Airport intelligent laser bird repelling system and method based on multi-sensor fusion

Abstract

The invention discloses an airport intelligent laser bird repelling system and method based on multi-sensor fusion, and relates to the technical field of airport safety protection, and the system comprises a flying bird coarse positioning module, a flying bird fine tracking module, a flying bird laser repelling module and a remote monitoring module. The flying bird coarse positioning module adopts a phased array millimeter wave radar to carry out wide area scanning on a designated area of an airport, and outputs coarse positioning coordinates of a flying bird. Then, the bird fine tracking module uses a laser scanning radar and a medium-wave infrared camera to cooperatively carry out high-precision tracking scanning on the bird in the target area, and outputs the three-dimensional coordinate of the bird in real time. The remote monitoring module displays an airport area map and a bird infrared image on an indoor console in real time, and provides a manual control interface for an operator at the same time. And finally, the bird laser repelling module controls a high-energy laser transmitter of the bird repelling machine to output a high-energy pulse laser beam to a bird body according to the three-dimensional coordinates of the bird, and the bird in the target area is accurately repelled.

Description

Technical Field

[0001] The present application relates to the field of airport security protection technology, and in particular to an airport intelligent laser bird repellent system and method based on multi-sensor fusion. Background Art

[0002] With technological advancements and improved living standards, air travel has become increasingly common and has become a key pillar of the modern transportation system. However, frequent bird strikes during airport operations pose a constant threat to flight safety like an invisible sword. While existing technologies can use radar to monitor bird flocks, they suffer from frequent false alarms and a narrow coverage radius, making it difficult to build an effective protective barrier. The pain points are concentrated in three core areas:

[0003] (1) Single sensors have limitations. Traditional bird-repelling systems often rely on a single technical approach. For example, the Chinese invention patent with publication number CN111158013B uses a laser scanning radar point cloud clustering algorithm to locate birds, but the single sensing mode causes its accuracy to drop drastically in adverse weather conditions such as rain and fog, and it lacks an active repelling actuator. Utility model patents with publication numbers CN220292872U and CN222803720U integrate multiple repelling methods such as laser, sound and light, but the radar detection radius is only 5-15 meters, resulting in a serious lack of positioning accuracy, which is far from the airport's kilometer-level protection standard.

[0004] (2) Weak environmental adaptability. Complex airport operating conditions are often accompanied by extreme challenges such as strong electromagnetic interference and dramatic changes in light intensity between day and night. Existing systems such as CN220292872U use fixed-frequency ultrasonic waves, which can easily induce bird adaptation and tolerance, and lack precise repelling strategies for different species. Mechanical bird repellent components (such as the mirror reflection system of CN222803720U) lose more than 60% of their effectiveness in calm wind conditions, exposing significant environmental dependence.

[0005] (3) A smart management and control system has not yet been established. Current solutions generally lack a real-time remote monitoring module, resulting in a serious lag in emergency response. In a typical case, the CN111158013B solution did not have a remote interaction interface, while the timed reset mechanism of CN220292872U responded to sudden bird swarms with an efficiency less than 40% of the normal requirement.

[0006] It can be seen that building an airport intelligent bird-repellent system covering the entire chain of "detection-tracking-identification-repelling-evaluation" will become an important direction for breaking through existing technical bottlenecks and strengthening the airport's security line. Summary of the Invention

[0007] The purpose of the present application is to provide an airport intelligent laser bird repelling system and method based on multi-sensor fusion, which can effectively overcome the limitations of a single sensor, improve environmental adaptability, build a smart management and control system, and achieve precise and safe repelling of birds in the airport.

[0008] To achieve the above purpose, the present application provides the following solutions:

[0009] In a first aspect, the present application provides an airport intelligent laser bird repelling system based on multi-sensor fusion, comprising the following functional modules:

[0010] A bird coarse positioning module is configured to perform wide-area scanning on a designated area of the airport using a phased array millimeter wave radar, determine the type of a flight target according to the flight path of the flight target, and output coarse positioning coordinates of the bird when the flight target is a bird; the phased array millimeter wave radar is arranged at the center of the designated area of the airport, and a plurality of bird repelling machines are arranged around the designated area of the airport; the common scanning range of the plurality of bird repelling machines covers the designated area of the airport.

[0011] A bird fine tracking module is configured to automatically control the corresponding bird repelling machine to aim at the target area after receiving the coarse positioning coordinates of the bird, and the bird repelling machine uses a combination of a laser scanning radar and a medium wave infrared camera to perform high-precision tracking scanning on the bird in the target area and output real-time three-dimensional coordinates of the bird.

[0012] A bird laser repelling module is configured to control the high-energy laser emitter of the bird repelling machine to output a high-energy pulsed laser beam to the surface of the body of the bird according to the three-dimensional coordinates of the bird when a predetermined repelling condition is met or a repelling instruction is received, so as to accurately repel the bird in the target area.

[0013] A remote monitoring module is configured to display a map of the airport area and an infrared image of the bird collected by the medium wave infrared camera in real time on an indoor console, and provide a manual control interface for an operator to manually issue a repelling instruction and adjust the laser power, aiming point and repelling duration.

[0014] Optionally, the bird coarse positioning module specifically comprises:

[0015] A millimeter wave radar wide-area scanning unit is configured to perform wide-area scanning on the designated area of the airport to obtain radar echo signals.

[0016] A signal filtering and track extraction unit is configured to perform constant false alarm rate detection on the radar echo signals, filter ground clutter and fixed obstacles, and extract flight target tracks in a single frame of radar echo signals.

[0017] A flight target track generation unit is configured to use a DBSCAN algorithm to associate flight target tracks in a plurality of continuous frames of radar echo signals to generate a flight target track.

[0018] The track feature judging and output unit is configured to determine the type of the flight target according to the feature of the track of the flight target, and output the coarse positioning coordinates of the bird when the flight target is the bird; the type of the flight target is the bird, the unmanned aerial vehicle, the irregular floating object or the aircraft.

[0019] Optionally, the operating frequency band of the phased array millimeter wave radar is 24GHz, the scanning range is 0-360° azimuth angle is -10° to +30° pitch angle, the effective action distance is 1500 meters, the target detection accuracy is ±5 meters, and the data refresh rate is 10Hz.

[0020] Optionally, the bird repelling machine is provided with a two-axis servo turntable, and the two-axis servo turntable is provided with a laser scanning radar, a medium wave infrared camera and a high-energy laser emitter; the bird fine tracking module specifically comprises:

[0021] The coarse positioning pointing control unit is configured to automatically control the two-axis servo turntable to drive the corresponding bird repelling machine to point to the target area where the coarse positioning coordinates are located after receiving the coarse positioning coordinates of the bird.

[0022] The target area point cloud acquisition unit is configured to control the laser scanning radar of the bird repelling machine to collect high-density laser point cloud data on the target area.

[0023] The target area infrared image acquisition unit is configured to control the medium wave infrared camera of the bird repelling machine to collect infrared images on the target area; the medium wave infrared camera is configured to assist the laser scanning radar to perform high-precision tracking scanning on the bird.

[0024] The bird target real-time tracking unit is configured to use a multi-target tracking algorithm of extended Kalman filtering, fuse the features of the laser point cloud data and the infrared images, predict the motion trajectory of the bird, realize real-time tracking and positioning of the bird, and output real-time three-dimensional coordinates of the bird.

[0025] Optionally, the field of view angle of the laser scanning radar is 3°x4°, the ranging accuracy is ±0.01 meters, the angular accuracy is 0.01 milliradians, the azimuth rotation range of the two-axis servo turntable is ±180°, and the pitch rotation range is -10° to +90°; the field of view angle of the medium wave infrared camera is 6°x8°, the resolution is ≥640x512 pixels, and the spectral response is 3-5um.

[0026] Optionally, the high-energy laser transmitter uses a fiber-optic solid-state laser and is integrated with a laser power sensor. The laser power sensor is used to monitor the output power in real time to avoid exceeding international safety standards. The high-energy laser transmitter adopts a pulse modulation mode to reduce the risk of permanent damage to birds. The transmitting mirror group of the high-energy laser transmitter consists of a two-dimensional galvanometer and a focusing lens. According to the real-time three-dimensional coordinates provided by the bird precision tracking module, the direction of the high-energy pulse laser beam is adjusted in real time to ensure that the light spot is accurately projected onto the surface of the bird's body, and the birds in the target area are accurately driven away.

[0027] Optionally, the bird laser repelling module supports a scanning repelling mode. When a number of birds move in a cluster, the high-energy pulse laser beam is controlled to scan quickly along a preset trajectory to cover multiple birds in the cluster for precise repelling.

[0028] Optionally, the airport intelligent laser bird repellent system based on multi-sensor fusion also includes: a bird risk assessment module, which is used to generate a threat level according to the flight altitude, flight speed and cluster size of the birds.

[0029] At low threat levels, only the flight trajectory of the bird is recorded and an early warning is sent to the indoor control console.

[0030] At medium threat level, activate the warm-up mode of the high-energy laser transmitter, maintain tracking and wait for manual confirmation.

[0031] When the threat level is high, it automatically emits high-energy pulse laser beams to drive away birds and sends an obvious alarm to the indoor control console.

[0032] Optionally, the airport intelligent laser bird repellent system based on multi-sensor fusion also includes: a hybrid power supply module, including a UPS uninterruptible power supply and a solar-lithium battery pack, supporting 72 hours of backup power supply.

[0033] In a second aspect, the present application provides an airport intelligent laser bird repellent method based on multi-sensor fusion, comprising the following steps:

[0034] Phased array millimeter-wave radar is used to perform wide-area scanning of the designated area of ​​the airport. The type of flying target is determined based on the flight track of the flying target, and if the flying target is a flying bird, the coarse positioning coordinates of the flying bird are output.

[0035] After receiving the rough positioning coordinates of the flying bird, the corresponding bird-scaring machine is automatically controlled to aim at the target area.

[0036] A combination of laser scanning radar and medium-wave infrared camera is used to track and scan birds in the target area with high precision, and the three-dimensional coordinates of the birds are output in real time; the infrared images of birds and the airport area map collected by the medium-wave infrared camera are displayed in real time on the indoor console.

[0037] When the preset expulsion conditions are met or after receiving the expulsion command, the high-energy laser transmitter of the bird-scaring machine is controlled to output a high-energy pulsed laser beam to the surface of the bird's body according to the three-dimensional coordinates of the bird, so as to accurately expel the birds in the target area; the expulsion command is a command manually issued by the operator on the indoor console, and the indoor console is also used for the operator to adjust the laser power, aiming point and expulsion duration.

[0038] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0039] This application provides an intelligent laser bird repellent system and method for airports based on multi-sensor fusion. In this system, a phased array millimeter-wave radar is used to perform a wide-area scan of a designated area at the airport. When a flying target is determined to be a bird, the bird's coarse positioning coordinates are output. Several bird repellents are also deployed around the designated area of ​​the airport. Subsequently, after receiving the coarse positioning coordinates, the bird precision tracking module automatically controls the corresponding bird repellent to align with the target area. It then uses a laser scanning radar and a medium-wave infrared camera to collaboratively track and scan birds within the target area with high precision, outputting the bird's three-dimensional coordinates in real time. An indoor control console displays a real-time map of the airport area and infrared images of birds, while also providing a manual control interface for the operator to adjust the laser power, aiming point, and repelling duration. Finally, based on the bird's three-dimensional coordinates, the bird laser repellent module controls the bird repellent's high-energy laser transmitter to output a high-energy pulsed laser beam to the bird's body, accurately repelling birds within the target area. This application uses the fusion of phased array millimeter-wave radar and laser scanning radar to achieve a leap from kilometer-level coarse positioning to centimeter-level precise positioning, with a tracking angle error of less than 0.01 milliradians, meeting the requirements for precise aiming of the laser beam. A medium-wave infrared camera is used to assist the laser scanning radar in precise tracking, which is especially suitable for nighttime or low-light environments. The automation rate of the entire process from target detection to expulsion is greater than 90%, while the operator is also retained to remotely intervene in the expulsion through the console to deal with misidentification in complex scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A schematic diagram of a module of an airport intelligent laser bird repellent system based on multi-sensor fusion provided in one embodiment of the present application.

[0042] Figure 2A schematic diagram of an airport intelligent laser bird repelling system based on multi-sensor fusion is provided for an embodiment of the present application.

[0043] Figure 3 A module schematic diagram of a flying bird coarse positioning module in an airport intelligent laser bird repelling system based on multi-sensor fusion is provided for an embodiment of the present application.

[0044] Figure 4 A structural schematic diagram of a bird repelling machine in an airport intelligent laser bird repelling system based on multi-sensor fusion is provided for an embodiment of the present application.

[0045] Figure 5 A module schematic diagram of a flying bird fine tracking module in an airport intelligent laser bird repelling system based on multi-sensor fusion is provided for an embodiment of the present application.

[0046] Figure 6 A flowchart of an airport intelligent laser bird repelling method based on multi-sensor fusion is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely below with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0048] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with the drawings and specific embodiments.

[0049] The airport intelligent laser bird repelling system based on multi-sensor fusion provided by the embodiments of the present application, in an exemplary embodiment, as shown in Figure 1 includes the following functional modules:

[0050] The flying bird coarse positioning module is configured to perform wide area scanning on the designated area of the airport by using the phased array millimeter wave radar, to judge the type of the flying target according to the flight path of the flying target, and to output the coarse positioning coordinates of the flying bird when the flying target is a flying bird; the phased array millimeter wave radar is arranged at the center of the designated area of the airport, and a plurality of bird repelling machines are arranged around the designated area of the airport; the common scanning range of the plurality of bird repelling machines covers the designated area of the airport.

[0051] The distribution mode of the phased array millimeter wave radar and the bird repelling machine is as shown in Figure 2Specifically, the phased array millimeter-wave radar operates in the 24 GHz frequency band, has a scanning range of 0-360° in azimuth and -10° to +30° in elevation, an effective range of 1500 meters, a target detection accuracy of ±5 meters, and a data refresh rate of 10Hz. The designated area at an airport can be a 500-meter radius on either side of the runway. Compared to traditional microwave radar, phased array millimeter-wave radar has stronger anti-clutter capabilities and can penetrate light fog and rain, making it suitable for complex airport weather conditions.

[0052] The bird precision tracking module is used to automatically control the corresponding bird repellent machine to aim at the target area after receiving the coarse positioning coordinates of the flying bird. The bird repellent machine uses a combination of laser scanning radar and medium-wave infrared camera to perform high-precision tracking and scanning of birds in the target area, and output the three-dimensional coordinates of the bird in real time.

[0053] The bird laser repellent module is used to control the high-energy laser emitter of the bird repellent machine to output a high-energy pulse laser beam to the surface of the bird's body according to the three-dimensional coordinates of the bird when the preset repelling conditions are met or after receiving the repelling command, so as to accurately repel the birds in the target area.

[0054] The remote monitoring module is used to display the airport area map and infrared images of flying birds collected by the medium-wave infrared camera in real time on the indoor console, and provides a manual control interface for the operator to manually issue expulsion commands and adjust the laser power, aiming point and expulsion duration.

[0055] As a basic implementation, wireless transmission is used between the indoor control console and the on-site phased array millimeter-wave radar and bird scarer. This utilizes a 5GNR (Sub-6GHz) communication module, supporting 100Mbps bandwidth and enabling low-latency transmission (end-to-end latency <200ms) of video streams (compressed bitrate 10Mbps) and control commands. As an improved implementation, satellite relay is used as a backup link, employing Beidou short message communication to ensure system availability in wireless signal blind spots.

[0056] In an exemplary embodiment of the present application, Figure 3 As shown in the figure, the Flying Bird coarse positioning module specifically includes:

[0057] The millimeter-wave radar wide-area scanning unit is used to perform wide-area scanning of a designated area of ​​the airport to obtain radar echo signals.

[0058] The signal filtering and point trace extraction unit is used to perform constant false alarm rate detection on the radar echo signal, filter ground clutter and fixed obstacles, and extract the flying target point traces from the single-frame radar echo signal.

[0059] The flight target track generation unit is used to associate the flight target point tracks in a number of consecutive frame radar echo signals using the DBSCAN algorithm to generate the flight target track.

[0060] The track feature judgment and output unit is used to determine the type of the flying target based on the characteristics of the flying target's track, and output the rough positioning coordinates of the flying target if the flying target is a flying bird; the type of the flying target is a flying bird, a drone, an irregular floating object or an aircraft.

[0061] In an exemplary embodiment of the present application, Figure 4 As shown, the bird-scaring machine is provided with a two-axis servo turntable, on which are installed a laser scanning radar, a medium-wave infrared camera and a high-energy laser transmitter; the main frame of the bird-scaring machine adopts an aluminum alloy truss structure with a height of 2.5 meters. Universal wheels and hydraulic legs are installed at the bottom to facilitate rapid deployment and fixation. The top integrates a laser scanning radar and a medium-wave infrared camera, both of which are integrated into the two-axis servo turntable, which can automatically achieve precise lateral and longitudinal steering. The laser launch cabin is located in the middle of the main body, with a built-in high-energy laser transmitter, and the light outlet faces the direction of the runway. It is connected to the laser scanning radar and the medium-wave infrared camera through a rigid bracket to ensure pointing consistency. The laser launch cabin is also equipped with an electric protective cover (closed when not in operation). In this embodiment, as Figure 5 As shown in the figure, the bird tracking module specifically includes:

[0062] The coarse positioning pointing control unit is used to automatically control the two-axis servo turntable after receiving the coarse positioning coordinates of the flying bird, and drive the corresponding bird-repelling machine to point to the target area where the coarse positioning coordinates are located.

[0063] The target area point cloud acquisition unit is used to control the laser scanning radar of the bird repellent machine to collect high-density laser point cloud data of the target area.

[0064] The target area infrared image acquisition unit is used to control the medium-wave infrared camera of the bird-repelling machine to collect infrared images of the target area; the medium-wave infrared camera is used to assist the laser scanning radar in high-precision tracking and scanning of flying birds.

[0065] The real-time bird tracking unit uses an extended Kalman filter (ECF) multi-target tracking algorithm to fuse laser point cloud data with infrared image features to predict the bird's trajectory, enabling real-time tracking and positioning. It also outputs the bird's real-time 3D coordinates, with a tracking loss rate of less than 0.5%. While outputting the bird's real-time 3D coordinates, it also derives velocity vectors and reflectivity characteristics from the point cloud data.

[0066] Specifically in this embodiment, the laser scanning radar has a field of view of 3°×4°, a ranging accuracy of ±0.01 meters, and an angular accuracy of 0.01 milliradians. The two-axis servo turntable has an azimuth range of ±180° and a pitch range of -10° to +90°, with an effective range of 1000 meters. It supports 100 laser beams and a scanning frame rate of 20Hz. The medium-wave infrared camera has a field of view of 6°×8°, a resolution of ≥640×512 pixels, a spectral response of 3-5μm, a frame rate of 30fps, a temperature measurement range of -20°C to +150°C, and a non-uniformity correction function. The medium-wave infrared camera uses a germanium lens optical system with a spectral response of 3-5μm and strong resistance to stray light. Both are integrated into a two-axis servo turntable (azimuth ±180°, pitch -10° to +90°), and precise pointing control is achieved through a worm gear transmission. The medium-wave infrared camera simultaneously collects thermal imaging data of the target to assist the laser scanning radar in target identification, which is especially suitable for nighttime or low-light environments.

[0067] As an optional embodiment, the high-energy laser transmitter uses a fiber solid-state laser and is integrated with a laser power sensor. The laser power sensor is used to monitor the output power in real time to avoid exceeding international safety standards. The high-energy laser transmitter uses a pulse modulation mode (such as 50ms pulse width, 10Hz repetition frequency) to reduce the risk of permanent damage to birds. The transmitting mirror group of the high-energy laser transmitter consists of a two-dimensional galvanometer and a focusing lens. According to the real-time three-dimensional coordinates provided by the bird precision tracking module, the direction of the high-energy pulse laser beam is adjusted in real time to ensure that the light spot is accurately projected onto the surface of the bird's body, and the birds in the target area are accurately driven away. The wavelength of the fiber solid-state laser is 1064nm (near infrared), the output power is adjustable (10-50W continuous wave), and the beam quality M 2 <1.3.

[0068] Another improvement involves a bird classification model that uses point cloud data collected by a laser scanning radar and infrared images captured by a medium-wave infrared camera to identify the species of birds in the image, thereby outputting high-energy pulsed laser beams of varying power. This bird classification model, based on the YOLOv5s deep learning framework, is trained on a dataset containing laser radar point cloud data and infrared image samples of common airport birds (such as pigeons, crows, and seagulls), achieving a classification accuracy exceeding 95%.

[0069] As an improved solution, the bird laser repellent module supports a scanning repellent mode. When several birds move in a cluster, the high-energy pulse laser beam is controlled to quickly scan along a preset trajectory (such as a Z shape) to cover multiple birds in the cluster for precise repelling.

[0070] In another exemplary embodiment of the present application, the above-mentioned airport intelligent laser bird repellent system based on multi-sensor fusion also includes: a bird risk assessment module, which is used to generate a threat level according to the flight altitude, flight speed and cluster size of the birds.

[0071] At low threat levels, only the flight trajectory of the bird is recorded and an early warning is sent to the indoor control console.

[0072] At medium threat level, activate the warm-up mode of the high-energy laser transmitter, maintain tracking and wait for manual confirmation.

[0073] When the threat level is high, it automatically emits high-energy pulse laser beams to drive away birds and sends an obvious alarm to the indoor control console.

[0074] In another exemplary embodiment, the multi-sensor fusion-based airport intelligent laser bird repellent system further includes a hybrid power supply module comprising a UPS uninterruptible power supply and a solar-lithium battery pack, which supports 72 hours of backup power. As a specific embodiment, the main power supply uses the airport mains power (220VAC), and the UPS uninterruptible power supply (with a battery life of 2 hours) is used to ensure power supply continuity. The backup power supply uses a solar panel (power 500W) + a lithium battery pack (capacity 10kWh), which supports 72 hours of continuous operation on consecutive rainy days.

[0075] The housings of various sensors and actuators feature IP67 protection and a built-in temperature control module (operating temperature -30°C to +60°C). This module maintains a constant internal temperature through a semiconductor cooler and an electric heating film. The window of the high-energy laser transmitter is equipped with an automatic wiper and anti-icing coating to ensure optical performance in inclement weather.

[0076] The workflow of the airport intelligent laser bird repellent system based on multi-sensor fusion provided in the above embodiment includes the following stages:

[0077] (1) Bird search phase

[0078] The phased array millimeter-wave radar scans the entire area at a preset period (e.g., every 5 minutes). When a dynamic target is detected, it generates coarse positioning coordinates (A1, E1, R1) and filters out false alarms (e.g., increasing the monitoring threshold when the wind speed is >10m / s).

[0079] When the flight path of a flying target is detected to last for more than 3 seconds and the speed is within the range of 2-20m / s (typical flight state of a bird), the precise tracking module is triggered to start.

[0080] (2) Accurate tracking and identification stage

[0081] The two-axis servo turntable drives the laser scanning radar and the medium-wave infrared camera to point to the target area of ​​the coarse positioning coordinates. The laser scanning radar enters the "staring scan" mode and performs high-density point cloud collection of the target area (sampling rate 100,000 points / second).

[0082] Real-time processing of LiDAR point clouds (such as extracting target volume features, the volume of birds is usually less than 0.01m 3 ) and infrared images (such as detecting target temperature gradients, bird body temperature 38-42°C), and using the YOLOv5s model to determine the category of flying birds (such as "seagull" with a confidence level of 98%).

[0083] The remote monitoring module decides whether to trigger the laser drive-off based on the threat level algorithm (e.g. if the target is less than 300 meters from the runway and the cluster size is greater than 3, it is judged as a high threat).

[0084] (3) Laser bird repellent execution stage

[0085] Automatic Mode: After a high threat level is triggered, a start command is sent to the high-energy laser emitter, and the two-axis servo stage is adjusted to aim the laser beam at the bird's center of mass. A low-power (10W) pre-irradiation is performed for one second. If the target does not flee, the power is gradually increased to 30W for a maximum exposure time of five seconds.

[0086] Manual mode: The operator selects the target through the remote console and manually sets the laser power and irradiation duration. It is suitable for rare birds that need protection (such as low-power expulsion).

[0087] (4) Effect evaluation and feedback stage

[0088] After one expulsion is completed, the laser scanning radar rescans the target area. If the target moving speed is detected to be greater than 5m / s (escape speed) or disappears, the expulsion is considered successful; otherwise, it enters the secondary expulsion process (switching the laser wavelength to 532nm green light to improve the visual stimulation effect).

[0089] All expulsion records (time, target type, power, effect) are stored in the indoor console or cloud platform for subsequent statistical analysis.

[0090] The system provided in the above embodiment was applied to an international airport for effectiveness verification. Specifically, one system was installed on the runway. The bird-scaring devices were spaced approximately 3 kilometers apart, and the phased array millimeter-wave radar scanning range covered the entire runway area. Each bird-scaring device's sensor was oriented toward the runway centerline, and the laser emission direction was angled at ±45° with the runway extension to avoid direct contact with aircraft.

[0091] During a single-target dispersal (a seagull at a distance of 500 meters), the millimeter-wave radar detected the target, the laser scanning radar tracked and locked onto it, and the medium-wave infrared camera, combined with a bird recognition model, identified it as a seagull (with 96% confidence). The system automatically activated a high-energy laser dispersal system. After 2 seconds of 3W power, the target turned and flew away, accelerating to 8m / s, successfully dispersing the target.

[0092] When a cluster target was driven away (a flock of 10 pigeons at a distance of 800 meters), the threat level was judged to be "high" and the system switched to scanning mode. The high-energy laser beam quickly switched the aiming point in the pigeon flock at a frequency of 10 Hz. The total irradiation time was 8 seconds at a power of 50W. The pigeons dispersed and fled at an average speed of 12 m / s, and no targets remained.

[0093] The performance of the airport intelligent laser bird repellent system provided by this application is compared with that of a traditional ultrasonic bird repellent machine and a solution using a single laser radar system for bird repellent. The performance comparison results are shown in Table 1:

[0094] Table 1 Performance comparison results

[0095] index This application Traditional ultrasonic bird repeller Single LiDAR system Effective range ≥1000 meters 50-100 meters 300-500 meters Target recognition accuracy ＞95％ none 85％ Expulsion success rate ＞98％ 60％～70％ 80％～85％ Environmental adaptability (wind, rain, fog) Work around the clock Significantly affected by weather Significantly affected by fog Remote control delay <200ms none >500ms

[0096] As shown in Table 1, the airport intelligent laser bird repellent system provided by this application significantly outperforms traditional solutions in terms of effective range, target recognition accuracy, repelling success rate, environmental adaptability, and response speed. It is particularly stable in complex weather conditions. Data analysis shows that the system's repelling success rate has increased by at least 13%, and the false trigger rate has been reduced to below 2%, effectively ensuring aviation safety.

[0097] certainly, Figure 1-Figure 5 The architecture shown is only exemplary and can be omitted according to actual needs when implementing different functions. Figure 1-Figure 5 One or at least two components of the system shown.

[0098] Based on the same inventive concept, the embodiment of the present application also provides a method for applying the above-mentioned airport intelligent laser bird repellent system based on multi-sensor fusion. The solution provided by this method is similar to the solution described in the above-mentioned system. In an exemplary embodiment, Figure 6 As shown, an airport intelligent laser bird repellent method based on multi-sensor fusion is provided, which includes the following steps:

[0099] S1. Use phased array millimeter-wave radar to perform a wide-area scan of the designated area of ​​the airport. Determine the type of flying target based on its track and output the coarse positioning coordinates of the flying bird if the flying target is a flying bird.

[0100] S2. After receiving the rough positioning coordinates of the flying bird, automatically control the corresponding bird-repelling machine to aim at the target area.

[0101] S3. A combination of laser scanning radar and medium-wave infrared camera is used to track and scan birds in the target area with high precision, and the three-dimensional coordinates of the birds are output in real time. The infrared images of the birds and the airport area map collected by the medium-wave infrared camera are displayed in real time on the indoor console.

[0102] S4. When the preset expulsion conditions are met or after receiving the expulsion command, the high-energy laser transmitter of the bird-scaring machine is controlled to output a high-energy pulsed laser beam to the surface of the bird's body according to the three-dimensional coordinates of the bird, so as to accurately expel the birds in the target area; the expulsion command is a command manually issued by the operator on the indoor console, and the indoor console is also used for the operator to adjust the laser power, aiming point and expulsion duration.

[0103] The above-mentioned embodiments of this application provide an intelligent laser bird repellent system and method for airports based on multi-sensor fusion. Compared to existing technologies, they offer the following benefits: High-precision detection and tracking: The fusion of phased array millimeter-wave radar and lidar enables a leap from kilometer-level coarse positioning to centimeter-level precision positioning, with a tracking angle error of less than 0.01 milliradian, meeting the requirements for precise laser beam aiming. Intelligent differentiated repellent: A deep learning model distinguishes bird species and threat levels, supporting dynamic adjustment of repellent strategies (such as using a low-power laser + acoustic wave combination to repel birds of prey to avoid harm), improving eco-friendliness. Fully automated and remotely controllable: The entire process, from target detection to repellent completion, is automated at a rate of over 90%. Control personnel can also intervene in real time via the 5G network to address complex scenarios (such as drone targets mistakenly identified as birds). Strong environmental adaptability: The sensor integrates temperature control, waterproofing, and anti-interference design, supporting continuous operation in harsh environments ranging from -30°C to +60°C and wind speeds of less than 25m / s (force 10 wind), with an average annual downtime of less than 2 hours.

[0104] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0105] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. An airport intelligent laser bird repellent system based on multi-sensor fusion, characterized in that: include: The bird coarse positioning module is used to use a phased array millimeter wave radar to perform a wide-area scan of the designated area of ​​the airport, determine the type of the flying target based on the flight track of the flying target, and output the coarse positioning coordinates of the flying target if the flying target is a bird. The phased array millimeter wave radar is deployed at the center of the designated area of ​​the airport, and a number of bird-scaring machines are deployed around the designated area of ​​the airport. The combined scanning range of the several bird-scaring machines covers the designated area of ​​the airport. The bird precision tracking module is used to automatically control the corresponding bird-scaring machine to align with the target area after receiving the coarse positioning coordinates of the flying bird. The bird-scaring machine uses a combination of laser scanning radar and medium-wave infrared camera to perform high-precision tracking and scanning of the flying birds in the target area, and outputs the three-dimensional coordinates of the flying birds in real time; The bird laser repellent module is used to control the high-energy laser transmitter of the bird repellent machine to output a high-energy pulsed laser beam to the surface of the bird's body according to the three-dimensional coordinates of the bird when the preset repellent conditions are met or after receiving the repellent command, so as to accurately repel the birds in the target area; The remote monitoring module is used to display the airport area map and the infrared images of flying birds collected by the medium-wave infrared camera in real time on the indoor console, and provide a manual control interface for the operator to manually issue expulsion commands and adjust the laser power, aiming point and expulsion duration.

2. The airport intelligent laser bird repellent system based on multi-sensor fusion according to claim 1 is characterized in that: The Flying Bird coarse positioning module specifically includes: Millimeter-wave radar wide-area scanning unit, used to perform wide-area scanning of a designated area of ​​the airport to obtain radar echo signals; A signal filtering and point trace extraction unit, configured to perform constant false alarm rate detection on the radar echo signal, filter ground clutter and fixed obstacles, and extract flight target point traces from a single frame of radar echo signal; The flight target track generation unit is used to associate the flight target point tracks in a number of consecutive frames of radar echo signals using the DBSCAN algorithm to generate the flight target track; The track feature judgment and output unit is used to determine the type of the flying target based on the characteristics of the flying target's track, and output the rough positioning coordinates of the flying target if the flying target is a flying bird; the type of the flying target is a flying bird, a drone, an irregular floating object or an aircraft.

3. The airport intelligent laser bird repellent system based on multi-sensor fusion according to claim 2 is characterized in that: The phased array millimeter-wave radar operates at a frequency band of 24 GHz, has a scanning range of 0-360° in azimuth and a pitch angle of -10° to +30°, an effective range of 1,500 meters, a target detection accuracy of ±5 meters, and a data refresh rate of 10 Hz.

4. The airport intelligent laser bird repellent system based on multi-sensor fusion according to claim 1 is characterized in that: The bird-repelling machine is provided with a two-axis servo turntable, which is provided with a laser scanning radar, a medium-wave infrared camera and a high-energy laser transmitter; the bird precision tracking module specifically includes: A coarse positioning and pointing control unit is used to automatically control the two-axis servo turntable after receiving the coarse positioning coordinates of the flying bird, and drive the corresponding bird-repelling machine to point to the target area where the coarse positioning coordinates are located; A target area point cloud acquisition unit is used to control the laser scanning radar of the bird repellent machine to collect high-density laser point cloud data of the target area; The target area infrared image acquisition unit is used to control the medium-wave infrared camera of the bird-repelling machine to acquire infrared images of the target area; the medium-wave infrared camera is used to assist the laser scanning radar in performing high-precision tracking and scanning of flying birds; The real-time bird tracking unit is used to adopt the multi-target tracking algorithm of extended Kalman filter, fuse the features of laser point cloud data and infrared images, predict the movement trajectory of birds, realize real-time tracking and positioning of birds, and output the real-time three-dimensional coordinates of birds.

5. The airport intelligent laser bird repellent system based on multi-sensor fusion according to claim 4 is characterized in that: The laser scanning radar has a field of view of 3°×4°, a ranging accuracy of ±0.01 m, and an angular accuracy of 0.01 milliradian. The two-axis servo turntable has an azimuth rotation range of ±180° and a pitch rotation range of -10° to +90°. The medium-wave infrared camera has a field of view of 6°×8°, a resolution of ≥640×512 pixels, and a spectral response of 3-5 μm.

6. The airport intelligent laser bird repellent system based on multi-sensor fusion according to claim 1 is characterized in that: The high-energy laser transmitter uses a fiber solid-state laser and is integrated with a laser power sensor. The laser power sensor is used to monitor the output power in real time to avoid exceeding international safety standards. The high-energy laser transmitter adopts a pulse modulation mode to reduce the risk of permanent damage to birds. The transmitting mirror group of the high-energy laser transmitter consists of a two-dimensional galvanometer and a focusing lens. According to the real-time three-dimensional coordinates provided by the bird precision tracking module, the direction of the high-energy pulse laser beam is adjusted in real time to ensure that the light spot is accurately projected onto the surface of the bird's body, and the birds in the target area are accurately driven away.

7. The airport intelligent laser bird repellent system based on multi-sensor fusion according to claim 6 is characterized in that: The bird laser repelling module supports a scanning repelling mode. When a number of birds move in a cluster, the high-energy pulse laser beam is controlled to quickly scan along a preset trajectory to cover multiple birds in the cluster for precise repelling.

8. The airport intelligent laser bird repellent system based on multi-sensor fusion according to claim 1 is characterized in that: Also includes: Bird risk assessment module, used to generate threat levels based on the flight altitude, flight speed and flock size of birds; At low threat levels, only the flight trajectory of the bird is recorded and an early warning is sent to the indoor control console; At a medium threat level, the high-energy laser transmitter is activated in a warm-up mode, tracking is maintained, and manual confirmation is awaited; When the threat level is high, it automatically emits high-energy pulse laser beams to drive away birds and sends an obvious alarm to the indoor control console.

9. The airport intelligent laser bird repellent system based on multi-sensor fusion according to claim 1 is characterized in that: Also includes: The hybrid power supply module includes a UPS uninterruptible power supply and a solar-lithium battery pack, supporting 72 hours of backup power supply.

10. An intelligent laser bird-repelling method for airports based on multi-sensor fusion, characterized in that: include: Phased array millimeter-wave radar is used to conduct wide-area scanning of a designated area of ​​an airport. The type of flying target is determined based on the target's track, and if the target is a bird, the coarse positioning coordinates of the bird are output. After receiving the rough positioning coordinates of the flying bird, the corresponding bird-repelling machine is automatically controlled to aim at the target area; A combination of laser scanning radar and medium-wave infrared cameras is used to track and scan birds in the target area with high precision, and the three-dimensional coordinates of the birds are output in real time. The infrared images of the birds captured by the medium-wave infrared camera and the airport area map are displayed in real time on the indoor console. When the preset expulsion conditions are met or after receiving the expulsion command, the high-energy laser transmitter of the bird-scaring machine is controlled to output a high-energy pulsed laser beam to the surface of the bird's body according to the three-dimensional coordinates of the bird, so as to accurately expel the birds in the target area; the expulsion command is a command manually issued by the operator at the indoor console, and the indoor console is also used for the operator to adjust the laser power, aiming point and expulsion duration.

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