Infrared biological detection radar module and detection method, device, equipment and medium thereof

Abstract

The embodiment of the invention provides an infrared biological detection radar module, a detection method and device thereof, equipment and a medium. The infrared biological detection radar module comprises a housing, which is provided with an infrared perspective window which is installed in an inclined manner; the static sensing assembly comprises an infrared emission array and a receiving array, a collimated infrared light beam emitted by the infrared emission array is deflected by the polyhedral rotary reflection assembly and then penetrates out of the infrared anti-reflection window to form a scanning light beam, and an echo signal is reflected by the same reflection surface and then returns to the receiving array; the polyhedral rotary reflection assembly enables emergent light beams to generate layered jumping in the vertical direction in the horizontal rotation process, and a multi-layer stacked three-dimensional scanning field is formed; the driving motor is used for driving the polyhedral rotary reflection assembly to rotate; and the zero position sensor is used for providing a rotating reference datum position. Based on this, the embodiment of the invention can realize three-dimensional space detection under the condition of compact volume, does not need to configure a conductive slip ring, and can accurately identify a tiny biological target.

Description

Technical Field

[0001] This invention relates to the field of radar detection technology, and in particular to an infrared biological detection radar module and its detection method, device, equipment and medium. Background Technology

[0002] Real-time detection and precise location of tiny flying organisms such as mosquitoes are critical technological challenges that urgently need to be addressed in applications such as intelligent environmental monitoring, mobile pest control robots, and modern agricultural pest management. However, existing technologies generally have limitations in achieving this goal.

[0003] While traditional passive infrared (PIR) detection technology is simple in structure and low in cost, its working principle only detects the presence of heat source movement within the detection area, failing to provide spatial coordinate information such as the target's distance and orientation. Therefore, it struggles to support precise targeted pest control or spatial positioning tasks. Furthermore, this technology is highly sensitive to environmental temperature fluctuations and non-radiative thermal disturbances (such as airflow and direct sunlight), resulting in a high false alarm rate and insufficient stability. In addition, the Fresnel lens focal length of PIR sensors is typically designed for human-scale targets; for tiny targets such as mosquitoes with wingspans of only 5-20 mm, the radiation cross-section is insufficient to trigger an effective response, fundamentally limiting its application in precise insect infestation monitoring. In contrast, active infrared beam or reflective systems offer improved detection stability, but typically only construct one-dimensional point or linear warning areas. Achieving effective area coverage often requires deploying a large number of sensor units, resulting in complex and bulky systems that still struggle to obtain accurate three-dimensional spatial coordinate information. Neither of the above two types of technologies has been specifically optimized for tiny flying biological targets with wingspans in the range of 5 to 20 mm, and thus has inherent limitations in terms of target size adaptability.

[0004] Currently, the most mature technology for spatial point cloud acquisition is mechanical rotating lidar (LiDAR). However, mechanical rotating lidar typically employs an architecture where the entire optoelectronic module rotates. This type of system usually achieves circumferential scanning by rotating the entire optoelectronic module, which includes both transmitting and receiving units, 360°. However, this architecture has significant inherent drawbacks. First, to achieve power and signal transmission between the rotating part and the stationary base, a conductive slip ring structure is necessary. Since slip rings operate based on physical frictional contact, wear is unavoidable, severely limiting the system's lifespan. In engineering practice, the mean time between failures (MTBF) of rotating lidar with conductive slip rings is typically between 1000 and 3000 hours, far lower than the over 10000 hours of solid-state solutions, and may introduce electrical noise that interferes with the detection of weak echo signals. Second, the rotation of the entire optoelectronic module introduces a large moment of inertia, which is detrimental to system miniaturization and places higher demands on the performance of motors and bearings. More importantly, for tiny targets such as mosquitoes, their radar cross section (RCS) is only on the order of -30 dBm², and the echo signal is extremely weak. Under the combined influence of rotational vibration (axial amplitude can reach tens of micrometers) and centrifugal force (when the rotation radius is 50 mm and the rotation speed is 3000 rpm, the centrifugal acceleration at the end is about 500 g), the optical path collimation accuracy is difficult to stabilize at the micro-arc level, and the signal-to-noise ratio is therefore difficult to meet the requirements for effective detection. Summary of the Invention

[0005] This invention provides an infrared biological detection radar module and its detection method, device, equipment and medium, which can achieve three-dimensional spatial detection capability under compact size conditions, without the need for the conductive slip rings relied upon by traditional mechanical radar, and can accurately identify tiny biological targets.

[0006] In a first aspect, embodiments of the present invention provide an infrared biological detection radar module, comprising: The housing has an inclined infrared enhancement window so that the specular reflection light from the surface of the infrared enhancement window deviates from the direction of the receiving optical axis. A static sensing component is fixedly installed on the inner wall of the housing. The static sensing component includes an infrared emitting array and a receiving array, which are arranged side by side on the same side of the inner wall of the housing. An opaque partition is provided between the infrared emitting array and the receiving array. The collimated infrared beam emitted by the infrared emitting array is deflected by a polyhedral rotating reflector and passes through the infrared enhancement window to form a scanning beam. The echo signal is reflected back to the receiving array by the same reflective surface. A polyhedral rotating reflector is located on the central axis of the housing. The polyhedral rotating reflector has multiple reflective surfaces, and at least some of the adjacent reflective surfaces have different angles with the corresponding rotation axis of the polyhedral rotating reflector. This allows the emitted light beam to undergo layered transitions in the vertical direction during horizontal rotation, forming a multi-layered superimposed three-dimensional scanning field. A drive motor is used to drive the polyhedral rotating reflector assembly to rotate. A zero-position sensor is used to provide a rotational reference position for the polyhedral rotating reflector assembly; The control unit is used to perform pulse width and signal intensity feature analysis on the echo signal and match it with a preset biometric template to filter and output the three-dimensional spatial coordinates of valid targets.

[0007] In some embodiments, the polyhedral rotating reflective assembly further includes a dynamic balancing structure disposed in the non-optical functional area of ​​the reflective surface, which, through mass compensation or de-weighting, makes the center of mass of rotation of the polyhedral rotating reflective assembly coincide with the central axis.

[0008] In some embodiments, the infrared emitting array is a vertical cavity surface-emitting laser array, and the receiving array is an avalanche photodiode array or a single-photon avalanche diode array.

[0009] In some embodiments, a collimating emission lens is installed in front of the infrared emission array, and a collimating receiving lens is installed in front of the receiving array. The emission optical axis of the infrared emission array is parallel to the receiving optical axis of the receiving array, so that the emission optical axis and the receiving optical axis form a quasi-coaxial optical path arrangement.

[0010] In some embodiments, the number of reflective surfaces of the polyhedral rotating reflective component is N, and the tilt angles of each reflective surface relative to the rotation axis are arranged in a preset cyclic sequence so that the polyhedral rotating reflective component generates N scanning layers with different pitch angles during one horizontal rotation, wherein N≥3.

[0011] Secondly, embodiments of the present invention also provide a detection method for an infrared biological detection radar module, applied to the infrared biological detection radar module as described in the first aspect, the method comprising: A rotational reference datum is established using the zero-position sensor; The infrared emitting array continuously emits pulsed lasers, which are deflected by the polyhedral rotating reflector to form a multi-layer three-dimensional scan in the target space. The receiver array acquires echo signals and records the arrival timestamp of each valid echo signal relative to the rotating reference. Based on the mapping relationship between the arrival timestamp and the rotation phase of the drive motor, the horizontal azimuth angle of the target and the corresponding vertical level coordinates are calculated, and the target distance is calculated according to the flight time, wherein the flight time is the time difference between the emission time of each pulse laser emitted by the infrared emitting array and the arrival time of the echo signal. The pulse width and signal intensity characteristics of the echo signal are analyzed and matched with a preset biometric template to filter and output the three-dimensional spatial coordinates of the effective target.

[0012] In some embodiments, the method further includes: High-frequency modulation feature extraction is performed on the echo signal to obtain the signal amplitude fluctuation features; The confidence level of the target flying organism is determined based on the signal amplitude fluctuation characteristics.

[0013] Thirdly, embodiments of the present invention also provide a detection device, comprising: The reference establishment module is used to establish a rotational reference reference through a zero-position sensor; The pulse scanning module is used to continuously emit pulsed laser through an infrared emitting array, which is deflected by a multi-faceted rotating reflector component to form a multi-layer three-dimensional scan in the target space. The signal acquisition module is used to acquire echo signals through the receiving array and record the arrival timestamp of each valid echo signal relative to the rotating reference reference. The spatial calculation module is used to calculate the horizontal azimuth angle and the corresponding vertical level coordinates of the target based on the mapping relationship between the arrival timestamp and the rotation phase of the drive motor, and to calculate the target distance based on the flight time, wherein the flight time is the time difference between the emission time of each pulse laser emitted by the infrared emitting array and the arrival time of the echo signal. The feature recognition module is used to perform pulse width and signal intensity feature analysis on the echo signal and match it with the preset biometric template to filter and output the three-dimensional spatial coordinates of the effective target.

[0014] Fourthly, embodiments of the present invention also provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the detection method of the infrared biological detection radar module as described in the second aspect.

[0015] Fifthly, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions for performing the detection method of the infrared biodetection radar module as described in the second aspect.

[0016] According to embodiments of the present invention, an infrared biological detection radar module and its detection method, apparatus, device, and medium are provided. The infrared biological detection radar module includes: a housing with an inclined infrared enhancement window so that the specular reflection light from the surface of the infrared enhancement window deviates from the direction of the receiving optical axis; and a static sensing component fixedly disposed on the inner wall of the housing, comprising an infrared emitting array and a receiving array, the infrared emitting array and the receiving array being arranged side-by-side on the same side of the inner wall of the housing, with an opaque partition between the infrared emitting array and the receiving array; wherein, the collimated infrared beam emitted by the infrared emitting array is deflected by a polyhedral rotating reflector and passes through the infrared enhancement window to form a scanning beam, and the echo signal is reflected by the same reflective surface... The system includes a receiving array; a polyhedral rotating reflector located on the central axis of the housing, which has multiple reflective surfaces, with at least some adjacent reflective surfaces having different angles with their corresponding rotation axes. This allows the emitted beam to undergo layered transitions in the vertical direction during horizontal rotation, forming a multi-layered, superimposed three-dimensional scanning field; a drive motor to rotate the polyhedral rotating reflector; a zero-position sensor to provide a rotational reference position for the polyhedral rotating reflector; and a control unit to analyze the pulse width and signal intensity characteristics of the echo signal and match it with a preset biometric template to filter and output the three-dimensional spatial coordinates of valid targets. In other words, at the detection structure level, this invention fixes the active optoelectronic devices, such as the infrared emitting and receiving arrays, inside the housing, keeping them stationary, and only sets a passive polyhedral rotating reflector on the central axis for beam deflection, thus constructing a decoupled detection architecture of "static optoelectronics and optical deflection." Through this topology reconstruction, the system eliminates the need to supply power or transmit signals to the rotating parts via conductive slip rings, fundamentally eliminating the lifespan bottleneck of traditional mechanical radar and significantly improving structural reliability and signal stability. The transmitting and receiving optical paths are arranged in a quasi-coaxial structure, maintaining long-range coverage while avoiding self-interference issues inherent in strictly coaxial structures, and significantly reducing the geometric blind zone generated by bistatic structures in close-range areas. The polyhedral rotating reflector employs a polyhedral reflective structure with spatial coding characteristics. Multiple reflective surfaces in this structure have preset and different tilt angles relative to the rotation axis. As the reflective surfaces rotate continuously in the horizontal direction, reflective surfaces with different tilt angles enter the optical path sequentially, causing the outgoing beam to undergo layered transitions in the vertical direction, ultimately forming a multi-layered superimposed three-dimensional scanning field. This design transforms tilt angle differences into a spatial coding method, enabling three-dimensional coverage to be achieved with a single horizontal rotation drive, without the need for additional elevation mechanisms or complex optical systems.

[0017] Furthermore, the detection method of the infrared bio-detection radar module includes: establishing a rotating reference base using a null sensor; continuously emitting pulsed lasers through an infrared emitting array, which are deflected by a polyhedral rotating reflector component to form a multi-layered three-dimensional scan within the target space; acquiring target echoes through a receiving array and recording the arrival timestamp of each valid echo relative to the rotating reference base; calculating the target's horizontal azimuth and corresponding vertical level coordinates based on the mapping relationship between the arrival timestamps and the rotation phase of the drive motor, and calculating the target distance based on the flight time, where the flight time is the time difference between the emission time of each pulsed laser emitted by the infrared emitting array and the arrival time of the echo; performing pulse width and signal strength feature analysis on the echo signal and matching it with a preset biometric template to filter and output the three-dimensional spatial coordinates of valid targets. In other words, at the detection method level, this invention employs a high-precision spatiotemporal synchronization mechanism, establishing a rotating reference base using a null sensor, time-marking each echo signal, accurately mapping time-domain information to the target's horizontal azimuth and vertical level coordinates, and calculating the target distance by combining the flight time, thereby obtaining complete three-dimensional spatial coordinates. Furthermore, by using a pulse width and signal strength feature matching algorithm, the echo signals are initially screened at the hardware level to retain effective targets that conform to the biological characteristics of mosquitoes, thereby suppressing environmental noise interference at the source and improving detection confidence.

[0018] Based on this, the embodiments of the present invention can achieve three-dimensional spatial detection capability under compact volume conditions, without the need for the conductive slip rings relied upon by traditional mechanical radar, and can accurately identify tiny biological targets. Attached Figure Description

[0019] Figure 1A This is a three-dimensional structural schematic diagram of an infrared biological detection radar module provided in one embodiment of the present invention; Figure 1B This is a side view of an infrared biological detection radar module provided in one embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a static sensing component provided in one embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a polyhedral rotating reflective assembly provided in one embodiment of the present invention; Figure 4 This is a flowchart of a detection method for an infrared biological detection radar module provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a detection device provided in one embodiment of the present invention; Figure 6 This is a schematic diagram of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0021] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the following drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0022] In this embodiment of the invention, the terms "furthermore," "exemplarily," or "optionally" are used as examples, illustrations, or descriptions and should not be construed as being more preferred or advantageous than other embodiments or designs. The use of the terms "furthermore," "exemplarily," or "optionally" is intended to present the relevant concepts in a specific manner.

[0023] To facilitate a more convenient description of the working principle of the embodiments of the present invention, the following introduction of relevant technical scenarios is given first.

[0024] Currently, the most mature technology for spatial point cloud acquisition is mechanical rotating lidar (LiDAR). However, mechanical rotating lidar typically employs an architecture where the entire optoelectronic module rotates. This type of system usually achieves circumferential scanning by rotating the entire optoelectronic module, which includes both transmitting and receiving units, 360°. However, this architecture has significant inherent drawbacks. First, to achieve power and signal transmission between the rotating part and the stationary base, a conductive slip ring structure is necessary. Since slip rings operate based on physical frictional contact, wear is unavoidable, severely limiting the system's lifespan. In engineering practice, the mean time between failures (MTBF) of rotating lidar with conductive slip rings is typically between 1000 and 3000 hours, far lower than the over 10000 hours of solid-state solutions, and may introduce electrical noise that interferes with the detection of weak echo signals. Second, the rotation of the entire optoelectronic module introduces a large moment of inertia, which is detrimental to system miniaturization and places higher demands on the performance of motors and bearings. More importantly, for tiny targets such as mosquitoes, their radar cross section (RCS) is only on the order of -30 dBm², and the echo signal is extremely weak. Under the combined influence of rotational vibration (axial amplitude can reach tens of micrometers) and centrifugal force (when the rotation radius is 50 mm and the rotation speed is 3000 rpm, the centrifugal acceleration at the end is about 500 g), the optical path collimation accuracy is difficult to stabilize at the micro-arc level, and the signal-to-noise ratio is therefore difficult to meet the requirements for effective detection.

[0025] Based on this, the present invention provides an infrared biological detection radar module and its detection method, device, equipment, and medium. The infrared biological detection radar module includes: a housing with an inclined infrared enhancement window to deflect the specular reflection light from the window surface away from the receiving optical axis; a static sensing component fixedly disposed on the inner wall of the housing, comprising an infrared emitting array and a receiving array, the two arrays being arranged side-by-side on the same side of the inner wall of the housing, with an opaque partition between them; wherein, the collimated infrared beam emitted by the infrared emitting array is deflected by a polyhedral rotating reflector and passes through the infrared enhancement window to form a scanning beam, and the echo signal is reflected back to the receiving array via the same reflective surface; the polyhedral rotating reflector is located... On the central axis of the housing, a polyhedral rotating reflector has multiple reflective surfaces, and at least some adjacent reflective surfaces have different angles with the corresponding rotation axis of the polyhedral rotating reflector. This allows the emitted beam to undergo layered transitions in the vertical direction during horizontal rotation, forming a multi-layered, superimposed three-dimensional scanning field. A drive motor is used to drive the rotation of the polyhedral rotating reflector. A zero-position sensor provides a rotational reference position for the polyhedral rotating reflector. A control unit analyzes the pulse width and signal intensity characteristics of the echo signal and matches it with a preset biometric template to filter and output the three-dimensional spatial coordinates of valid targets. In other words, at the detection structure level, this invention fixes the active optoelectronic devices, such as the infrared emitting array and receiving array, inside the housing, keeping them stationary. Only a passive polyhedral rotating reflector is set on the central axis for beam deflection, thus constructing a decoupled detection architecture of "photoelectric stationary, optical deflection". Through this topology reconstruction, the system does not need to supply power or transmit signals to the rotating part via a conductive slip ring, fundamentally eliminating the lifespan bottleneck of traditional mechanical radar and significantly improving structural reliability and signal stability. The transmitting and receiving optical paths are arranged in a quasi-coaxial structure, maintaining long-distance coverage while avoiding the self-interference problem inherent in strictly coaxial structures, and significantly reducing the geometric blind zone generated by the bistatic structure in the near-field region. The polyhedral rotating reflector employs a polyhedral reflective structure with spatial coding characteristics. Multiple reflective surfaces of this structure have preset and different tilt angles relative to the rotation axis. As the reflective surfaces continue to rotate horizontally, reflective surfaces with different tilt angles enter the optical path sequentially, causing the outgoing beam to undergo layered transitions in the vertical direction, ultimately forming a multi-layered superimposed three-dimensional scanning field. This design transforms tilt angle differences into a spatial coding method, enabling three-dimensional coverage to be achieved with a single horizontal rotation drive, without the need for additional pitch mechanisms or complex optical systems.

[0026] Furthermore, the detection method of the infrared bio-detection radar module includes: establishing a rotating reference base using a null sensor; continuously emitting pulsed lasers through an infrared emitting array, which are deflected by a polyhedral rotating reflector component to form a multi-layered three-dimensional scan within the target space; acquiring target echoes through a receiving array and recording the arrival timestamp of each valid echo relative to the rotating reference base; calculating the target's horizontal azimuth and corresponding vertical level coordinates based on the mapping relationship between the arrival timestamps and the rotation phase of the drive motor, and calculating the target distance based on the flight time, where the flight time is the time difference between the emission time of each pulsed laser emitted by the infrared emitting array and the arrival time of the echo; performing pulse width and signal strength feature analysis on the echo signal and matching it with a preset biometric template to filter and output the three-dimensional spatial coordinates of valid targets. In other words, at the detection method level, this invention employs a high-precision spatiotemporal synchronization mechanism, establishing a rotating reference base using a null sensor, time-marking each echo signal, accurately mapping time-domain information to the target's horizontal azimuth and vertical level coordinates, and calculating the target distance by combining the flight time, thereby obtaining complete three-dimensional spatial coordinates. Furthermore, by using a pulse width and signal strength feature matching algorithm, the echo signals are initially screened at the hardware level to retain effective targets that conform to the biological characteristics of mosquitoes, thereby suppressing environmental noise interference at the source and improving detection confidence.

[0027] Based on this, the embodiments of the present invention can achieve three-dimensional spatial detection capability under compact volume conditions, without the need for the conductive slip rings relied upon by traditional mechanical radar, and can accurately identify tiny biological targets.

[0028] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0029] like Figure 1A and 1B As shown, Figure 1A and Figure 1BThese are, respectively, a three-dimensional structural diagram and a side structural diagram of an infrared biological detection radar module provided in an embodiment of the present invention. The infrared biological detection radar module includes: a housing 1, on which an infrared enhancement window 2 is installed at an angle to deflect the specular reflection light from the surface of the infrared enhancement window 2 away from the direction of the receiving optical axis; and a static sensing component 3, fixedly disposed on the inner wall of the housing 1, comprising an infrared emitting array 31 and a receiving array 33, which are arranged side-by-side on the same side of the inner wall of the housing 1. An opaque partition 35 is provided between the infrared emitting array 31 and the receiving array 33. The collimated infrared beam emitted by the infrared emitting array 31 is deflected by a polyhedral rotating reflector 4 and passes through the infrared enhancement window 2 to form a scanning beam. The echo signal is reflected by the same reflector... The beam is reflected back to the receiving array 33 after being reflected by the reflector surface 41; the polyhedral rotating reflector 4 is located on the central axis of the housing 1. The polyhedral rotating reflector 4 has multiple reflector surfaces 41, and the angles between at least some adjacent reflector surfaces 41 and the corresponding rotation axes of the polyhedral rotating reflector 4 are different, so that the emitted beam will generate layered jumps in the vertical direction during the horizontal rotation of the polyhedral rotating reflector 4, forming a multi-layered superimposed three-dimensional scanning field; the drive motor 5 is used to drive the polyhedral rotating reflector 4 to rotate; the zero-position sensor 6 is used to provide the rotation reference position for the polyhedral rotating reflector 4; the control unit is used to perform pulse width and signal intensity feature analysis on the echo signal and match it with the preset biometric template to filter and output the three-dimensional spatial coordinates of the effective target.

[0030] Understandably, the entire infrared biodetection radar module is encapsulated within a sealed cylindrical housing 1, with an infrared enhancement window 2 mounted at an angle on the housing 1. The angle of this angle is preferably 5° to 15° relative to the normal direction, so that the specular reflection light from the surface of the infrared enhancement window 2 deviates from the receiving optical axis, preventing detection blinding.

[0031] It is understood that the diameter of the housing 1 is preferably 30 to 80 mm and the height is preferably 40 to 100 mm. The material of the housing 1 is preferably aluminum alloy or engineering plastic, and the inner wall is treated with an anti-reflection coating to suppress internal stray light. An infrared anti-reflection window 2 is provided on the housing 1 at an angle. The material of the infrared anti-reflection window 2 is preferably optical glass or sapphire wafer with high transmittance in the target infrared band (850 nm to 1550 nm) and coated with an anti-reflection film.

[0032] It is understandable that, such as Figure 2 As shown, an opto-isolated static sensing component 3 is fixedly installed on the inner side wall of the housing 1. The static sensing component 3 includes the following parts: The infrared emitting array 31 is preferably a vertical-cavity surface-emitting laser (VCSEL) array, with an emission wavelength preferably of 850 nm or 940 nm, a peak power not exceeding 100 mW (compliant with IEC 60825-1 eye safety standard), a pulse width preferably of 10 to 100 ns, and a repetition frequency preferably of 100 kHz to 1 MHz. A collimating emitting lens 32 with a focal length of 10 to 20 mm can be equipped in front of the infrared emitting array 31 to ensure that the divergence angle of the emitted beam is not greater than 0.5°.

[0033] The receiving array 33 is preferably an avalanche photodiode (APD) array or a single-photon avalanche photodiode (SPAD) array, with a response wavelength covering the operating band of the transmitting array; the APD preferably has a gain M of not less than 50, the SPAD preferably has a detection efficiency of not less than 30%, and the time resolution preferably has a time resolution of not less than 0.5 ns. A quasi-direct receiving lens 34 may be equipped in front of the receiving array 33.

[0034] The infrared emitting array 31 and the receiving array 33 are fixed side by side on the same substrate, with a preferred center-to-center distance of 6 to 10 mm. An opaque partition 35 is provided between the infrared emitting array 31 and the receiving array 33 as an optical isolation structure. The height of the opaque partition 35 is not less than 10 mm, which blocks internal direct and reflected stray light. The emitting optical axis of the infrared emitting array 31 is parallel to the receiving optical axis of the receiving array 33, so that the emitting optical axis and the receiving optical axis form a quasi-coaxial optical path arrangement, effectively suppressing internal optical crosstalk.

[0035] It is understandable that a polyhedral rotating reflector 4, driven by a drive motor 5, is mounted on the central axis of the housing 1. For example... Figure 3 As shown, the polyhedral rotating reflective assembly 4 has N reflective surfaces 41 (N≥3, preferably N=4 to 8), each reflective surface 41 is coated with aluminum or gold, and has a reflectivity of not less than 95%. At least some adjacent reflective surfaces 41 have different angles with the rotation axis, and the tilt angle difference Δθ between adjacent reflective surfaces 41 is preferably 1 to 5°, causing the emitted beam to produce corresponding layered jumps in the vertical direction during horizontal rotation, forming a spatially encoded three-dimensional scanning field. This design of the present invention transforms tilt angle differences into a spatial encoding means, achieving three-dimensional coverage under a single horizontal rotation drive, without the need for additional pitch mechanisms or complex optical systems.

[0036] To address the mass asymmetry issue caused by tilt angle differences, the polyhedral rotating reflector 4 can also be equipped with a dynamic balancing structure 42. By compensating for or reducing weight in non-optical functional areas, the center of mass of rotation is made to coincide with the central axis, and the remaining imbalance is controlled within 0.1 g•mm. This effectively suppresses the impact of rotational vibration on the collimation accuracy of the optical path and ensures the stability of the optical path during high-speed rotation. It should be noted that the drive motor 5 can be a miniature brushless motor, preferably with a speed of 1000 to 5000 rpm.

[0037] Understandably, when the infrared biodetection radar module is working, the collimated pulsed laser beam emitted by the infrared emitting array 31 is directed towards the current working reflective surface 41 of the polyhedral rotating reflective component 4. After deflection, it passes through the tilted infrared enhancement window 2, achieving a 360° circumferential scan in the horizontal direction. As the polyhedral rotating reflective component 4 continues to rotate, reflective surfaces 41 at different tilt angles enter the optical path sequentially, causing the emitted beam to form layered transitions in the vertical direction, ultimately creating a multi-layered superimposed three-dimensional scanning field. The diffuse reflection echo signal generated by the target returns along a quasi-coaxial path according to the principle of optical path reversibility, is reflected by the same reflective surface 41 to the corresponding receiving array 33, and the control unit performs pulse width and signal intensity characteristic analysis on the echo signal, matching it with a preset biometric template to filter and output the three-dimensional spatial coordinates of valid targets. The control unit preferably uses an FPGA or embedded DSP processor to meet the requirements of high-speed real-time signal processing.

[0038] Based on this, at the structural level, the present invention fixes the active optoelectronic devices, such as the infrared emitting array 31 and the receiving array 33, inside the housing, keeping them stationary. Only a passive polyhedral rotating reflector 4 is arranged on the central axis for beam deflection. Through this topological reconstruction, the module does not need to supply power or transmit signals to the rotating part via a conductive slip ring, fundamentally eliminating the lifespan bottleneck of traditional mechanical radar and significantly improving structural reliability and signal stability. Compared to the traditional integral rotating architecture, the infrared biodetection radar module of the present invention reduces the rotating mass by approximately 80% to 90%, and the mean time between failures (MTBF) can be increased several times.

[0039] In addition, such as Figure 4 As shown, one embodiment of the present invention also discloses a detection method for an infrared biological detection radar module, applied to the aforementioned infrared biological detection radar module, the method comprising: Step S101 (Reference Establishment): Establish a rotational reference reference using a zero-position sensor; Step S102 (Pulse Scan): Pulse laser is continuously emitted through an infrared emitting array, and after being deflected by a polyhedral rotating reflector, it forms a multi-layer three-dimensional scan in the target space; Step S103 (Signal Acquisition): Acquire echo signals through the receiving array and record the arrival timestamp of each valid echo signal relative to the rotating reference reference; Step S104 (Spatial Calculation): Based on the mapping relationship between arrival timestamp and drive motor rotation phase, calculate the target's horizontal azimuth and corresponding vertical level coordinates, and calculate the target distance based on flight time, where flight time is the time difference between the emission time of each pulse laser emitted by the infrared emitting array and the arrival time of the echo signal. Step S105 (Feature Identification): Perform pulse width and signal intensity feature analysis on the echo signal and match it with the preset biometric template to filter and output the three-dimensional spatial coordinates of the effective target.

[0040] Understandably, a rotational reference is established using a zero-position sensor, and a high-frequency timer with a resolution of at least 1 ns can be used to record the arrival timestamp of each valid echo. The control unit executes the following processing flow: First, the target distance is calculated based on the time of flight (ToF) R = c•ToF / 2, and the distance resolution is preferably not less than 150 mm; Secondly, by combining the start time of the zero-position pulse with the real-time angular velocity ω, the target's horizontal azimuth angle φ is calculated, with the horizontal angle resolution preferably not exceeding 1°. Third, determine the target's vertical layer coordinate θ based on the current participating reflector number (determined by the rotation angle range). i ; Fourth, the width τ and amplitude A of the echo pulse are extracted and matched with pre-stored mosquito biological feature templates. Echoes that meet the conditions are identified as valid biological targets, and their three-dimensional spatial coordinates (R, φ, θ) are output. i The system transmits data to the host computer or execution unit to achieve precise positioning and disinfection guidance.

[0041] Understandably, feature identification may also include: performing temporal trajectory correlation analysis on multi-frame data to eliminate environmental clutter interference by verifying the continuity of the target's motion path; performing high-frequency modulation feature analysis on the echo signal to extract the signal amplitude fluctuation features caused by the flapping behavior of flying organisms, and determining the confidence level of the target flying organism based on the signal amplitude fluctuation features, so as to improve the confidence level of identifying specific biological targets.

[0042] Based on this, at the detection method level, this invention employs a high-precision spatiotemporal synchronization mechanism. A rotation reference is established using a zero-position sensor, and each echo signal is time-stamped, accurately mapping the time-domain information to the target's horizontal azimuth and vertical layer coordinates. The target distance is calculated by combining the time of flight, thereby obtaining complete three-dimensional spatial coordinates. Furthermore, through a pulse width and signal intensity feature matching algorithm, the echo signals are initially screened at the hardware level, retaining valid targets that match the biological characteristics of mosquitoes, suppressing environmental noise interference at the source, and improving detection confidence.

[0043] In summary, compared with existing technologies, this invention achieves significant progress in structural reliability, functional implementation, and detection performance. Firstly, regarding structural reliability, this invention completely eliminates the lifespan bottleneck of the conductive slip ring in traditional mechanical radar through a decoupled architecture of "photoelectric stationary, mirror rotation." The system retains only a brushless motor and a dynamically balanced passive reflective component as moving parts, thus significantly improving mechanical reliability and long-term stability. Secondly, regarding functional implementation, this invention utilizes a polyhedral reflective structure with varying tilt angles, achieving three-dimensional spatial coverage through a single horizontal rotation drive. This avoids the cost and volume burden of adding an elevation motor or complex optical system, achieving three-dimensional detection capability within a compact structure. Finally, regarding detection performance, thanks to the photoelectric stationary architecture and quasi-coaxial optical path design, the system effectively suppresses electromagnetic interference and internal stray light. Combined with high-precision timing synchronization and feature filtering algorithms, it can stably extract weak biological echo signals in complex environments, significantly improving the detection accuracy and confidence level for mosquito targets.

[0044] The infrared biological detection radar module and its detection method of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0045] Example 1 1. Overall Structure like Figure 1B As shown, in this embodiment, the infrared bio-detection radar module is entirely encapsulated in a sealed aluminum alloy cylindrical housing 1 with a diameter of 60 mm and a height of 80 mm. The inner wall of the housing 1 is treated with an anti-reflection coating to suppress internal stray light. A circular infrared anti-reflection window 2, tilted at 10° relative to the normal direction, is provided on the side wall of the housing 1. The infrared anti-reflection window 2 is made of 850nm anti-reflection coated sapphire wafer, with an effective light transmission aperture of 30 mm. The tilted design can deflect the specular reflection light on the window surface from the receiving optical axis, preventing detection blinding.

[0046] 2. Static Perception Component like Figure 2 As shown, the static sensing component 3 is fixedly installed on the inner wall of the housing 1 and remains stationary.

[0047] The infrared emitting array 31 is a 4×1 VCSEL array with an emission wavelength of 850 nm, a peak power of 80 mW, a pulse width of 50 ns, and a repetition frequency of 500 kHz. It is equipped with a collimating emitting lens 32 with a focal length of 15 mm in front of it so that the divergence angle of the emitted beam is no greater than 0.5°.

[0048] The receiving array 33 is a 4×1 SPAD array with a detection efficiency of 35%, a dark count rate of no more than 1000 cps, and a time resolution of 0.5 ns. It is equipped with a quasi-direct receiving lens 34 with a focal length of 20 mm in front of it, and the receiving field of view is matched with the emission divergence angle.

[0049] The infrared emitting array 31 and the receiving array 33 are fixed side by side on the same substrate, with their optical axes basically parallel and their center spacing is 8 mm. An aluminum alloy opaque partition 35 with a height of 10 mm is provided between them as an optical isolation structure to block internal direct and reflected stray light. The infrared emitting array 31 and the receiving array 33 form a transceiver arrangement structure with their optical axes basically parallel and spaced apart, and share a polyhedral rotating reflector 4 for spatial deflection.

[0050] 3. Polyhedral Rotation Reflector like Figure 3 As shown, the polyhedral rotating reflector 4 has a tetrahedral structure (N=4), and each reflective surface 41 is coated with aluminum, with a reflectivity of not less than 95%. The tilt angles of the four reflective surfaces 41 relative to the rotation axis are θ1=44°, θ2=46°, θ3=48°, and θ4=50°, respectively. The tilt angle difference between adjacent surfaces is Δθ=2°, corresponding to a vertical interlayer jump angle of approximately 4° for the emitted beam, and a total vertical coverage angle of approximately 12° for the four scanning layers.

[0051] The tetrahedron has a total height of 25 mm and a rotation radius of 15 mm. Due to the different tilt angles of each reflecting surface 41, there is an asymmetrical mass distribution. To address this, a dynamic balancing structure 42 is used to reduce the mass in the non-optical region, ensuring that the remaining imbalance is no greater than 0.1 g·mm, thus guaranteeing the collimation stability of the optical path during high-speed rotation.

[0052] The drive motor 5 is a miniature brushless motor with a rated speed of 3000 rpm, corresponding to a horizontal scanning rate of 50 r / s. Combined with a laser repetition frequency of 500 kHz, the number of trigger pulses per revolution is 10,000, and the horizontal angular resolution is approximately 0.036°; considering the actual signal processing delay, the effective horizontal angular resolution is no less than 0.36°.

[0053] 4. Detection Method Implementation Steps After the system is powered on, the control unit (using an FPGA processor) executes the detection process according to the following steps: Step S1 (Reference Establishment): The rotation reference pulse is captured by the photoelectric zero-position sensor 6, the time t_zero is recorded, and the rotation reference point φ=0° is established.

[0054] Step S2 (Timing Synchronization): Synchronously start a high-frequency timer with a resolution of 1 ns to clear and reset, and establish a timing correspondence with the rotating reference.

[0055] Step S3 (Pulse Emission): The emission array continuously emits laser pulses with a pulse width of 50 ns and a repetition frequency of 500 kHz, and records the emission time t_emit for each emission.

[0056] Step S4 (Echo Acquisition): The SPAD array waits for the echo within the effective time window after each transmission (corresponding to a detection distance of 0.1 m to 10 m, with a time window width of approximately 66 ns to 67 ns); a high-frequency timer records the arrival time t_echo of the effective echo.

[0057] Step S5 (Distance Calculation): Based on the flight time ToF = t_echo t_emit calculates the target distance R = c·ToF / 2, with a distance resolution of approximately 75 mm (corresponding to a time resolution of 0.5 ns).

[0058] Step S6 (Azimuth Calculation): Based on the difference between t_echo and the previous zero-position pulse time t_zero, and combined with the real-time angular velocity ω, calculate the target's horizontal azimuth angle φ = ω·(t_echo) t_zero), with a horizontal angular resolution of not less than 0.36°.

[0059] Step S7 (Level Determination): Based on the current rotation angle range, determine the activation index i of reflective surface 41 (i=1,2,3,4) and map it to the corresponding preset tilt angle θ. i Determine the target's vertical level coordinates, thereby obtaining the target's complete three-dimensional coordinates (R, φ, θ). i ).

[0060] Step S8 (Feature Extraction and Matching): Extract features from the width τ and amplitude A of the echo pulse and match them with pre-stored mosquito biological feature templates (τ0 = 50~200 ns, amplitude A0 is within a specific range above the threshold); if the match is successful, it is determined to be a valid biological target and proceed to step S9; if the match is not successful, discard the current echo and return to step S3 to continue scanning.

[0061] Step S9 (Coordinate Output): Output the three-dimensional coordinates (R, φ, θ) of the effective target. i The output is sent to the host computer or execution unit for precise positioning and disinfection guidance; then it returns to step S3 to maintain continuous scanning.

[0062] Example 2 This embodiment, based on Embodiment 1, optimizes and adjusts the polyhedral rotating reflective component 4 and its related operating parameters to adapt to application scenarios with higher requirements for vertical coverage and scanning point cloud density. The specific configuration of this embodiment is explained below with reference to the aforementioned structural principles and accompanying drawings.

[0063] 1. Overall Structure In this embodiment, the overall packaging of the infrared biodetection radar module remains consistent with that of Embodiment 1, still employing a sealed aluminum alloy cylindrical housing 1 and an inclined infrared enhancement window 2. The specific dimensions of the housing 1 can be adaptively adjusted according to the actual volume of the hexahedral reflective assembly to ensure unobstructed internal optical paths and stable assembly installation.

[0064] 2. Static Perception Component The configuration of static sensing component 3 is basically the same as that in Embodiment 1.

[0065] Infrared emitting array 31: It still uses a 4×1 VCSEL array with an emission wavelength of 850 nm. The peak power, pulse width and repetition frequency remain unchanged to ensure eye safety and sufficient detection energy.

[0066] Receiver array 33: Still uses a 4×1 SPAD array to maintain high detection efficiency and time resolution in order to capture weak target echoes.

[0067] Optical path arrangement: The infrared emitting array 31 and the receiving array 33 are arranged in a quasi-coaxial isolated manner, and the internal crosstalk is suppressed by the opaque partition 35 to ensure a high signal-to-noise ratio.

[0068] 3. Polyhedral Rotation Reflector The key difference in this embodiment is that the polyhedral rotating reflector 4 adopts a hexahedral structure (N=6).

[0069] Variable tilt angle design (extended space coding): The tilt angles of the six reflecting surfaces 41 relative to the rotation axis have been re-preset, covering a wider angle range. The specific tilt angles are θ1=43°, θ2=45°, θ3=47°, θ4=49°, θ5=51°, and θ6=53°. The tilt angle difference between adjacent surfaces, Δθ=2°, remains constant.

[0070] Scanning field characteristics: Due to the increased number of reflective surfaces 41 and the expanded tilt angle range, this embodiment can form 6 scanning layers in the vertical direction. The corresponding total vertical coverage angle is expanded from approximately 12° in Embodiment 1 to approximately 20°, significantly increasing the radar's vertical field of view.

[0071] Mechanical parameters and dynamic balance: The dimensions of the hexahedral component (such as height and radius of rotation) are set according to design requirements. Similarly, to address the asymmetrical mass distribution caused by the different tilt angles of the various reflective surfaces 41, a strict dynamic balancing structure 42 is set in the non-optical area to compensate for the mass and ensure stability under high-speed rotation.

[0072] Drive and Resolution: To accommodate the increased number of reflective surfaces 41 and maintain sufficient energy density, the drive motor 5 is a miniature brushless motor with a rated speed adjusted to 2000 rpm. At the same 500 kHz laser repetition frequency, the increased number of trigger pulses per revolution improves the theoretical and effective horizontal angular resolution to approximately 0.24°, thereby obtaining a denser horizontal scanning point cloud.

[0073] 4. Detection Method Implementation Steps The detection method in this embodiment is basically the same as that in Embodiment 1, with the main difference being the mapping relationship in the hierarchy determination step. Specifically: Steps S1 to S6 (Reference Establishment to Azimuth Calculation): Similar to Example 1, a spatiotemporal reference is established using the zero-position sensor 6 and a high-frequency timer, and the distance and horizontal azimuth angle of the target are calculated.

[0074] Step S7 (Level Determination): Based on the time difference between the current time and the reference time t_zero, determine which reflector 41 is currently in operation within the rotation time sequence. In this embodiment, the range of values ​​for the activated reflector 41 index i is extended to i = 1, 2, 3, 4, 5, 6. The system maps the current index i to the corresponding preset tilt angle θ. i (43° to 53°), thereby determining the target's vertical layer coordinates and obtaining the complete three-dimensional coordinates (R, φ, θ). i ).

[0075] Steps S8 to S9 (feature extraction to coordinate output): Same as in Example 1, perform biometric matching and filtering, and output the three-dimensional coordinates of the effective target.

[0076] In addition, such as Figure 5 As shown, one embodiment of the present invention also discloses a detection device, which includes: The reference establishment module 110 is used to establish a rotational reference reference through a zero-position sensor; The pulse scanning module 120 is used to continuously emit pulsed laser through an infrared emitting array, which is deflected by a multi-faceted rotating reflector component to form a multi-layer three-dimensional scan in the target space. The signal acquisition module 130 is used to acquire target echoes through a receiving array and record the arrival timestamp of each valid echo relative to a rotating reference reference. The spatial calculation module 140 is used to calculate the horizontal azimuth angle and the corresponding vertical level coordinates of the target based on the mapping relationship between the arrival timestamp and the rotation phase of the drive motor, and to calculate the target distance based on the flight time, wherein the flight time is the time difference between the emission time of each pulse laser emitted by the infrared emitting array and the arrival time of the echo. The feature identification module 150 is used to perform pulse width and signal intensity feature analysis on the echo signal and match it with the preset biometric template to filter and output the three-dimensional spatial coordinates of the effective target.

[0077] The detection device in this embodiment of the invention is used to execute the detection method of the infrared biological detection radar module in the above embodiment. Its specific processing procedure is the same as that of the infrared biological detection radar module in the above embodiment, and will not be described in detail here.

[0078] In addition, such as Figure 6 As shown, one embodiment of the present invention also discloses an electronic device, including: at least one processor 210; at least one memory 220 for storing at least one program; when the at least one program is executed by the at least one processor 210, it implements the detection method of the infrared biological detection radar module as in any of the preceding embodiments.

[0079] In addition, one embodiment of the present invention discloses a computer-readable storage medium storing computer-executable instructions for performing the detection method of the infrared biodetection radar module as described in any of the preceding embodiments.

[0080] The system architecture and application scenarios described in the embodiments of this invention are for the purpose of more clearly illustrating the technical solutions of the embodiments of this invention, and do not constitute a limitation on the technical solutions provided by the embodiments of this invention. As those skilled in the art will know, with the evolution of system architecture and the emergence of new application scenarios, the technical solutions provided by the embodiments of this invention are also applicable to similar technical problems.

[0081] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0082] In hardware implementations, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0083] The terms “component,” “module,” “system,” etc., used in this specification are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, or a computer. As illustrated, applications running on computing devices and computing devices can both be components. One or more components may reside in a process or execution thread, and components may be located on a single computer or distributed among two or more computers. Furthermore, these components can be executed from various computer-readable media on which various data structures are stored. Components can communicate, for example, via local or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system, or a network, such as the Internet interacting with other systems via signals).

Claims

1. An infrared biological detection radar module, characterized in that, include: The housing has an inclined infrared enhancement window so that the specular reflection light from the surface of the infrared enhancement window deviates from the direction of the receiving optical axis. A static sensing component is fixedly installed on the inner wall of the housing. The static sensing component includes an infrared emitting array and a receiving array, which are arranged side by side on the same side of the inner wall of the housing. An opaque partition is provided between the infrared emitting array and the receiving array. The collimated infrared beam emitted by the infrared emitting array is deflected by a polyhedral rotating reflector and passes through the infrared enhancement window to form a scanning beam. The echo signal is reflected back to the receiving array by the same reflective surface. A polyhedral rotating reflector is located on the central axis of the housing. The polyhedral rotating reflector has multiple reflective surfaces, and at least some of the adjacent reflective surfaces have different angles with the corresponding rotation axis of the polyhedral rotating reflector. This allows the emitted light beam to undergo layered transitions in the vertical direction during horizontal rotation, forming a multi-layered superimposed three-dimensional scanning field. A drive motor is used to drive the polyhedral rotating reflector assembly to rotate. A zero-position sensor is used to provide a rotational reference position for the polyhedral rotating reflector assembly; The control unit is used to perform pulse width and signal intensity feature analysis on the echo signal and match it with a preset biometric template to filter and output the three-dimensional spatial coordinates of valid targets.

2. The infrared biological detection radar module according to claim 1, characterized in that, The polyhedral rotating reflective assembly also includes a dynamic balancing structure, which is located in the non-optical functional area of ​​the reflective surface. Through mass compensation or de-weighting, the rotational center of mass of the polyhedral rotating reflective assembly is made to coincide with the central axis.

3. The infrared biological detection radar module according to claim 1, characterized in that, The infrared emitting array is a vertical cavity surface-emitting laser array, and the receiving array is an avalanche photodiode array or a single-photon avalanche diode array.

4. The infrared biological detection radar module according to claim 1, characterized in that, A collimating emission lens is installed in front of the infrared emission array, and a collimating receiving lens is installed in front of the receiving array. The emission optical axis of the infrared emission array is parallel to the receiving optical axis of the receiving array, so that the emission optical axis and the receiving optical axis form a quasi-coaxial optical path arrangement.

5. The infrared biological detection radar module according to claim 1, characterized in that, The polyhedral rotating reflective component has N reflective surfaces, and the tilt angles of each reflective surface relative to the rotation axis are arranged in a preset cyclic sequence so that the polyhedral rotating reflective component generates N scanning layers with different pitch angles during one horizontal rotation, where N≥3.

6. A detection method for an infrared biological detection radar module, characterized in that, The method, applied to the infrared biological detection radar module as described in any one of claims 1 to 5, comprises: A rotational reference datum is established using the zero-position sensor; The infrared emitting array continuously emits pulsed lasers, which are deflected by the polyhedral rotating reflector to form a multi-layer three-dimensional scan in the target space. The receiver array acquires echo signals and records the arrival timestamp of each valid echo signal relative to the rotating reference. Based on the mapping relationship between the arrival timestamp and the rotation phase of the drive motor, the horizontal azimuth angle of the target and the corresponding vertical level coordinates are calculated, and the target distance is calculated according to the flight time, wherein the flight time is the time difference between the emission time of each pulse laser emitted by the infrared emitting array and the arrival time of the echo signal. The pulse width and signal intensity characteristics of the echo signal are analyzed and matched with a preset biometric template to filter and output the three-dimensional spatial coordinates of the effective target.

7. The method according to claim 6, characterized in that, The method further includes: High-frequency modulation feature extraction is performed on the echo signal to obtain the signal amplitude fluctuation features; The confidence level of the target flying organism is determined based on the signal amplitude fluctuation characteristics.

8. A detection device, characterized in that, include: The reference establishment module is used to establish a rotational reference reference through a zero-position sensor; The pulse scanning module is used to continuously emit pulsed laser through an infrared emitting array, which is deflected by a multi-faceted rotating reflector component to form a multi-layer three-dimensional scan in the target space. The signal acquisition module is used to acquire echo signals through the receiving array and record the arrival timestamp of each valid echo signal relative to the rotating reference reference. The spatial calculation module is used to calculate the horizontal azimuth angle and the corresponding vertical level coordinates of the target based on the mapping relationship between the arrival timestamp and the rotation phase of the drive motor, and to calculate the target distance based on the flight time, wherein the flight time is the time difference between the emission time of each pulse laser emitted by the infrared emitting array and the arrival time of the echo signal. The feature recognition module is used to perform pulse width and signal intensity feature analysis on the echo signal and match it with the preset biometric template to filter and output the three-dimensional spatial coordinates of the effective target.

9. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the detection method of the infrared biological detection radar module as described in any one of claims 6 to 7.

10. A computer-readable storage medium storing computer-executable instructions for performing the detection method of the infrared biodetection radar module as described in any one of claims 6 to 7.

Images