Safe laser mosquito killing method adopting multi-echo laser recognition

Abstract

The invention discloses a safe laser mosquito killing method adopting multi-echo laser recognition, which comprises the following steps that: a laser radar performs two-dimensional rapid scanning on a specified plane area, and meanwhile, a receiving module receives laser return light reflected back from an object in real time; laser return light is obtained and analyzed in real time, and real-time data are obtained; if a new target is found, the laser radar scans firstly and then scans again, and after it is confirmed that the target is a mosquito, mosquito attack is started; meanwhile, the laser radar continuously emits detection light spots covering a high-power laser light spot area, real-time data are continuously obtained, and if the identification monitoring module finds abnormity, the high-power laser is stopped immediately. According to the application, comprehensive analysis and pre-judgment can be carried out on a complex background environment, the working state is reasonably adjusted to avoid potential safety hazards under the complex background condition, meanwhile, the irradiation time of the high-power laser is accurately controlled, the irradiation time can be greatly shortened when danger occurs, the response time is smaller than or equal to 0.03 millisecond, and the application range is wide. The safety of human eyes can be fully ensured; and compared with a conventional identification mode, the reliability is higher, the response speed is higher, and the safety performance is higher.

Description

Technical Field

[0001] This invention relates to the field of laser mosquito control methods, specifically to a safe laser mosquito control method using multi-echo laser recognition. Background Technology

[0002] Because mosquitoes are small and highly maneuverable, taking only a few milliseconds to fly past, traditional laser mosquito killers, which rely on cameras for identification, are generally only suitable for killing mosquitoes that are stationary. If laser scanning were to be performed directly in three-dimensional space, expensive multi-line lidar (such as a 192-line lidar for vehicles) would be required, but this type of radar is not suitable for identifying small mosquito targets.

[0003] The applicant's patent CN115281165A, "A Two-Dimensional Scanning Laser Mosquito Killing Device and Method," uses lidar for two-dimensional planar scanning, enabling precise identification and killing of flying mosquitoes. However, to identify target size and avoid accidental damage, it requires two lidars (or multiple back-and-forth scans), significantly increasing cost, size, and reducing battery life. Furthermore, the laser mosquito killing device needs to immediately launch an attack via a high-power laser upon detection. The emission time of a typical high-power laser in a mosquito killer is 1-10 milliseconds. Because of the high power of these lasers, even 0.1 milliseconds of exposure to the human eye can cause significant damage. However, significantly shortening the exposure time of a laser of corresponding power (e.g., 0.03 milliseconds or even less) can greatly ensure eye safety. This necessitates an extremely rapid response mechanism capable of identification, judgment, and processing within a very short time.

[0004] Conventional identification methods, such as visual recognition, require at least 10 milliseconds, while millimeter-wave radar requires tens of milliseconds. Although lidar can detect objects in tens of microseconds per detection, it often requires multiple scans in space to determine object size. Furthermore, lidar needs to work with galvanometers to scan at different angles to identify object size. However, when emitting high-power lasers, the angle of the galvanometer is usually fixed. Therefore, it's impossible to identify the size of a target at a specific angle in real time using conventional lidar scanning methods while emitting a high-power laser. This is especially problematic outdoors or in rooms with open windows. When high-energy lasers attack mosquitoes, people suddenly rushing past at high speed (e.g., on bicycles or in cars) could be accidentally injured. Alternatively, highly reflective objects could reflect the high-energy laser, causing secondary reflections and accidental injury. Doors, windows, or passageways within the scanned area could also cause accidental injury. Therefore, conventional lidar scanning and detection safety solutions struggle to provide extremely short-time identification and emergency laser shutdown. Thus, there is an urgent need for a laser pest control method that can improve safety in these extreme situations. Summary of the Invention

[0005] To address the aforementioned problems, this invention aims to provide a safe laser mosquito-killing method using multi-echo laser recognition.

[0006] To achieve this technical objective, the present invention provides a safe laser mosquito-killing method using multi-echo laser recognition, the specific steps of which are as follows:

[0007] S1. Activate the lidar of the mosquito-killing device. The lidar performs a two-dimensional rapid scan of the designated planar area, while the receiving module receives the laser reflections from the object in real time.

[0008] S2. First, analyze the environmental background using lidar to obtain background data;

[0009] S3. Then continue scanning to acquire and analyze the laser backlight in real time to obtain real-time data;

[0010] S4. By analyzing and comparing background data and real-time data through the identification and monitoring module, the size characteristics and location of new targets in the scene are identified and security monitoring is carried out. When a new target is detected, the lidar first scans the new target and then switches to precise scanning to return to scanning. After confirming that it is a mosquito based on its size characteristics, the high-power laser is activated to attack the mosquito.

[0011] While attacking mosquitoes, the lidar continuously emits detection spots covering the high-power laser beam area to continue acquiring real-time data. If the identification and monitoring module detects an anomaly, it immediately stops the high-power laser.

[0012] Preferably, the laser radar spot has a divergence angle in at least one axis that is greater than the divergence angle of the high-power laser in that axis. The laser radar spot can effectively cover the high-power laser spot, that is, a high-speed and stable detection and early warning area is formed around the high-power laser spot. When attacking mosquitoes, once an object enters the detection and early warning area, the identification and monitoring module can immediately issue an early warning and shut down the high-power laser to prevent accidental damage.

[0013] Preferably, the identification and monitoring module can acquire background data and real-time data including the distance s between the object and the mosquito-killing device and the light intensity E of the laser backlight; the laser emitted by the lidar and the high-power laser share a small reflecting mirror and is reflected through the same galvanometer mirror.

[0014] When there is at least one s 实时 Less than s 背景min If so, it is determined that a new target has appeared in the scene;

[0015] Once the return scan is complete, the size of the new target is calculated using the angle difference Δa and the distance s, and it is determined whether the new object is a mosquito. When the new object is a mosquito, the galvanometer immediately moves to the set offset angle and activates the high-power laser to attack the mosquito.

[0016] While attacking mosquitoes, continue scanning and analyzing the currently collected real-time data. If at least one frame contains all the data... 实时 All less than s 背景min If the size of the new object is larger than the size of the scanning laser spot, that is, if there is a large object in the range other than mosquitoes, the high-power laser will immediately stop attacking.

[0017] The sampling frequency of the laser scanning radar is greater than or equal to 30,000 times, and the detection interval is less than or equal to 0.03 milliseconds; the range resolution b of the laser radar is less than or equal to 10.0 cm, and the angular resolution is 0.1°-1.5°; when the reflected signal received by the laser radar in a single scan calculates more than two different range data values, multiple echoes exist.

[0018] Preferably, when scanning the background data in step S2, multiple scans can be performed and the median or maximum value of the scan data for one cycle can be taken. The background data includes one or more of the following: the distance value and echo intensity of each laser back in the multiple echoes, and the emission intensity of the laser emitted light.

[0019] Preferably, when multiple echoes exist at angle a, and the distance S is between them... a1 and S a2 If an anomaly is found after comparison, angle 'a' is considered to be one or more of the following: a mirror area, a deep area, or an open area; S a1 and S a2 The comparison method is one or more of the following: comparison of the same set of data in a single measurement, or the difference between the maximum value, minimum value, or average value of corresponding two values ​​in several measurements, the ratio of the maximum value, minimum value, or average value, the variance of the maximum value, minimum value, or average value; a warning is issued to the user, reminding them whether to mark the area from angle a-β to angle a+γ where the high-power laser will not be activated, where β and γ are both not less than 0.1 degrees; or to directly mark the area where the high-power laser will not be activated; the above abnormal area is one or more of the following: a mirror area, a deep area, or an open area;

[0020] When S a1 and S a2 If the difference is less than or equal to the threshold, or if there is only one laser backlight data in a single scan, then the angle α is marked as the appropriate scanning area.

[0021] Preferably, by comparing the backlight intensity of the background data, if the ratio of the backlight intensity at angle a to the distance is greater than the light intensity ratio threshold or the backlight intensity at angle a is greater than a preset value within a scanning cycle, then the background position corresponding to angle a is a mirror area; a warning is issued to the user, reminding them whether to mark the area from angle a-β to angle a+γ where the high-power laser is not activated, where β and γ are both not less than 0.1 degrees; or to directly not activate the high-power laser within the range.

[0022] Preferably, in step S3, when a new target is detected during the scanning phase, multi-echo analysis is used to assist in the analysis of the high-speed object. If at least one frame of the currently acquired real-time data contains all the s... 实时 All less than s 背景min If the object's size is larger than the scanning laser spot size, then the object's size is larger than the laser spot size.

[0023] In step S3, the intensity of the laser backlight is simultaneously collected for auxiliary identification. If the backlight intensity value or the ratio of the backlight intensity to the emitted light intensity of an object within a specified distance is less than a threshold and the relevant data also matches the characteristics of a mosquito, then it is considered to be a small object such as a mosquito. If the backlight intensity of an object within a specified distance exceeds the threshold, then the object is considered to be significantly larger than a mosquito or has inconsistent reflection characteristics and does not match the size characteristics of a mosquito. At the same time, in an open area without obstructions, because there is no background laser backlight, the lidar will only generate one laser backlight when it identifies a new object. The accuracy and security of identification are improved by using the backlight intensity for auxiliary identification.

[0024] As a preferred method, the echo intensity of multiple echoes is collected simultaneously for auxiliary comparison. When an object appears between the device and the background without completely blocking the laser radar spot, the data of the echo with a larger distance s value generally comes from the background. When an object larger than a mosquito enters the range, it will block more of the laser radar spot, resulting in a reduction in the laser energy falling on the background. The echo intensity of the echo with a larger distance s value will be lower than the threshold, and it is considered that a large object has entered the target area. At this time, the attack laser will not be emitted or the attack laser will be terminated.

[0025] Preferably, the divergence angle of the emitted laser of the lidar in the current reciprocating motion direction of the galvanometer is larger than the divergence angle in the direction perpendicular to the scanning plane, and is also larger than the divergence angle of a high-power laser in that direction.

[0026] The beneficial effects of this invention are that it can precisely control the irradiation time of a high-power laser, which can greatly shorten the irradiation time when danger is encountered, and the response time is less than or equal to 0.03 milliseconds, which can fully ensure the safety of the human eye. Compared with conventional recognition methods, such as visual recognition, which requires at least 10 milliseconds and millimeter-wave radar, which requires tens of milliseconds, the method of this application is safer, has a faster response speed, and higher safety performance. Attached Figure Description

[0027] Figure 1 This is a flowchart of the present invention. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0029] like Figure 1 As shown, a specific embodiment of the present invention is a safe laser mosquito-killing method using multi-echo laser recognition, and the specific steps are as follows:

[0030] S101. Activate the lidar of the mosquito killing device. The lidar performs a two-dimensional rapid scan of the designated planar area, while the receiving module receives the laser reflections from the object in real time.

[0031] S102. First, analyze the environmental background using lidar to obtain background data. When scanning the background data, multiple scans can be performed, and the median or maximum value of a cycle of scan data can be taken. The background data includes one or more of the following: the distance value and echo intensity of each laser backlight in the multiple echoes, and the emission intensity of the laser emitted light. When multiple echoes exist at angle 'a', and the distance S... a1 and S a2 If an anomaly is found after comparison, angle 'a' is considered to be one or more of the following: a mirror area, a deep area, or an open area; S a1 and S a2 The comparison method is one or more of the following: comparison of the same set of data in a single measurement, or the difference between the maximum value, minimum value, or average value of corresponding two values ​​in several measurements, the ratio of the maximum value, minimum value, or average value, the variance of the maximum value, minimum value, or average value; a warning is issued to the user, reminding them whether to mark the area from angle a-β to angle a+γ where the high-power laser will not be activated, where β and γ are both not less than 0.1 degrees; or to directly mark the area where the high-power laser will not be activated; the above abnormal area is one or more of the following: a mirror area, a deep area, or an open area;

[0032] When S a1 and S a2If the difference is less than or equal to the threshold, or if there is only one laser backlight data in a single scan, then the angle α is marked as the appropriate scanning area.

[0033] S103. Then continue scanning, acquiring and analyzing laser echoes in real time to obtain real-time data; when a new target is detected during the scanning phase, multi-echo analysis is used to assist in the analysis of high-speed objects. If at least one frame of the currently acquired real-time data contains all the S103 laser echoes, the analysis will be performed. 实时 All less than s 背景min If the object's size is larger than the scanning laser spot size, then the object's size is larger than the laser spot size.

[0034] Multi-echo analysis during scanning can better reduce misidentification and prevent accidental injury, especially for high-speed targets, such as birds flying by at high speed or pedestrians riding electric bikes at high speed. For example, when vision or other larger-scale recognition methods fail, high-speed targets (people or birds, etc.) can only be identified when they enter the scanning range of the lidar. Furthermore, because human hair, glasses, or eyelashes are relatively small in a single dimension, lidar's single-distance and size detection might mistake these objects for mosquitoes. Glasses can be identified through multi-dimensional recognition, such as the intensity of background light. Without multi-echo analysis, other features that match mosquito characteristics could lead to high-power laser beams hitting the glasses, and the reflected light from the lenses and frames could directly damage the eyes. Hair and eyelashes, if misidentified as mosquitoes, pose a significant risk due to their proximity to the glasses. Multi-echo analysis not only more effectively avoids misidentification but also ensures that even if misidentification occurs, the lidar spot detects the high-power laser beam in advance when the human eye approaches its speed, interrupting the emission in time to prevent injury.

[0035] By comparing the backlight intensity of the background data, if the ratio of the backlight intensity at angle a to the distance is greater than the light intensity ratio threshold within a scanning cycle, or if the backlight intensity at angle a is greater than a preset value (when it is a mirror, the intensity of direct backlight will be very high, significantly higher than the backlight intensity of other areas of the background), then the background position corresponding to angle a is a mirror area; a warning is issued to the user, reminding them whether to mark the area from angle a-β to angle a+γ where the high-power laser will not be activated, where β and γ are both not less than 0.1 degrees; or to directly mark the area where the high-power laser will not be activated.

[0036] Simultaneously, the intensity of the laser backlight is collected for auxiliary identification. If the backlight intensity value or the ratio of backlight intensity to emitted light intensity of an object within a specified distance is less than a threshold, and the relevant data (the portion of the laser spot larger than the mosquito will illuminate the background, and the data of the laser backlight excluding the mosquito matches the background data) also matches the characteristics of a mosquito, then it is considered a small object such as a mosquito. If the backlight intensity of an object within a specified distance exceeds the threshold, then the object is considered to be significantly larger than a mosquito or has inconsistent reflection characteristics, and does not match the size characteristics of a mosquito. At the same time, in open areas without obstructions, because there is no background laser backlight, the lidar will only generate one laser backlight when it identifies a new object. The accuracy and security of identification are improved by using backlight intensity for auxiliary identification.

[0037] S104. By analyzing and comparing background data and real-time data through the identification and monitoring module, the size characteristics and location of new targets in the scene are identified and security monitoring is carried out. When a new target is detected, the lidar first scans the new target and then switches to precise scanning to return to scanning. After confirming that it is a mosquito based on its size characteristics, the high-power laser is activated to attack the mosquito.

[0038] S105. While attacking mosquitoes, the lidar continuously emits a detection spot covering the high-power laser beam area to acquire real-time data. If the identification and monitoring module detects an anomaly, it immediately stops the high-power laser. The lidar beam has a divergence angle greater than that of the high-power laser in at least one axis. The lidar beam effectively covers the high-power laser beam, forming a high-speed and stable detection and warning area around the high-power laser beam. When attacking mosquitoes, if any object enters this detection and warning area, the identification and monitoring module can immediately issue a warning and shut down the high-power laser to prevent accidental injury.

[0039] The specific identification and judgment process is as follows: The identification and monitoring module can acquire background data and real-time data, including the distance s between the object and the mosquito-killing device and the light intensity E of the laser backlight; the laser emitted by the lidar and the high-power laser share a small reflecting mirror and is reflected through the same galvanometer mirror.

[0040] When there is at least one s 实时 Less than s 背景min (To avoid misjudgment, when the distance resolution is b, s) 实时 +b must also be less than s 背景min If the target appears, then a new target is determined to have appeared in the scene.

[0041] Once the return scan is complete, the size of the new target is calculated using the angle difference Δa and the distance s, and it is determined whether the new object is a mosquito. When the new object is a mosquito, the galvanometer immediately moves to the set offset angle and activates the high-power laser to attack the mosquito.

[0042] While attacking mosquitoes, continue scanning and analyzing the currently collected real-time data (each data collection contains multiple frames). If at least one frame contains all the data... 实时 All less than s 背景min If the size of the new object is larger than the size of the scanning laser spot (for example, if a bird flying at high speed is detected, the bird is large and will completely block the spot of light directed at the background), that is, if there is a large object in the range other than mosquitoes, the high-power laser will immediately stop attacking.

[0043] The sampling frequency of the laser scanning radar is greater than or equal to 30,000 times, and the detection interval is less than or equal to 0.03 milliseconds; the range resolution b of the laser radar is less than or equal to 10.0 cm, and the angular resolution is 0.1°-1.5°; when the reflected signal received by the laser radar in a single scan calculates more than two different range data values, multiple echoes exist.

[0044] Simultaneously, the echo intensity of multiple echoes is collected for auxiliary comparison. When an object appears between the device and the background without completely blocking the laser radar spot, the data of the echo with a larger distance s value generally comes from the background. When an object larger than a mosquito enters the range, it will block more of the laser radar spot, resulting in a reduction in the laser energy falling on the background. The echo intensity of the echo with a larger distance s value will be lower than the threshold, and it is considered that a large object has entered the target area. At this time, the attack laser will not be emitted or the attack laser will be terminated.

[0045] The laser emitting module, laser receiving module, and high-power laser of the lidar have completely overlapping optical paths. The lasers emitted by the lidar's emitting module and the high-power laser share a small reflecting mirror and are reflected by the same galvanometer. The divergence angle of the lidar's emitted laser in the current galvanometer reciprocating motion direction is larger than the divergence angle in the direction perpendicular to the scanning plane, and also larger than the divergence angle of the high-power laser in that direction.

[0046] In an open area without obstructions, the lidar only generates one echo (laser backlight) when it detects a new object. At this point, the intensity of the backlight is compared with that of the lidar. If the backlight intensity of an object within a specified distance is less than a light intensity threshold and its size matches the characteristics of a mosquito, it is considered a small object such as a mosquito. If the backlight intensity of an object within a specified distance exceeds the light intensity threshold, it is considered to be significantly larger than a mosquito and does not match the size characteristics of a mosquito. Because the lidar returns back the backlight intensity data from each detection, this identification method can also make judgments and ensure safe identification in a very short time.

[0047] During the precise scanning phase, multiple echoes and backlight intensity analysis are used in conjunction. When a new object is detected during the scanning phase and the secondary echo and / or backlight intensity characteristics meet the requirements, the new object is considered to be a mosquito. At this point, the laser radar spot immediately returns at a lower frequency to re-detect the object after it has just passed over it. When the new object is detected again for the first time or after a certain number of consecutive detections, it immediately continues to advance at high speed for a specific angle, which is considered to be the center area of ​​the new object. At this location, a high-power laser is activated to emit a high-power laser beam to eliminate the mosquito. Traditional lidar methods for accurately identifying mosquito size and location require dozens or even hundreds of scans to precisely scan the area where the mosquito target is located. This precise identification stage takes at least 1 millisecond, while the time it takes for a mosquito to fly across the entire scan area is only a few to tens of milliseconds. Therefore, to identify the precise location of mosquitoes faster and more efficiently, secondary echo and / or backlight intensity analysis can be used in the precise identification stage. This eliminates the need to completely scan the entire target area (this method is more accurate and efficient than the traditional coarse scan identification, and is less prone to false triggers and missed targets). After the target object is detected in the coarse scan stage and the secondary echo and backlight intensity meet the requirements, the lidar spot immediately returns to detect the object at a lower frequency (i.e., a slower scanning speed) as soon as it passes over the object. When the object is detected again for the first time, it immediately continues to advance at high speed for a specific angle (approximately half the divergence angle of the lidar spot in the scanning direction). This position is considered the center of the target, and a high-power laser beam is emitted at this position to kill the mosquito. Simultaneously, during the movement to the designated location and the firing of the high-power laser, continuous lidar detection is maintained to ensure that the secondary echo and return light intensity meet requirements. If any signal fails to meet the requirements, the firing or identification process is terminated. This method can reduce target identification by approximately 50-100 scans compared to traditional methods that precisely scan the target, saving about 1 millisecond of scanning time. This allows for faster target identification and provides more time for subsequent high-power laser firing, resulting in a better elimination effect.

[0048] The laser mosquito-killing device of this application uses a laser scanning radar with a moderately sized scanning spot within a designated scanning area. Within the effective working distance, the laser spot is larger than the size of a typical mosquito but smaller than the size of a human face, preferably 4-100mm. Since the scanning laser is divergent, this is the range of spot size within the entire effective working range of the device. When the laser scanning spot illuminates a typical mosquito, a portion of the spot will fall behind the mosquito because it exceeds the mosquito's size. When this portion of the light falls on a background object at a certain distance, a second echo is generated, i.e., a second distance feedback value. Similarly, when this scanning spot illuminates a human face, because it is smaller than the face, there will always be instances during the scanning process where the scanning spot falls entirely on the face without generating a second echo.

[0049] Therefore, in indoor environments with a physical background, if a mosquito is in the detection area and its distance from the background is greater than the minimum resolvable distance of the secondary echo, then each detection of the mosquito should yield at least two distinct valid values: the first representing the mosquito's distance, and the second representing the background distance. If any detection yields only one echo distance value smaller than the background value, the detected object is determined to be significantly larger than the mosquito. For safety reasons, further identification and aiming are discontinued, and the device continues scanning at a fixed angle. When each detection yields two valid values, the device performs a preliminary scan and a precise scan, as described in our previous patent application, ultimately accurately locating and firing the object. During this process, if any scan yields only one non-background distance value, a large object is detected, and the locking and identification process is terminated.

[0050] At the same time, unlike conventional laser mosquito-killing devices, this device keeps the lidar detection active while firing a high-power laser to shoot mosquitoes. In the presence of a physical background, the device needs to ensure that each detection has two different valid values. If any detection only has one non-background value, the high-power laser will be stopped immediately. Because the lidar sampling frequency can be as high as 30,000 times or even higher, the interval between each detection can be less than 0.03 milliseconds. This means that the laser can stop firing in about 0.03 milliseconds, and such a short irradiation time is sufficient to ensure the safety of human eyes to the greatest extent.

[0051] In scenarios with numerous mirrored surfaces, the background may be highly reflective materials such as glass or tiles. Laser light can cause specular reflection or transmission on these surfaces, potentially causing accidental eye injury to people or animals through mirror reflection or transmission. By using a multi-echo lidar, a sensitive lidar will generate a distance value even when illuminating glass. This distance value will be generated again when the laser light shines on another surface through specular reflection or transmission. With proper methods, these mirrored backgrounds can be accurately identified and safely avoided, reducing accidental injury. This method can also promptly identify and avoid areas with mirrored backgrounds in the scene, lowering the probability of injury. Furthermore, when the device begins its initial scan, if the returned background distance values ​​generate numerous multi-echo values ​​with varying values ​​(for example, an initial scan typically yields 100 values, and more than 10 of these generate multi-echo values ​​with different values, indicating a mirrored background), the device will issue a warning or cease operation. Otherwise, it will continue normal operation.

[0052] This application can precisely control the irradiation time of a high-power laser, which can greatly shorten the irradiation time (response time less than or equal to 0.03 milliseconds) when encountering danger, thus fully ensuring the safety of the human eye. Compared with conventional recognition methods, such as visual recognition which requires at least 10 milliseconds and millimeter-wave radar which requires tens of milliseconds, although lidar can detect objects in tens of microseconds each time, lidar often needs to scan the space multiple times to identify the size of the object. Therefore, conventional lidar scanning and detection safety solutions are difficult to achieve extremely short-time identification and judgment and emergency laser shutdown to avoid safety in extreme situations.

[0053] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any minor modifications, equivalent substitutions, and improvements made to the above embodiments based on the technical essence of the present invention should be included within the protection scope of the present invention.

Claims

1. A safe laser mosquito-killing method using multi-echo laser recognition, characterized in that, The specific steps are as follows: S1. Activate the lidar of the mosquito-killing device. The lidar performs a two-dimensional rapid scan of the designated planar area, while the receiving module receives the laser reflections from the object in real time. S2. First, analyze the environmental background using lidar to obtain background data; S3. Then continue scanning to acquire and analyze the laser backlight in real time to obtain real-time data; S4. By analyzing and comparing background data and real-time data through the identification and monitoring module, the size characteristics and location of new targets in the scene are identified and security monitoring is carried out. When a new target is detected, the lidar first scans the new target and then switches to precise scanning to return to scanning. After confirming that it is a mosquito based on its size characteristics, the high-power laser is activated to attack the mosquito. While attacking mosquitoes, the lidar continuously emits detection spots covering the high-power laser beam area to continue acquiring real-time data. If the identification and monitoring module detects an anomaly, it immediately stops the high-power laser.

2. The safe laser mosquito-killing method using multi-echo laser recognition according to claim 1, characterized in that, The laser radar spot has a divergence angle greater than that of the high-power laser in at least one axis. The laser radar spot can effectively cover the high-power laser spot, forming a high-speed and stable detection and early warning area around the high-power laser spot. When attacking mosquitoes, once an object enters the detection and early warning area, the identification and monitoring module can immediately issue an early warning and shut down the high-power laser to prevent accidental damage.

3. The safe laser mosquito-killing method using multi-echo laser recognition according to claim 1, characterized in that, The identification and monitoring module can acquire background data and real-time data including the distance s between the object and the mosquito-killing device and the intensity E of the laser backlight; the laser emitted by the lidar and the high-power laser share a small reflecting mirror and is reflected through the same galvanometer mirror. When there is at least one s 实时 Less than s 背景min If so, it is determined that a new target has appeared in the scene; Once the return scan is complete, the size of the new target is calculated using the angle difference Δa and the distance s, and it is determined whether the new object is a mosquito. When the new object is a mosquito, the galvanometer immediately moves to the set offset angle and activates the high-power laser to attack the mosquito. While attacking mosquitoes, continue scanning and analyzing the currently collected real-time data. If at least one frame contains all the data... 实时 All less than s 背景min If the size of the new object is larger than the size of the scanning laser spot, that is, if there is a large object in the range other than mosquitoes, the high-power laser will immediately stop attacking. The sampling frequency of the laser scanning radar is greater than or equal to 30,000 times, and the detection interval is less than or equal to 0.03 milliseconds; the range resolution b of the laser radar is less than or equal to 10.0 cm, and the angular resolution is 0.1°-1.5°; when the reflected signal received by the laser radar in a single scan calculates more than two different range data values, multiple echoes exist.

4. The safe laser mosquito-killing method using multi-echo laser recognition according to claim 3, characterized in that, In step S2, when scanning the background data, multiple scans can be performed and the median or maximum value of the scan data for one cycle can be taken. The background data includes one or more of the following: the distance value and echo intensity of each laser back in the multiple echoes, and the emission intensity of the laser emitted light.

5. The safe laser mosquito-killing method using multi-echo laser recognition according to claim 3, characterized in that, When there are multiple echoes at angle a, and the distance between them is S a1 and S a2 If an anomaly is found after comparison, angle 'a' is considered to be one or more of the following: a mirror area, a deep area, or an open area; S a1 and S a2 The comparison method is one or more of the following: comparison of the same set of data in a single measurement, or the difference between the maximum value, minimum value, or average value of corresponding two values ​​in several measurements, the ratio of the maximum value, minimum value, or average value, the variance of the maximum value, minimum value, or average value; a warning is issued to the user, reminding them whether to mark the area from angle a-β to angle a+γ where the high-power laser will not be activated, where β and γ are both not less than 0.1 degrees; or to directly mark the area where the high-power laser will not be activated; the above abnormal area is one or more of the following: a mirror area, a deep area, or an open area; When S a1 and S a2 If the difference is less than or equal to the threshold, or if there is only one laser backlight data in a single scan, then the angle α is marked as the appropriate scanning area.

6. The safe laser mosquito-killing method using multi-echo laser recognition according to claim 3, characterized in that, By comparing the backlight intensity of the background data, if the ratio of the backlight intensity at angle a to the distance is greater than the light intensity ratio threshold or the backlight intensity at angle a is greater than a preset value within a scanning cycle, then the background position corresponding to angle a is a mirror area; a warning is issued to the user, reminding them whether to mark the area from angle a-β to angle a+γ where the high-power laser is not activated, where β and γ are both not less than 0.1 degrees; or to directly mark the area where the high-power laser is not activated.

7. The safe laser mosquito-killing method using multi-echo laser recognition according to claim 3, characterized in that, In step S3, when a new target is detected during the scanning phase, multi-echo analysis is used to assist in the analysis of the high-speed object. If at least one frame of the currently acquired real-time data contains all the s... 实时 All less than s 背景min If the object's size is larger than the scanning laser spot size, then the object's size is larger than the laser spot size. In step S3, the intensity of the laser backlight is simultaneously collected for auxiliary identification. If the backlight intensity value or the ratio of the backlight intensity to the emitted light intensity of an object within a specified distance is less than a threshold and the relevant data also matches the characteristics of a mosquito, then it is considered to be a small object such as a mosquito. If the backlight intensity of an object within a specified distance exceeds the threshold, then the object is considered to be significantly larger than a mosquito or has inconsistent reflection characteristics and does not match the size characteristics of a mosquito. At the same time, in an open area without obstructions, because there is no background laser backlight, the lidar will only generate one laser backlight when it identifies a new object. The accuracy and security of identification are improved by using the backlight intensity for auxiliary identification.

8. The safe laser mosquito-killing method using multi-echo laser recognition according to claim 7, characterized in that, Simultaneously, the echo intensity of multiple echoes is collected for auxiliary comparison. When an object appears between the device and the background without completely blocking the laser radar spot, the data of the echo with a larger distance s value generally comes from the background. When an object larger than a mosquito enters the range, it will block more of the laser radar spot, resulting in a reduction in the laser energy falling on the background. The echo intensity of the echo with a larger distance s value will be lower than the threshold, and it is considered that a large object has entered the target area. At this time, the attack laser will not be emitted or the attack laser will be terminated.

9. The safe laser mosquito-killing method using multi-echo laser recognition according to claim 3, characterized in that, The divergence angle of the emitted laser from the lidar in the current reciprocating motion direction of the galvanometer is larger than the divergence angle in the direction perpendicular to the scanning plane, and is also larger than the divergence angle of a high-power laser in that direction.

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