laser double pan-tilt (5), mobilizes the control terminal (3) to control the movement of the second drive motor (44) at the corresponding adjustment time.

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