A low latency laser bird deterrent system and method

Abstract

This invention relates to the field of optoelectronic defense technology and discloses a low-latency laser bird deterrence system and method. The system includes: a repulsion zone construction module, which calculates the predicted coordinates and velocity vectors of birds based on three-dimensional coordinates to generate a dynamic spatial repulsion zone; a trajectory reconstruction module, which determines the intersection state to generate a boundary sweep trajectory or track the target point; a visual compensation module, which adjusts the pulse frequency and angular velocity of a fixed-focus laser based on distance and approach velocity; and a hardware execution module, which generates a final trigger signal by combining the actual angle error and the repulsion zone determination state. The method includes: calculating predicted coordinates to generate the repulsion zone; determining the intersection and reconstructing the trajectory; adjusting the emission compensation parameters; and driving the emission operation by combining feedback angle logic operations. This invention reduces equipment alignment time by predicting bird trajectories, enhances visual suppression by dynamically adjusting the pulse frequency, and uses repulsion zone interlocking to prevent false illumination, thus safely achieving low-latency laser bird deterrence.

Description

Technical Field

[0001] This invention relates to the field of optoelectronic defense technology, and in particular to a low-latency laser bird deterrence system and method. Background Technology

[0002] The operational safety of airports and surrounding airspace is susceptible to disruption by bird activity, and bird strikes are a key risk that the aviation industry needs to address. Deploying physical avoidance devices around key airspaces to prevent birds from entering aircraft takeoff and landing routes is a fundamental step in maintaining flight safety and the normal operation of related airspaces.

[0003] Current airport laser bird deterrence technology primarily relies on traditional laser emitters. These emit laser beams of specific wavelengths, exploiting birds' fear of lasers to achieve the desired effect. Existing laser bird deterrence systems consist mainly of a laser emitter and a simple control module. The laser beams are often non-parallel outputs and lack specialized optical optimization. The control logic of these systems is relatively basic, only capable of turning the laser on and off and adjusting its power. While some systems can receive simple target trigger signals, they lack a linkage mechanism with the airport's flight safety system. Their operation is highly dependent on the performance of the laser emitter hardware itself, resulting in poor adaptability.

[0004] Such conventional systems exhibit significant logical and structural deficiencies in practical applications. Existing systems rely on passive, lagging follow-up mechanisms, lacking trajectory prediction and reconstruction of the target's three-dimensional coordinates. This results in long computation and mechanical response times, failing to meet the low-latency tracking and alignment requirements of dynamic targets. Secondly, traditional equipment fails to dynamically adjust parameters such as pulse frequency based on the target's radial distance and speed, and does not provide visual compensation for beam divergence, limiting long-range deterrence effectiveness. Due to the lack of dynamic exclusion zone determination based on integrated broadcast automatic correlation surveillance data, the system lacks low-level hardware-level angle error calculation and closed-loop interlocking during operation, making it prone to outputting beams to non-target areas and hindering the standardized execution of avoidance operations while preventing flight safety hazards.

[0005] Therefore, this invention proposes a low-latency laser bird deterrence system and method to address the shortcomings of existing technologies. Summary of the Invention

[0006] The purpose of this invention is to provide a low-latency laser bird deterrence system and method, which solves the problems of lag in dynamic target tracking response, difficulty in adaptively adjusting visual suppression effect, and lack of airspace dynamic safety interlock that easily leads to false illumination risk in existing laser bird deterrence systems.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a low-latency laser bird deterrent system, comprising:

[0008] The exclusion zone construction module is used to calculate the predicted spatial coordinates and velocity vector of birds based on the three-dimensional coordinates output by the detection equipment, perform interpolation calculations on the acquired automatic correlation surveillance data, and generate a dynamic spatial exclusion zone in the polar coordinate system of the pan-tilt unit.

[0009] The trajectory reconstruction module is used to determine whether the velocity vector intersects with the boundary of the dynamic space repulsion zone. If they do not intersect, the predicted spatial coordinates are set as the tracking target point. If they intersect, a boundary sweep trajectory is generated.

[0010] A visual compensation module is used to adjust the laser pulse frequency of the fixed-focus laser and the angular velocity of the gimbal based on the tracking target point or the boundary sweep trajectory, using the radial distance or relative approach speed of the bird.

[0011] The hardware execution module is used to read the actual feedback angle of the gimbal and calculate the angle error between the optical axis pointing and the motion command. When the angle error is less than the spot coverage threshold, the module outputs the original trigger signal. The module then performs a logical AND operation with the original trigger signal after negating the determination state that the actual feedback angle is located in the dynamic space repulsion zone and generates the final trigger signal to control the fixed-focus laser to emit light.

[0012] Preferably, the rejection zone construction module establishes a kinematic state space model to process the three-dimensional coordinates and calculate and output the predicted spatial coordinates and velocity vector of the bird;

[0013] The exclusion zone construction module projects the high-frequency virtual interpolation coordinates obtained by interpolating the broadcast automatic correlation monitoring data onto the polar coordinate system, and expands the safety margin angle outward along the azimuth and elevation directions to generate the dynamic space exclusion zone.

[0014] Preferably, the repulsion zone construction module extracts the axis elevation component in the three-dimensional coordinates as the instantaneous height of the target, calculates the Euclidean norm of the velocity vector to obtain the motion rate, and the repulsion zone construction module extracts the volume parameters of the detected target. When the volume parameters exceed a preset physiological characteristic threshold and the instantaneous height of the target and the motion rate exceed the upper limit of the flight law, the detected target is determined to be a non-cooperative target.

[0015] The exclusion zone construction module compares the coordinates of the non-cooperative target with the dynamic spatial exclusion zone. When the coordinates of the non-cooperative target do not fall within the range of the dynamic spatial exclusion zone, a local non-cooperative target exclusion zone is generated by expanding outward based on the coordinates of the non-cooperative target.

[0016] Preferably, the trajectory reconstruction module calculates the vertical angular distance from the center coordinates of the dynamic space repulsion zone to the motion ray originating from the predicted spatial coordinates, and compares the vertical angular distance with the safety boundary angular radius of the dynamic space repulsion zone;

[0017] When the vertical angular distance is less than or equal to the radius of the safety boundary angle and the direction of the velocity vector is approaching the center coordinate, it is determined that the velocity vector intersects with the boundary of the dynamic space repulsion zone.

[0018] Preferably, in the case of intersection, the trajectory reconstruction module performs coordinate calculation based on the spatial tangent projection relationship to find the geometric tangent point on the boundary of the dynamic spatial repulsion zone that is closest to the real-time predicted position of the bird. The real-time tangent point coordinates obtained by spatial projection calculation converge at the outer edge of the boundary of the dynamic spatial repulsion zone to generate the boundary sweep trajectory.

[0019] Preferably, the trajectory reconstruction module performs time difference calculation on the real-time tangent coordinates within two consecutive control cycles to calculate the theoretical required angular velocity. When the theoretical required angular velocity is greater than the maximum rated angular velocity of the gimbal, an adaptive constraint is triggered, stopping the point-to-point following of the real-time tangent coordinates and pushing a fixed advance interception angle outward along the boundary of the dynamic space repulsion zone in front of the bird's flight, thus restricting the gimbal to move to the advance interception point at the maximum rated angular velocity for fixed-point physical dwell.

[0020] Preferably, the visual compensation module extracts the radial distance and relative approach velocity of the bird, constructs a nonlinear adaptive mapping model of the pulse frequency, uses the basic biological stimulus frequency to fuse the distance compensation gain controlled by the radial distance and the velocity compensation gain controlled by the relative approach velocity to adjust the laser pulse frequency output to the fixed-focus laser, and superimposes a positive real constant in the denominator of the division operation in calculating the distance compensation gain to limit frequency gain saturation.

[0021] Preferably, when the visual compensation module determines that the obtained operating state is the operating state of the boundary sweep trajectory, it performs periodic sinusoidal perturbation component superposition on the basic motion angular velocity command corresponding to the boundary sweep trajectory, and outputs the angular velocity of the gimbal after superposition of perturbation components, so that the spot of the fixed-focus laser will swing laterally to widen the physical width of the boundary sweep trajectory.

[0022] Preferably, the hardware execution module calculates the absolute angular distance between the actual feedback angle and the center coordinates of the dynamic space rejection zone. When the absolute angular distance is less than or equal to the safety boundary angular radius of the dynamic space rejection zone, it determines that the actual feedback angle is located within the dynamic space rejection zone and sets the determination state variable representing the rejection zone hit state to logical true.

[0023] The hardware execution module performs a Boolean NOT operation on the determination state variable set to logical true, and then performs a logical AND operation with the original trigger signal to generate the final trigger signal in a low-level invalid state to block the light emission operation.

[0024] The present invention also provides a low-delay laser bird deterrence method, comprising the following steps:

[0025] The predicted spatial coordinates and velocity vector of the bird are calculated based on the three-dimensional coordinates output by the detection equipment. The acquired automatic correlation surveillance data is interpolated and a dynamic spatial repulsion zone is generated in the polar coordinate system of the pan-tilt unit.

[0026] Determine whether the velocity vector intersects with the boundary of the dynamic space repulsion zone. If they do not intersect, set the predicted spatial coordinates as the tracking target point. If they intersect, generate a boundary sweep trajectory.

[0027] Based on the tracking target point or the boundary sweep trajectory, the laser pulse frequency of the fixed-focus laser and the angular velocity of the gimbal are adjusted according to the radial distance or relative approach velocity of the bird.

[0028] The actual feedback angle of the gimbal is read and the angle error between the optical axis pointing and the motion command is calculated. When the angle error is less than the spot coverage threshold, the original trigger signal is output. The determination state that the actual feedback angle is located in the dynamic space repulsion zone is negated and then logically ANDed with the original trigger signal to generate the final trigger signal to drive the fixed-focus laser to emit light.

[0029] In summary, the present invention has at least one of the following beneficial technical effects:

[0030] 1. This invention generates a boundary sweep trajectory by calculating and predicting spatial coordinates and velocity vectors based on the three-dimensional coordinates output by the detection device and determining the intersection state in advance, thereby reducing the response delay in the system calculation process. This predictive reconstruction mechanism guides the laser optical axis to quickly align with the target, solving the technical defect of low dynamic tracking accuracy and providing reliable and continuous spatial position guidance for subsequent high-efficiency bird control operations.

[0031] 2. This invention achieves adaptive adjustment of laser output density by dynamically adjusting the pulse frequency based on the radial distance or relative approach velocity of the target, and by superimposing sinusoidal perturbations on the sweep trajectory command to broaden the physical width. This method utilizes physical oscillation to compensate for the displacement delay caused by the limitation of hardware angular velocity, ensuring a low false alarm rate while enhancing the stimulation effect on the bird's visual organs and improving the success rate of the system in performing avoidance tasks.

[0032] 3. This invention generates a dynamic spatial repulsion zone by combining broadcast automatic correlation monitoring data, and generates the final trigger signal in the hardware execution module through logic gate circuits, achieving low-complexity hardware cascading. This mechanism ensures that laser emission is immediately blocked when a target is detected falling into the repulsion zone, avoiding safety hazards caused by data processing delays. Under the premise of ensuring airspace safety, it completes the standardized avoidance of bird targets in the airspace. Attached Figure Description

[0033] Figure 1 This is a diagram illustrating the architecture of a low-latency laser bird deterrence system according to the present invention.

[0034] Figure 2 This is a flowchart of a low-delay laser bird deterrence method according to the present invention;

[0035] Figure 3 This is a schematic diagram of the spatial intersection determination and trajectory reconstruction of the present invention.

[0036] Among them, 100 is the rejection zone construction module; 200 is the trajectory reconstruction module; 300 is the visual compensation module; and 400 is the hardware execution module. Detailed Implementation

[0037] The following is in conjunction with the appendix Figure 1 - Appendix Figure 3 The present invention will be further described in detail below.

[0038] See attached document Figure 1 The present invention provides a low-latency laser bird deterrence system, comprising: a repulsion zone construction module 100, a trajectory reconstruction module 200, a visual compensation module 300, and a hardware execution module 400.

[0039] The low-latency laser bird deterrence system operates on a hardware platform. This platform includes detection equipment, an automatic dependent surveillance (ALS) data receiver, a main control unit, a gimbal, and a fixed-focus laser mounted on the gimbal. The detection equipment acquires the three-dimensional coordinates of targets within the airspace. The ALS data receiver acquires ALS data from aircraft. The repulsion zone construction module 100, trajectory reconstruction module 200, visual compensation module 300, and hardware execution module 400 are all deployed within the main control unit, processing the input data from the external hardware and controlling the movements of the gimbal and the fixed-focus laser.

[0040] The exclusion zone construction module 100 is connected to the detection device and the broadcast automatic correlation monitoring data receiving device. The exclusion zone construction module 100 acquires the three-dimensional coordinates output by the detection device, establishes a kinematic state space model, and calculates and outputs the predicted spatial coordinates and velocity vector of the bird. At the same time, the exclusion zone construction module 100 performs interpolation calculations on the acquired broadcast automatic correlation monitoring data to generate a dynamic spatial exclusion zone in the polar coordinate system of the pan-tilt unit.

[0041] The trajectory reconstruction module 200 is connected to the repulsion zone construction module 100. Based on the spatial relationship between the velocity vector and the dynamic spatial repulsion zone, the trajectory reconstruction module 200 determines whether the velocity vector intersects with the boundary of the dynamic spatial repulsion zone. If no intersection is determined, the trajectory reconstruction module 200 sets the predicted spatial coordinates as the tracking target point of the gimbal. If an intersection is determined, the trajectory reconstruction module 200 generates a boundary sweep trajectory based on the spatial tangent projection relationship and adaptively constrains the kinematic parameters of the gimbal servo motor.

[0042] The visual compensation module 300 is connected to the trajectory reconstruction module 200 and the driver of the fixed-focus laser. The visual compensation module 300 acquires the running status of the tracking target point or boundary sweep trajectory. Using the radial distance or relative approach velocity of the bird as input variables, the visual compensation module 300 adjusts the laser pulse frequency output to the fixed-focus laser and the angular velocity of the gimbal to achieve dynamic scheduling of photoelectric parameters.

[0043] The hardware execution module 400 is connected to the trajectory reconstruction module 200, the visual compensation module 300, and the absolute encoder at the bottom of the gimbal. The hardware execution module 400 uses an independent timer to frequently read the actual feedback angle of the gimbal from the absolute encoder and calculates the angular error between the optical axis direction and the motion command. When the angular error is less than the set spot coverage threshold, the hardware execution module 400 outputs the original trigger signal. The hardware execution module 400 determines whether the actual feedback angle is within the dynamic space repulsion zone, negates the determination state, and performs a logical AND operation with the original trigger signal to generate the final trigger signal to control the fixed-focus laser's emission operation.

[0044] See attached document Figure 2 This invention provides a low-latency laser bird deterrence method, applied to the aforementioned low-latency laser bird deterrence system, comprising the following steps:

[0045] S100, through the repulsion zone construction module 100, obtains the three-dimensional coordinates output by the detection device, establishes a kinematic state space model and calculates and outputs the predicted spatial coordinates and velocity vector of the bird, and at the same time performs interpolation calculation on the acquired broadcast automatic correlation monitoring data to generate a dynamic spatial repulsion zone in the polar coordinate system of the pan-tilt unit.

[0046] S200, the trajectory reconstruction module 200 determines whether the velocity vector intersects with the boundary of the dynamic space repulsion zone. If no intersection is determined, the predicted spatial coordinates are set as the tracking target point of the gimbal. If an intersection is determined, a boundary sweep trajectory is generated.

[0047] S300, through the visual compensation module 300, adjusts the laser pulse frequency output to the fixed-focus laser and the angular velocity of the gimbal based on the radial distance or relative approach speed of the bird, according to the tracking target point or boundary sweep trajectory.

[0048] The S400 reads the actual feedback angle of the gimbal through the hardware execution module 400, calculates the angle error between the optical axis pointing and the issued command, outputs the original trigger signal when the angle error is less than the spot coverage threshold, and performs a logical AND operation between the judgment state where the actual feedback angle is located in the dynamic space repulsion zone and the original trigger signal to generate the final trigger signal to control the fixed-focus laser to emit light.

[0049] To further clarify the implementation of each technical aspect of the present invention, the following will provide a detailed description of the implementation of each functional module involved above and its internal processing flow.

[0050] See attached document Figure 1 and Figure 2 In this embodiment, the exclusion region construction module 100 undertakes the core underlying functions of multi-source heterogeneous spatial data fusion and physical security boundary calculation. The specific processing logic of the exclusion region construction module 100 includes the following steps.

[0051] S101, acquire the target point cloud and establish a kinematic state-space model to output the predicted state. The detection device serves as the fundamental front-end for sensing the airspace state in this invention. In this embodiment, it employs existing commercial-grade solid-state millimeter-wave radar or binocular vision sensor equipment. The specific hardware circuit design and waveform / image conversion principles are well-known technologies in the field and will not be elaborated upon here. The three-dimensional coordinates acquired and output by the detection device refer to the local geodetic rectangular coordinate system established with the radar antenna phase center or camera optical center as the origin. , , Three-axis coordinates. The detection device continuously scans the airspace target at a fixed hardware sampling frequency (preferably 50Hz in this embodiment), thereby generating a discrete three-dimensional coordinate point cloud sequence, which is the time series data on which subsequent calculations depend.

[0052] The rejection zone construction module 100 establishes a kinematic state-space model based on the received time-series data, utilizing the principle of linear minimum variance estimation. The purpose of this kinematic state-space model is to eliminate coordinate jumps caused by thermal noise in the detection hardware itself, and to predict the target's spatial position within the control loop lag period using its initial motion inertia. A target state vector is defined. Includes target in The three-dimensional position and velocity components at time t. The state transition equation of the kinematic state-space model is expressed as:

[0053] ;

[0054] In the formula, Indicates based on Time-state pair Prior prediction estimation of the state at time step; This is the target state transition matrix, used to characterize the target's state transition from... Time's up The kinematic evolution at any given moment is determined based on the system's sampling period; This is a process noise sequence used to absorb disturbances to bird trajectories caused by external factors such as atmospheric turbulence; express The optimal state estimate at time t.

[0055] When performing the update calculation of inverting the internal state covariance matrix of the kinematic state-space model, considering that the probe data may exhibit dimensional degeneracy at certain angles, the operation logic superimposes a preset minimum regularization term (such as 10) on the diagonal of the matrix. -6 (Order of magnitude) to ensure the matrix always satisfies the full rank condition and avoids the risk of singularity crashes during the calculation process. Based on the above kinematic state-space model solution, the rejection region construction module 100 further calculates and outputs the predicted spatial coordinates and velocity vectors of the bird.

[0056] The process of obtaining the predicted spatial coordinates involves mapping from the geodetic rectangular coordinate system to the polar coordinate system of the gimbal actuator. Since the gimbal's servo actuator relies on spherical coordinate system drive, the exclusion zone construction module 100 performs a spatial nonlinear mapping on the position components of the state vector. Predicting the radial distance component... Calculated as In calculating the predicted pitch angle components To ensure the robustness of the algorithm, the system will determine the denominator before the division operation. .when When the absolute value is less than the machine accuracy threshold, the system forces... The value is assigned to 0. This is used when calculating the predicted azimuth components. When, if the x-axis Approaching 0, then based on The positive and negative attributes directly Assign values ​​respectively or This avoids logical overflow caused by division by zero. The final result is... , , Together, they constitute the predicted spatial coordinates. At the same time, the velocity vector undergoes a linear transformation through the Jacobian matrix of this mapping process, and the output is the azimuth angular velocity, pitch angular velocity, and radial approach velocity in polar coordinates.

[0057] S102 interpolates low-frequency air traffic control data to generate a dynamic spatial exclusion zone. The Automatic Dependent Surveillance-Broadcast (ADS-B) data receiving equipment refers to the existing standard 1090MHz band ADS-B receiving antenna and demodulation module, which can capture and decode real-time status messages broadcast by aircraft. ADS-B data includes the aircraft's unique identifier, GPS latitude and longitude, geometric altitude, and ground speed vector. Since the message transmission frequency stipulated by civil aviation standards is typically only around 1Hz, far lower than the millisecond-level control cycle of bird deterrence systems, directly using the raw discrete messages would cause the laser protection zone to lag behind the aircraft's actual position, posing a risk of false illumination.

[0058] In this embodiment, the rejection region construction module 100 aligns the clock source of the probe device with the clock source of the ADS-B receiver at the nanosecond level using the Network Time Protocol. Based on the aligned time base, the system determines the aircraft's three-dimensional spatial position according to the last known time received. With flight velocity vector High-frequency linear interpolation of kinematics is performed to complete the low-frequency data. The interpolation formula is expressed as:

[0059] ;

[0060] In the formula, For the current moment The corresponding high-frequency virtual interpolation coordinates; This is the timestamp of the last valid data packet that arrived.

[0061] The exclusion region construction module 100 will calculate the high-frequency virtual interpolation coordinates. The system projects the data in real-time onto the polar coordinate system of the gimbal. Centered on the projected coordinate point, the system expands outwards by a preset safety margin angle along both the azimuth and pitch directions, thereby generating a dynamic spatial exclusion zone covering the aircraft's trajectory in the polar coordinate system. The safety margin angle is set between 2 and 5 degrees. This range is determined by considering the angle corresponding to the maximum wingspan of a civil aircraft, the statistical error of GPS positioning, and the mechanical inertial following error of the gimbal during high-speed operation, thus establishing a reliable physical isolation zone between the laser and the aircraft.

[0062] S103, non-cooperative targets are determined based on multi-dimensional feature extraction to generate a local non-cooperative target exclusion zone. In a preferred embodiment of the invention, in addition to processing cooperative aircraft that have enabled data broadcasting, the exclusion zone construction module 100 also performs security protection redundancy calculations for non-cooperative targets such as unresponsive UAVs or general aviation aircraft in the airspace. In a further embodiment, the exclusion zone construction module 100 simultaneously extracts the volume parameters of the detected targets while processing the aforementioned time-series data. In this embodiment, if the detection device is radar, the volume parameter is represented by the target's radar cross-section (RCS); if a visual sensor is used, it is represented by the pixel bounding box area of ​​the target on the imaging plane.

[0063] To improve accuracy, the system does not rely on a single extreme value, but instead uses multi-dimensional weighted logic to identify target attributes. In this determination phase, the rejection zone construction module 100 simultaneously extracts the three-dimensional coordinates output by the aforementioned detection device. The axial elevation component is used as the instantaneous height of the target, and the target's velocity is obtained by calculating the Euclidean norm of the velocity vector output by the aforementioned kinematic state-space model (i.e., the square root of the sum of the squares of the three-dimensional velocity components). Then, the rejection zone construction module 100 combines the extracted volume parameters, the target's instantaneous height, and the velocity to make a judgment. When the volume parameter exceeds a preset threshold for bird physiological characteristics (e.g., radar cross-section greater than 0.1 square meters), and the target's instantaneous height and velocity both exceed the upper limit of the flight patterns of local birds, the system determines that the target is an abnormal non-cooperative target and extracts the corresponding three-dimensional non-cooperative target coordinates.

[0064] The exclusion zone construction module 100 compares the obtained non-cooperative target coordinates with the dynamically generated exclusion zone at the current moment. As a safety redundancy mechanism, if the non-cooperative target coordinates do not fall within the dynamic exclusion zone, it indicates that the target is a flight entity not recorded by the air traffic control system. At this time, the exclusion zone construction module 100 expands outward to generate a local non-cooperative target exclusion zone based on the non-cooperative target coordinates. This process solves the problem of blind spots caused by external ADS-B signal interruption or illegal intrusion of third-party aircraft in terms of physical logic. To ensure the consistency and integrity of downstream control logic, the exclusion zone construction module 100 outputs the generated local non-cooperative target exclusion zone to the subsequent trajectory reconstruction module 200 and hardware execution module 400. When processing, the downstream modules directly treat the local non-cooperative target exclusion zone as an independent dynamic spatial exclusion zone and substitute it into the original rendezvous determination and spatial verification logic for parallel calculation. As long as the triggering condition of any one of the exclusion zones is met, the system executes boundary sweep or light cut-off actions according to the corresponding logic.

[0065] The parameter thresholds mentioned in the embodiments of this invention (such as a 50Hz sampling frequency and a 0.1 square meter cross-sectional area) are set based on the typical equipment performance and biometric characteristics in a general airport environment. In actual deployment, those skilled in the art can make adaptive adjustments according to specific detection accuracy and airspace security level requirements. These specific quantitative descriptions ensure that those skilled in the art can reproduce the above data processing logic and apply it to actual low-latency laser bird deterrence scenarios.

[0066] See attached document Figure 1 and Figure 2 In this embodiment, the trajectory reconstruction module 200 primarily addresses the decision-making and control problem of maintaining effective optical deterrence while ensuring absolute safety against false alarms when the predicted trajectory of the target being driven out conflicts spatially with the physical security defense line set by the system. The specific processing logic of the trajectory reconstruction module 200 includes the following steps.

[0067] S201, execute spatial rendezvous determination and issue conventional tracking commands. In this embodiment, after obtaining the predicted spatial coordinates and velocity vectors output by the repulsion zone construction module 100, the trajectory reconstruction module 200 needs to establish a geometric description of the target motion in the two-dimensional polar coordinate control plane of the gimbal. The system directly retrieves the aircraft interpolated projection coordinates generated in the repulsion zone construction module 100 as the center coordinates of the dynamic spatial repulsion zone. The safety margin angle generated by the expansion mentioned above is defined as the safety boundary angle radius of the exclusion zone. Meanwhile, the predicted spatial coordinates of the birds at the current sampling time are set as follows: The corresponding velocity vector in polar coordinates has an angular velocity component. and .

[0068] To quantify the spatial relationship between the velocity vector and the dynamic spatial exclusion zone, the system needs to determine whether the target's future flight path will intrude into the defense zone. Specifically, the spatial relationship refers to the bird's currently predicted spatial coordinates. The relative geometric distance and intersection state of the moving ray extending along the velocity vector direction with the circular surface of the repulsion zone in the dynamic space in polar coordinates. The trajectory reconstruction module 200 uses the angular distance determination principle from a point to a ray to calculate the coordinates of the center of the repulsion zone. angular distance to the moving ray The corresponding calculation formula is as follows:

[0069] ;

[0070] In the formula, For the reason and The two-dimensional motion vector formed; To predict spatial coordinates Pointing to the center coordinates Spatial relative position vector; This represents the vector cross product operation, used to extract the geometric components perpendicular to the direction of motion. Considering that birds may be in a hovering state in physical conditions, if the motion vector scalar... Approaching the machine minimum (e.g., less than 10) -4 If the denominator is zero (radians / second), the system will abort the ray projection calculation and directly convert the result to zero. and The actual spherical straight-line distance between them is assigned to .

[0071] Based on the above geometric derivation, the trajectory reconstruction module 200 will calculate the vertical angular distance. With safety boundary angle radius Real-time comparison is performed to determine whether the velocity vector intersects with the boundary of the dynamic space repulsion zone. As a preferred method, when determining... Furthermore, when the target's motion vector approaches the center of the repulsion zone, the system determines that the velocity vector intersects with the boundary of the dynamic space repulsion zone. Conversely, when... If the velocity vector points to a path that completely bypasses the dynamic space repulsion zone where the aircraft is located, the system determines that the velocity vector has not intersected with the boundary of the dynamic space repulsion zone. In the case of no intersection, the trajectory reconstruction module 200 directly sets the predicted spatial coordinates as the tracking target point of the gimbal, and then drives the fixed-focus laser optical axis to perform regular continuous illumination of the bird.

[0072] S202 calculates and generates the boundary sweep trajectory based on the spatial tangent projection relationship. Conversely, in the case of a determined intersection, if the gimbal continues to use the predicted spatial coordinates as the tracking target point, the laser optical axis will inevitably intrude into the aircraft's warning zone. To resolve this conflict, the trajectory reconstruction module 200 initiates a boundary reconstruction mechanism, constraining the laser beam's landing point to the outer boundary of the repulsion zone, thereby forming a compliant optical barrier in front of the bird's flight path.

[0073] The trajectory reconstruction module 200 calculates coordinates based on the spatial tangent projection relationship. The general principle behind this projection relationship is to find the geometric tangent point on the boundary of the dynamic spatial exclusion zone that is closest to the bird's real-time predicted position. The real-time coordinates of the tangent point on the boundary sweep trajectory are then calculated. Satisfies the following linear mapping equation:

[0074] ;

[0075] ;

[0076] ;

[0077] In the formula, This represents the absolute angular distance between the bird's current predicted spatial coordinates and the center of the dynamic spatial exclusion zone; and Predicted spatial coordinates of birds Azimuth and pitch components in the polar coordinate system of the gimbal; and These are the coordinates of the center of the dynamic space repulsion region. Azimuth and elevation components in polar coordinates; The safety boundary angle radius of the dynamic space exclusion zone is defined. and These represent the real-time tangent point coordinates obtained through spatial projection calculations. The azimuth and elevation components.

[0078] To ensure the robustness of the algorithm under all operating conditions, the system performs division by... The values ​​are verified before the calculation. If the bird's coordinates happen to pass through the center of the rejection zone, resulting in... In extreme cases where the relative direction approaches zero, the system will retrieve the relative direction vector from the previous effective control cycle for compensation, avoiding computational deadlocks. As the predicted spatial coordinates shift over time, the tangent point coordinates calculated by the above formula will... At the outer edge of the repulsion zone, a continuous set of coordinate points converges, which constitutes the boundary sweep trajectory. Physically, this trajectory appears as a bright laser wall sliding close to the safety boundary, used to force birds to change their original flight course.

[0079] S203, extract the hardware envelope and perform adaptive constraints on kinematic parameters. After generating the trajectory in the spatial dimension, the system also needs to consider the temporal response capability of the underlying actuators. Considering that the real-time movement rate of the boundary sweep trajectory is entirely controlled by the relative motion state of the bird with respect to the repulsion zone, when the bird sweeps across the edge of the repulsion zone at extremely high speed, the frequency of change of the theoretically generated trajectory points may exceed the physical load limit of the motor. Based on this physical correlation, the trajectory reconstruction module 200 needs to adaptively constrain the kinematic parameters of the gimbal servo motor to prevent the gimbal from generating uncontrollable trajectory deviations due to loss of synchronization.

[0080] In the specific calculation process, the system pre-extracts the envelope parameters calibrated by the gimbal hardware at the factory. In this embodiment, the maximum rated angular velocity is mainly involved. With maximum rated angular acceleration The trajectory reconstruction module 200 reconstructs the trajectory by analyzing the real-time coordinates of the tangent points over two consecutive control cycles. Perform time-difference calculations to determine the theoretically required angular velocity to maintain the current sweep trajectory. :

[0081] ;

[0082] In the formula, The control cycle step size of the discrete system; and These are the azimuth and elevation coordinate components of the tangent point calculated at the current control time.

[0083] The system executes multi-level judgment logic based on the matching degree between theoretical requirements and hardware capabilities. When When the hardware driving capability is determined to be sufficient to cover the trajectory refresh requirements, the gimbal operates in a continuous smooth sweep mode, and commands are issued as is to fit the boundary sweep trajectory. At this point, it indicates that the gimbal can no longer achieve lag-free continuous tracking. The system then triggers adaptive constraints, switching the motion control strategy to a staggered skip mode. In this constraint mode, the system stops point-to-point following of the theoretical tangent point and instead pushes a fixed advance interception angle forward along the boundary of the repulsion zone towards the bird's flight path, limiting the gimbal to its maximum rated angular velocity. The system moves to the advanced interception point and remains stationary at that point. This hardware-based constraint mechanism effectively compensates for trajectory tracking errors caused by limitations in the underlying mechanical performance, ensuring absolute pointing safety of the laser bird deterrent system under extremely high maneuverability conditions.

[0084] See attached document Figure 1 and Figure 2 In this embodiment, the visual compensation module 300 is primarily responsible for improving the biological efficacy of optical bird deterrence through dynamic control of underlying hardware drive signals, based on a determined spatial trajectory, while simultaneously preventing birds from experiencing visual desensitization to stimuli from a single fixed frequency band. The specific processing logic of the visual compensation module 300 includes the following steps.

[0085] S301, State Information Analysis and Dynamic Input Variable Extraction. Before entering the specific parameter adjustment stage, the system needs to extract and transform the multi-dimensional spatial data output by the front-end module. The visual compensation module 300 reads the control commands currently issued by the trajectory reconstruction module 200 in real time through the internal data bus to obtain the running status of the tracking target point or boundary sweep trajectory. At the same time, the system retrieves the spatial variables in the polar coordinate system output by the state space model established by the aforementioned repulsion zone construction module 100. Specifically, the visual compensation module 300 extracts the predicted radial distance component output by the state space model as the bird's radial distance, and extracts the radial approach velocity in the polar coordinate system output synchronously by the state space model as the relative approach velocity. The selection of these two as specific input parameters has clear causal support. The radial distance directly determines the energy attenuation rate of the laser beam when it propagates in the atmosphere, as well as the effective spot power density when it reaches the target retina; the relative approach velocity directly reflects the bird's resistance to the current driving strategy and the potential physical collision threat. For the underlying pulse width modulation drive of a fixed-focus laser, those skilled in the art can use existing microcontroller timer output modules for control. The circuit topology and opto-isolation mechanism are well-known technologies in the field and will not be described in detail here.

[0086] S302, laser pulse frequency scheduling is performed based on nonlinear function mapping. Based on the input variables obtained above, the visual compensation module 300 constructs a nonlinear adaptive mapping model of the pulse frequency to adjust the laser pulse frequency output to the fixed-focus laser. The general technical principle of this mapping model lies in using a combination of rational fractions and linear gain to simulate the nonlinear response of biological visual nerves to the intensity of light stimulation. Adjusting the real-time laser pulse frequency output to the fixed-focus laser. The calculation formula is:

[0087] ;

[0088] In the formula, To adjust the frequency of the laser pulses output to the fixed-focus laser; The basic biological stimulation frequency set for the system ranges from 2 Hz to 4 Hz. This is the distance compensation coefficient, used to control the frequency adjustment sensitivity in the distance dimension. Its value is determined based on the rated output power of the fixed-focus laser. This represents the maximum effective range of a fixed-focus laser under current atmospheric visibility conditions. To extract the radial distance of the birds; The speed compensation coefficient ranges from 0.5 to 2.0. The coefficient is determined based on the warning response margin set by the system and is used to linearly convert physical speed into frequency increment. The extracted relative approximation velocity; A small positive real constant is used to prevent arithmetic overflow, for example, with a value of 0.1 m.

[0089] In the above division operation logic, to prevent radial distance from being affected when birds get extremely close to the hardware device... The risk of computational crashes when the value approaches 0 is due to the formula forcibly adding the aforementioned tiny constant to the denominator. The specific technical purpose of this operational logic is to establish a defense depth control strategy. When birds are far away or approach rapidly, the dual dimensions of distance and speed provide positive compensation, and the system automatically increases the laser flashing frequency to enhance visual deterrence. When birds are extremely close, the nonlinear increase in frequency gain is limited and tends to saturate, thereby preventing the accumulation of excessively high-frequency, intense light energy from causing permanent photothermal damage to the target's retina. This ensures both the effectiveness of the deterrent effect and the ecological safety of the biological repulsion process.

[0090] S303, merging operational status to perform gimbal angular velocity perturbation compensation. In addition to frequency domain control, the visual compensation module 300 also needs to adjust the gimbal's angular velocity in the airspace domain based on the acquired operational status. If the system determines that the currently acquired operational status is a boundary sweep trajectory, it indicates that the system is in the optical barrier establishment mode to avoid aircraft. To expand the equivalent blocking area of ​​this laser barrier in physical space, the system adopts the general principle of harmonic injection, performing periodic superposition adjustments based on the basic commands issued by the trajectory reconstruction module 200. The angular velocity of the gimbal is adjusted and output after compensation. The following relationship must be satisfied:

[0091] ;

[0092] In the formula, To ultimately adjust the angular velocity output to the gimbal; The basic motion angular velocity corresponding to the boundary sweep trajectory obtained by the system is the basic angular velocity command finally sent to the gimbal after adaptive constraints in the aforementioned trajectory reconstruction module 200. The perturbation amplitude threshold is set to a value between 0.5 degrees and 2.0 degrees. The perturbation superposition frequency is set to a range of 10 Hz to 15 Hz. This value is determined based on the upper limit of the resonance frequency of the gimbal's mechanical structure to avoid exciting mechanical resonance. This determines the continuous operating time control step size of the system. In this embodiment, the perturbation amplitude threshold... The range of values ​​is determined by combining the ratio of the spot diameter of the fixed-focus laser at 100 meters to the average body length of typical local birds, so as to ensure that the range of spot disturbance just covers the target's blind spot without overflowing the safety boundary.

[0093] The physical meaning of the above superposition equation is that by injecting high-frequency, low-amplitude sinusoidal perturbation components, the spot of the fixed-focus laser generates periodic lateral oscillations as it moves along the theoretical safety boundary. Based on the persistence of vision in birds, this perturbation control broadens the originally thin linear sweeping trajectory into a dynamic light band with substantial physical width in the target's vision. This design effectively improves the visual blocking effect on the intrusion trajectory without increasing the number of additional hardware lasers. Through the above-mentioned coordinated scheduling from laser pulse frequency to gimbal angular velocity, the visual compensation module 300 ultimately achieves dynamic closed-loop control of multi-dimensional photoelectric parameters.

[0094] See attached document Figure 1 and Figure 2 In this embodiment, the hardware execution module 400 is mainly used to establish underlying physical protection logic to prevent false illumination at the level of the underlying electromechanical actuator, so as to solve the hidden danger that the actual optical axis deviates from the expected safe trajectory due to the mechanical inertia of the gimbal, external gusts of wind, or upper-level software thread blocking. The specific processing logic of the hardware execution module 400 includes the following steps.

[0095] S401 is based on low-level feedback synchronous reading and angle error calculation using an independent timer. In practical engineering applications, after the gimbal servo motor receives the motion command from the upper-level module, the actual physical optical axis pointing of the fixed-focus laser often lags behind the theoretical command trajectory due to the rotational inertia of the physical system and the motor's acceleration / deceleration envelope. To accurately quantify this physical lag and eliminate the time asynchronous error of multi-source data, the system needs to perform high-frequency comparison with timing alignment at the low-level hardware level. For the data bus communication parsing of absolute encoders, those skilled in the art can use standard serial peripheral interfaces or controller area network bus protocols to read the original position bit stream. The specific timing control and data verification mechanisms are well-known technologies in the field and will not be elaborated here.

[0096] As a preferred approach, the hardware execution module 400 operates outside the main scheduling loop of the operating system, using an independent timer interrupt within the system's microcontroller to read the actual feedback angle of the gimbal from the absolute encoder at a fixed microsecond-level high frequency. To ensure strict alignment of control conditions, the system synchronously latches the real-time motion command jointly issued by the trajectory reconstruction module 200 and the vision compensation module 300 within the same hardware clock cycle of reading the actual feedback angle. The azimuth and pitch components of the currently synchronously latched motion command in the polar coordinate system are set as follows: and Meanwhile, the actual feedback angle components of the azimuth and pitch angles read are respectively and Based on the universal geometric quantization principle of Euclidean distance, the hardware execution module 400 calculates the angular error between the optical axis direction and the motion command. The corresponding calculation formula is as follows:

[0097] ;

[0098] In the formula, The included angle error represents the spatial following deviation of the underlying actuator at the current moment. and These are the target azimuth and pitch angles corresponding to the motion command at the current control moment, respectively. and These are the actual azimuth and elevation angles measured by the absolute encoder at the same moment. The technical purpose of this formula is to quickly and quantitatively assess the absolute physical distance of the current mechanical pointing deviation from the system's expected target by calculating the geometric distance on the two-dimensional polar coordinate projection plane, thereby providing a basic judgment basis for subsequent laser emission access control.

[0099] S402, Pointing accuracy assessment and original trigger signal generation based on multi-dimensional mapping. After completing the calculation of the spatial following deviation, the system needs to determine whether the current mechanical pointing accuracy meets the effectiveness requirements of optical driving. The hardware execution module 400 calculates the included angle error. Compared with the light spot coverage threshold set internally by the system A comparison is performed to determine the value. In this embodiment, the light spot coverage threshold is used. The determination is based on a dynamic mapping that combines the factory-set optical divergence angle parameters of the fixed-focus laser with the current radial distance of the target. The value is usually set between 0.1 and 0.3 degrees to ensure the rigor and physical relevance of the determination.

[0100] Based on the above judgment logic, when the included angle error is less than the set spot coverage threshold (i.e., judgment is made) When the gimbal's actual physical optical axis is sufficiently close to the theoretical tracking target point or boundary sweep trajectory point, and the physical spot emitted by the fixed-focus laser can effectively cover the predetermined space, the hardware execution module 400 outputs the original trigger signal. The initial trigger signal here is essentially an intermediate enable level signal indicating that the mechanical pointing has achieved effective driving accuracy. In the microcontroller's logic level representation, the system will use the initial trigger signal... Set to a high-level active state (i.e., logic value 1). The conversion between high and low levels and the digital logic mapping are well-known techniques in this field and will not be elaborated here.

[0101] Conversely, when judging At this time, it means the gimbal is in a rapid, large-angle rotation or mechanical overshoot phase. Forcibly activating the laser at this point would not only fail to hit the target, but might even create chaotic stray light trails in the air. Based on this physical cause-and-effect relationship, the system actively cuts off the transmission authority, reverting the original trigger signal... Set to a low-level invalid state (i.e., logic value 0). This closed-loop triggering mechanism based on actual mechanical errors effectively avoids energy waste in the fixed-focus laser during invalid attitude adjustment.

[0102] S403 is a hardware-level exclusion zone space verification and final trigger signal integration logic. Although the front-end software algorithm has avoided the risk of intrusion into the aircraft's safety defenses at the motion command level, under actual harsh operating conditions, the actual physical optical axis still has the potential to fail by entering the no-fly zone due to passive gimbal deflection caused by sudden strong crosswinds or data scrambling caused by strong electromagnetic interference to the underlying driver. To completely eliminate such underlying hardware-level failure risks, the hardware execution module 400 introduces a physical anti-false-lighting interlock verification mechanism at the end of the signal output chain.

[0103] The system calls the aforementioned module to determine the center coordinates of the dynamic spatial repulsion region. and its safety boundary angle radius Based on the current reading of the actual feedback angle of the gimbal. The hardware execution module 400 determines whether the actual feedback angle is located within the dynamic spatial repulsion zone. The specific spatial verification logic is based on the actual angular distance from the actual optical axis point to the center of the repulsion zone. implement:

[0104] ;

[0105] In the formula, This indicates the absolute angular distance between the current actual optical axis direction of the gimbal and the center of the dynamic space repulsion zone; and These are the azimuth and pitch angles of the actual feedback angles read, respectively. and These are the azimuth and elevation components of the center coordinates of the repulsion zone, respectively. If the calculation determines... If the physical condition indicates that the optical axis has crossed the boundary and intruded into the security zone, the system will output a state variable representing the hit status of the repulsion zone. It is logically true (i.e., logical value 1). If the judgment... If the physical optical axis is in a safe space, then the state variable is determined. Set to logical false (i.e., logical value 0).

[0106] After completing the above spatial security verification, the hardware execution module 400 will negate the determination state. Negation here specifically refers to negating the variable containing the determination state. Perform Boolean NOT operation (i.e.) The system inverts the logical value that originally represented an intrusion state, converting it into a logical state that represents a security permission state. The system then compares the inverted result with the original trigger signal generated in the preceding steps. Perform a logical AND operation. Generate the final trigger signal. The Boolean algebraic equation is:

[0107] ;

[0108] In the formula, This is the final trigger signal, and its meaning is the final output drive level state; For logical AND operation; This is a logical NOT operation. According to this logical interlocking equation, the hardware execution module 400 will only generate a high-level final trigger signal when both of these conditions are met: the original trigger signal is valid (i.e., the mechanical following error is minimal, meeting the irradiation coverage requirements) and the actual feedback angle is not within the rejection zone (i.e., the absolute safety check for preventing accidental irradiation passes). This, in turn, turns on the power switch to control the fixed-focus laser's emission operation. This pure hardware-level logic gate interlocking design, independent of the main control operating system, constitutes a hardware-level security interception mechanism with the highest priority, preventing the risk of aircraft being falsely illuminated due to software crashes or electromechanical malfunctions.

[0109] Specific application examples

[0110] 1. Initial State and Rejection Region Construction Process

[0111] A low-latency laser bird deterrence system is deployed in an airport monitoring tower. The system includes detection equipment that acquires continuous discrete coordinate data of the airspace ahead. A repulsion zone construction module 100 acquires the time-series data output by the detection equipment and establishes a kinematic state-space model. At a certain moment, the repulsion zone construction module 100 calculates and outputs the predicted spatial coordinates of the birds: radial distance. meters, azimuth degrees, pitch angle Degree; (e.g.) Figure 3 (As indicated by the asterisk); the repulsion region construction module 100 synchronously calculates and outputs the bird's velocity vector.

[0112] Simultaneously, the low-latency laser bird deterrence system includes an Automatic Dependent Surveillance (ADS) data receiving device that acquires ADS data from the aircraft. The repulsion zone construction module 100 interpolates the acquired ADS data, projects the aircraft's current position onto the polar coordinate system of the gimbal, and generates a center coordinate system. ( Spend, Dynamic spatial exclusion zone (e.g.) Figure 3 (As shown by the crosshair and thin dashed line). The repulsion zone construction module 100 sets the safety boundary angle radius of the dynamic spatial repulsion zone. Spend.

[0113] 2. Trajectory Reconstruction and Intersection Determination Process

[0114] The trajectory reconstruction module 200 extracts the velocity vector and the center coordinates of the dynamic space repulsion zone. The motion ray originating from the predicted spatial coordinates is calculated (e.g., Figure 3 (As shown by the dashed line at the midpoint) to the center coordinates vertical angular distance Spend.

[0115] because (i.e., 1.5 degrees) (degree), and the direction of the motion vector is approaching the center of the dynamic space repulsion zone. The trajectory reconstruction module 200 determines that the velocity vector intersects with the boundary of the dynamic space repulsion zone.

[0116] In cases where intersection is determined, the trajectory reconstruction module 200 does not set the predicted spatial coordinates as the tracking target point of the gimbal. The trajectory reconstruction module 200 performs calculations based on the spatial tangent projection relationship, at a distance from the center coordinates. On the outer boundary with an absolute angular distance of 3 degrees, a boundary sweep trajectory is generated (e.g. Figure 3 (As shown by the thick solid line). When extracting the hardware envelope and performing adaptive constraints on kinematic parameters, the trajectory reconstruction module 200 determines that the theoretically required angular velocity to maintain the current sweep trajectory does not exceed the maximum rated angular velocity of the gimbal servo motor. The trajectory reconstruction module 200 then issues commands in a continuous smooth sweep mode to fit the boundary sweep trajectory.

[0117] 3. Visual compensation and photoelectric parameter scheduling process

[0118] The visual compensation module 300 acquires the running status of the boundary sweep trajectory and extracts the bird's radial distance (200 meters) and relative approach velocity as input variables. Based on a nonlinear function mapping, the visual compensation module 300 adjusts the laser pulse frequency output to the fixed-focus laser according to the bird's radial distance or relative approach velocity.

[0119] Simultaneously, since the acquired operating state is the operating state of the boundary sweep trajectory, the visual compensation module 300 adjusts the angular velocity of the gimbal. Based on the command of the basic motion angular velocity, the visual compensation module 300 executes the superposition of sinusoidal perturbation components with a perturbation superposition frequency of 10 Hz and a perturbation amplitude threshold of 1 degree. This sinusoidal perturbation component superposition... Figure 3 The boundary sweep trajectory exhibits high-frequency sinusoidal fluctuation characteristics, which in turn outputs the adjusted angular velocity of the gimbal.

[0120] 4. Hardware execution and logic verification process

[0121] The hardware execution module 400 reads the actual feedback angle of the pan-tilt unit from the absolute encoder via an independent timer. It then sets the azimuth angle of the actual feedback angle read at this time. degrees, pitch angle Spend.

[0122] The hardware execution module 400 calculates the angular error between the optical axis pointing and the motion command. Assuming the calculated angular error is 0.1 degrees, which is less than the set spot coverage threshold (set to 0.2 degrees), the hardware execution module 400 outputs the original trigger signal in a high-level active state.

[0123] The hardware execution module 400 determines whether the actual feedback angle is located within the dynamic space repulsion zone based on the read actual feedback angle. The hardware execution module 400 calculates the absolute angular distance between the actual optical axis pointing and the center of the dynamic space repulsion zone. Calculation Degree. Because (i.e., 2.9 degrees ≤ 3 degrees), the hardware execution module 400 determines that the actual feedback angle is located within the dynamic space rejection zone. At this time, the determination state variable representing the rejection zone hit state is set to logical true (logical value 1).

[0124] The hardware execution module 400 negates the judgment state (inverting it to logical false, i.e., logical value 0), and performs a logical AND operation between the negated result and the original trigger signal (logical true, i.e., logical value 1) which is in a high-level valid state. The calculation result is logical false (1∧0=0). Therefore, the hardware execution module 400 generates a final trigger signal in a low-level invalid state, and the hardware execution module 400 does not drive the fixed-focus laser to emit light. As the gimbal continues to move, increasing the absolute angular distance... When the angle is greater than 3 degrees, the hardware execution module 400 determines that the actual feedback angle is not located within the dynamic space repulsion zone, and finally the trigger signal is converted to a high-level active state to drive the fixed-focus laser to emit light.

[0125] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A low latency laser bird deterrent system characterized by, include: The exclusion zone construction module is used to calculate the predicted spatial coordinates and velocity vector of birds based on the three-dimensional coordinates output by the detection equipment, perform interpolation calculations on the acquired automatic correlation surveillance data, and generate a dynamic spatial exclusion zone in the polar coordinate system of the pan-tilt unit. The trajectory reconstruction module is used to determine whether the velocity vector intersects with the boundary of the dynamic space repulsion zone. If they do not intersect, the predicted spatial coordinates are set as the tracking target point. If they intersect, a boundary sweep trajectory is generated. A visual compensation module is used to adjust the laser pulse frequency of the fixed-focus laser and the angular velocity of the gimbal based on the tracking target point or the boundary sweep trajectory, using the radial distance or relative approach speed of the bird. The hardware execution module is used to read the actual feedback angle of the gimbal and calculate the angle error between the optical axis pointing and the motion command. When the angle error is less than the spot coverage threshold, the module outputs the original trigger signal. The module then performs a logical AND operation with the original trigger signal after negating the determination state that the actual feedback angle is located in the dynamic space repulsion zone and generates the final trigger signal to control the fixed-focus laser to emit light.

2. The low latency laser bird repelling system of claim 1, wherein, The exclusion zone construction module establishes a kinematic state space model, processes the three-dimensional coordinates, calculates and outputs the predicted spatial coordinates and velocity vector of the bird; The exclusion zone construction module projects the high-frequency virtual interpolation coordinates obtained by interpolating the broadcast automatic correlation monitoring data onto the polar coordinate system, and expands the safety margin angle outward along the azimuth and elevation directions to generate the dynamic space exclusion zone.

3. The low latency laser bird repelling system of claim 2, wherein, The repulsion zone construction module extracts the axis elevation component in the three-dimensional coordinates as the instantaneous height of the target, calculates the Euclidean norm of the velocity vector to obtain the motion rate, and extracts the volume parameters of the detected target. When the volume parameters exceed a preset physiological characteristic threshold and the instantaneous height of the target and the motion rate exceed the upper limit of the flight law, the detected target is determined to be a non-cooperative target. The exclusion zone construction module compares the coordinates of the non-cooperative target with the dynamic spatial exclusion zone. When the coordinates of the non-cooperative target do not fall within the range of the dynamic spatial exclusion zone, a local non-cooperative target exclusion zone is generated by expanding outward based on the coordinates of the non-cooperative target.

4. The low latency laser bird repelling system of claim 1, wherein, The trajectory reconstruction module calculates the vertical angular distance from the center coordinates of the dynamic space rejection zone to the motion ray originating from the predicted spatial coordinates, and compares the vertical angular distance with the safety boundary angular radius of the dynamic space rejection zone. When the vertical angular distance is less than or equal to the radius of the safety boundary angle and the direction of the velocity vector is approaching the center coordinate, it is determined that the velocity vector intersects with the boundary of the dynamic space repulsion zone.

5. The low latency laser bird repelling system of claim 4, wherein, In the case of intersection, the trajectory reconstruction module calculates coordinates based on the spatial tangent projection relationship to find the geometric tangent point on the boundary of the dynamic spatial repulsion zone that is closest to the real-time predicted position of the bird. The real-time tangent point coordinates obtained by spatial projection calculation converge at the outer edge of the boundary of the dynamic spatial repulsion zone to generate the boundary sweep trajectory.

6. The low-latency laser bird deterrent system according to claim 5, characterized in that, The trajectory reconstruction module performs time difference calculations on the real-time tangent coordinates within two consecutive control cycles to calculate the theoretical required angular velocity. When the theoretical required angular velocity is greater than the maximum rated angular velocity of the gimbal, an adaptive constraint is triggered, stopping the point-to-point following of the real-time tangent coordinates and pushing a fixed advance interception angle outward along the boundary of the dynamic space repulsion zone in front of the bird's flight, thus restricting the gimbal to move to the advance interception point at the maximum rated angular velocity for fixed-point physical dwell.

7. The low-latency laser bird deterrent system according to claim 1, characterized in that, The visual compensation module extracts the radial distance and relative approach velocity of the bird, constructs a nonlinear adaptive mapping model of the pulse frequency, and uses the basic biological stimulus frequency to fuse the distance compensation gain controlled by the radial distance and the velocity compensation gain controlled by the relative approach velocity to adjust the laser pulse frequency output to the fixed-focus laser. In addition, a positive real constant is superimposed in the denominator of the division operation in calculating the distance compensation gain to limit the frequency gain saturation.

8. The low-latency laser bird deterrent system according to claim 1, characterized in that, When the visual compensation module determines that the obtained operating state is the operating state of the boundary sweep trajectory, it performs periodic sinusoidal perturbation component superposition on the basic motion angular velocity command corresponding to the boundary sweep trajectory, and outputs the angular velocity of the gimbal after superposition of perturbation components, so that the spot of the fixed-focus laser will swing laterally to widen the physical width of the boundary sweep trajectory.

9. The low-latency laser bird deterrent system according to claim 1, characterized in that, The hardware execution module calculates the absolute angular distance between the actual feedback angle and the center coordinates of the dynamic space rejection zone. When the absolute angular distance is less than or equal to the safety boundary angular radius of the dynamic space rejection zone, it determines that the actual feedback angle is located within the dynamic space rejection zone and sets the determination state variable representing the rejection zone hit state to logical true. The hardware execution module performs a Boolean NOT operation on the determination state variable set to logical true, and then performs a logical AND operation with the original trigger signal to generate the final trigger signal in a low-level invalid state to block the light emission operation.

10. A low-delay laser bird deterrence method, applied to the system as described in any one of claims 1-9, characterized in that, Includes the following steps: The predicted spatial coordinates and velocity vector of the bird are calculated based on the three-dimensional coordinates output by the detection equipment. The acquired automatic correlation surveillance data is interpolated and a dynamic spatial repulsion zone is generated in the polar coordinate system of the pan-tilt unit. Determine whether the velocity vector intersects with the boundary of the dynamic space repulsion zone. If they do not intersect, set the predicted spatial coordinates as the tracking target point. If they intersect, generate a boundary sweep trajectory. Based on the tracking target point or the boundary sweep trajectory, the laser pulse frequency of the fixed-focus laser and the angular velocity of the gimbal are adjusted according to the radial distance or relative approach velocity of the bird. The actual feedback angle of the gimbal is read and the angle error between the optical axis pointing and the motion command is calculated. When the angle error is less than the spot coverage threshold, the original trigger signal is output. The determination state that the actual feedback angle is located in the dynamic space repulsion zone is negated and then logically ANDed with the original trigger signal to generate the final trigger signal to drive the fixed-focus laser to emit light.

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