CN108051823A - A kind of non-rotating insect detection radar and method based on face imaging laser radar - Google Patents
A kind of non-rotating insect detection radar and method based on face imaging laser radar Download PDFInfo
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- CN108051823A CN108051823A CN201711013779.0A CN201711013779A CN108051823A CN 108051823 A CN108051823 A CN 108051823A CN 201711013779 A CN201711013779 A CN 201711013779A CN 108051823 A CN108051823 A CN 108051823A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The present invention relates to a kind of non-rotating insect detection radars and method based on face imaging laser radar.The present invention includes multiple face imaging laser radars, fixed column and data transmission module；Multiple face imaging laser radar structures are identical, and data transmission module is arranged on the top of fixed column；Multiple face imaging laser radars are arranged on a horizontal plane, are fixed at the top of fixed column, the lower section of data transmission module；The signal that multiple face imaging laser radars generate is real-time transmitted to distant place base station or host computer by data transmission module.The smooth surface imaging laser radar of the present invention is non-revolving, and the entire smooth surface in polarizers of big angle scope can be detected, as a result more stable, and response is faster.The time, position and judge caste that insect flies over can accurately be recorded.Insect numbers, species and the location information flown in quantitative analysis laser radar institute detection plane provides data for ecological study and supports.
Description
Technical field
The invention belongs to insect detection and laser radar technique fields, are related to a kind of non-rotation based on face imaging laser radar
Rotatable insect detection radar and method.
Background technology
Insect pest has the characteristics that big migrating property of region, production estimation is influenced very big.Utilize radar, especially laser thunder
Up to taking remote measurement, the information such as orientation, height, moving direction, the species of insect communities can be calculated, to study elder brother on ecology
Worm habit, control area the quantity of insects' population inhibit insect pest outburst and provide decision-making foundation.Traditional laser radar, mainly to list
A multi-angle laser irradiation area is detected.Investigative range is small, if necessary to detect a face, then needs to pass through motor
The mode of rotation, thus it is of high cost, rate is slow, fragile, easy drain message.For these reasons, this patent proposes a kind of non-
Rotary insect detection radar forms non-rotating insect detection radar using multiple smooth surface imaging laser radars, accurate to record
Judge time, position and species that insect flies over.
The laser radar of traditional scan-type is different from, smooth surface imaging laser radar is non-revolving, and at the same time can
To be detected to the entire smooth surface in polarizers of big angle scope, thus result is more stablized, and response is faster.Under normal circumstances, smooth surface
The scanning range of imaging laser radar can reach 90 degree.By using multiple smooth surface imaging laser radar combined systems, to whole
A plane is detected.The insect that passes through on a face is monitored simultaneously, judge insect by position, and pass through insect
Wing vibration information judges its caste.
The content of the invention
It is an object of the invention to provide a kind of based on the non-rotating insect detection radar of face imaging laser radar and side
Method.
The present invention includes multiple face imaging laser radars, fixed column and data transmission module；Multiple faces imaging swashs
Optical radar structure is identical, and data transmission module is arranged on the top of fixed column；Multiple face imaging laser radars are arranged in a water
In plane, the top of fixed column, the lower section of data transmission module are fixed at；The signal that multiple face imaging laser radars generate
Distant place base station or host computer are real-time transmitted to by data transmission module；
The smooth surface imaging laser radar includes light source, Lenticular screen or Linear Laser and lens, convex lens occurs
And detector array；The laser exit of laser is provided with Lenticular screen or lens occur for Linear Laser；What laser was sent
Plane a where by Lenticular screen or Linear Laser the line laser generated after lens occurs for collimation laser, detector array into
The intersection of both image plane b is passed fully through by the mounting plane c where another tilted-putted lens；I.e. a, b, c tri- is flat
Face intersects at same straight line in space；It is produced simultaneously on the barrier where line laser on plane a, lens and detector array
Raw picture, it is object distance to meet imaging formula (1/U)+(1/V)=1/f, U, and V is image distance, and f is focal length.
The scope detected after multiple face imaging laser radars combination is 360 °；The spy of single face imaging laser radar
It is 60 °~120 ° to survey scope, 3~6 face imaging laser radar combinations of generally use.
Preferably, the detector array selects CCD or cmos image sensor.
A kind of non-rotating insect detection method based on face imaging laser radar, includes the following steps：
Step 1: when insect flies over laser radar detection face, the line that the corresponding laser radar for detecting the position generates swashs
Light is mapped on insect wing, and since insect wing vibrates, line laser is reflected on the lens in corresponding laser radar, is rolled over through lens
It is mapped on detector array, the signal flickered on the detector；
Step 2: when occurring flash signal on detector, signal is recorded by data transmission module and passes through data transmission
Wireless communication module is transferred to base station in module or host computer is handled, and correspondence position generates periodical time domain letter on detector
Number；
Step 3: base station or host computer are according to the position for the pixel for detecting flash signal, foundation imaging formula (1/U)
+ (1/V)=1/f, U is object distance, and V is image distance, and f is focal length, and conversion obtains insect position；
Step 4: base station or host computer pass through Fourier transformation according to flash signal on detectorTime-domain signal is converted into frequency-region signal, and extracts characteristic frequency spectrum；
Step 5: according to the position of characteristic frequency spectrum characteristic frequency, the species of insect is judged.
The smooth surface imaging laser radar of the present invention is non-revolving, and at the same time can be to entire in polarizers of big angle scope
Smooth surface is detected, thus result is more stablized, and response is faster.The time, position and sentence that insect flies over can accurately be recorded
Disconnected caste.Insect numbers, species and the location information flown in quantitative analysis laser radar institute detection plane, makes a living
State research provides data and supports.The information of insect on one face can be monitored, monitoring range bigger, signal is more complete
Face, it is easier to study the habit of insect.
Description of the drawings
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the schematic diagram of test surface in embodiment；
Fig. 3 is the internal structure schematic diagram of smooth surface imaging laser radar；
Fig. 4 is the generation schematic diagram of line laser in smooth surface imaging laser radar；
Fig. 5 is the time-domain signal figure in embodiment；
Fig. 6 is the frequency domain signal diagrams in embodiment.
Specific embodiment
A kind of non-rotating insect detection radar based on face imaging laser radar includes multiple face imaging laser radars.It is more
The scope detected after a face imaging laser radar combination is 360 °, is entire detection plane.The spy of single face imaging laser radar
It is 60 °~120 ° to survey scope, 3~6 face imaging laser radar combinations of generally use.In the present embodiment, single face imaging Laser
The investigative range of radar is 90 degree, therefore four laser radars is used to form 360 ° of investigative ranges.
As shown in Figure 1, a kind of non-rotating insect detection radar based on face imaging laser radar, including the first smooth surface into
As laser radar 1, the second smooth surface imaging laser radar 2, the 3rd smooth surface imaging laser radar 3, the 4th smooth surface imaging laser radar
4th, fixed column 5 and data transmission module 6.Data transmission module 6 is arranged on the top of fixed column 5；First smooth surface imaging Laser thunder
Up to the 1, second smooth surface imaging laser radar 2,4 structure phase of the 3rd smooth surface imaging laser radar 3 and the 4th smooth surface imaging laser radar
Together, it is arranged on a horizontal plane, is fixed at the top of fixed column 5, the lower section of data transmission module 6.4 laser radars
The signal of generation is real-time transmitted to distant place base station or host computer by data transmission module 6.
The side for being evenly distributed on fixed column 5 of four smooth surface imaging laser radars, between any two at a distance of 90 °, Mei Gelei
The measurement range reached is 90 °~100 °, thus draws test surface as shown in Figure 2.Four smooth surface imaging laser radars form battle array
Row realize the detection to entire plane.
As shown in figure 3, each smooth surface imaging laser radar includes laser 7 (light source), Lenticular screen 8, convex lens 9
With detector array 10.Detector array 10 selects CCD or cmos image sensor.The laser exit of laser 7 is provided with column
Lenticulation 8, Lenticular screen 8 are set with horizontal plane.After the collimation laser that laser 7 is sent is by Lenticular screen 8
The intersection of both plane a, detector array imaging plane b where the line laser of generation is where another tilted-putted lens
Mounting plane c pass fully through.That is tri- planes of a, b, c intersect at same straight line in space.Simultaneously so that convex lens 9 will
The light of barrier back scattering passes through lens imaging on detector array in line laser plane, barrier, lens, detector
The picture generated on array, it is object distance to meet imaging formula (1/U)+(1/V)=1/f, U, and V is image distance, and f is focal length.
As shown in figure 4, it is a kind of producing method of line laser in smooth surface imaging laser radar, i.e., using Lenticular screen
Generate line laser.In addition it is also possible to lens occur using Linear Laser to generate line laser.In the present embodiment, laser radar
In the collimation laser that sends of laser 7 (light source) become line laser after Lenticular screen.
Based on above device, there are a kind of following non-rotating insect detection methods based on face imaging laser radar, specifically
Implementation steps：
Step 1: when insect flies over laser radar detection face, the line that the corresponding laser radar for detecting the position generates swashs
Light is mapped on insect wing, and since insect wing vibrates, line laser is reflected on the lens in corresponding laser radar, is rolled over through lens
It is mapped on detector array, thus the signal flickered on the detector；
Step 2: when occurring flash signal on detector, signal is recorded by data transmission module and passes through data transmission
Wireless communication module is transferred to base station in module or host computer is handled；As shown in figure 5, due to insect wing be at a high speed back and forth
Vibration, thus the light reflected the time-domain signal that correspondence position generates on the detector is also periodic, the jump up and down of signal
It moves and causes for insect wing vibration.
Step 3: base station or host computer are according to the position for the pixel for detecting flash signal, foundation imaging formula (1/U)
+ (1/V)=1/f, U is object distance, and V is image distance, and f is focal length, and conversion obtains the position of insect appearance.
Step 4: base station or host computer pass through Fourier transformation according to flash signal on detectorTime-domain signal is converted into frequency-region signal, and extracts characteristic frequency spectrum；As shown in fig. 6, it is
The result after Fourier transformation is done to the obtained time-domain signal of detector.
Step 5: according to the position of characteristic frequency spectrum characteristic frequency, caste is judged.As shown in fig. 6,4 of solid line
The corresponding frequency in peak is 1 frequency multiplication, 2 frequencys multiplication, 3 frequencys multiplication and 4 frequencys multiplication of insect A wing vibration frequencies respectively.And if another
Insect B, then the position of its characteristic frequency can be otherwise varied, as shown in the dotted line in Fig. 6.It can interpolate that out the kind of insect from frequency spectrum
Class.Wing vibration frequency such as honeybee is 150Hz or so.
Operation principle is as follows,, can be anti-since wing vibrates when insect flies over non-rotating insect detection radar test surface
The light of ray source is to detector array.The insect that any position is flown in detection plane all can correspond to position in detector array
Put the signal for leaving wing vibration.
The basic probe unit of non-rotating insect detection radar is smooth surface imaging laser radar.Smooth surface imaging laser radar
It is made of line source, lens and detector array.Plane, lens face and three, the detector array plane that line source illuminates are flat
Face intersects at straight line.Line source illuminates a plane, can occur when occurring barrier, insect, aerosol etc. in plane
Reflection.The light of reflection is by lens imaging on detector array.Each point on detector array is with illuminating in plane
Glyph synthesized image law, there are one-to-one relationships, and the tested object location being calculated by imaging formula on sensor with dodging
The correspondence of pixel position is sparkled to complete.The position of reflector can thus be accurately reflected.The distance of detection can reach 1
Km or so, wherein, detection is more accurate when distance is in 100 meter.Insect is when by detection plane, due to its wing
Vibration, pixel that can be on the corresponding detector in insect position (the CCD or CMOS) array generate a cycle
Light intensity changes.By carrying out Fourier transformation to the periodically variable signal of light intensity in this time domain, the insect wing can be extracted
The frequency spectrum of wing vibration.The frequency range of each insect its wing vibration is different, thus can be vibrated according to wing
Frequency spectrum judges the species of insect for single laser smooth surface imaging laser radar, when insect passes through its detection plane, insect
Wing can reflect the light of line source.This part light can be imaged on the detector.Since the plane that line source illuminates exists centainly
Thickness, insect wing when flying over smooth surface can vibrate multiple cycles, so as to be present with the signal of flicker on detector.By right
This section of time-domain signal does Fourier transformation, the frequency of insect wing vibration can be extracted, so as to judge caste.
Claims (4)
1. a kind of non-rotating insect detection radar based on face imaging laser radar, including multiple face imaging laser radars, admittedly
Fixed column and data transmission module；It is characterized in that：Multiple face imaging laser radar structures are identical, and data transmission module is set
It puts at the top of fixed column；Multiple face imaging laser radars are arranged on a horizontal plane, are fixed at the top of fixed column,
The lower section of data transmission module；The signal that multiple face imaging laser radars generate is real-time transmitted to a distant place by data transmission module
Base station or host computer；
The smooth surface imaging laser radar includes light source, Lenticular screen or Linear Laser and lens, convex lens and spy occurs
Survey device array；The laser exit of laser is provided with Lenticular screen or lens occur for Linear Laser；The collimation that laser is sent
Plane a where by Lenticular screen or Linear Laser the line laser generated after lens occurs for laser, detector array imaging are flat
The intersection of both face b is passed fully through by the mounting plane c where another tilted-putted lens；That is tri- planes of a, b, c exist
Same straight line is intersected in space；It is generated simultaneously on the barrier where line laser on plane a, lens and detector array
Picture, it is object distance to meet imaging formula (1/U)+(1/V)=1/f, U, and V is image distance, and f is focal length.
2. a kind of non-rotating insect detection method based on face imaging laser radar, it is characterised in that：Include the following steps：
Step 1: when insect flies over laser radar detection face, the line laser that the corresponding laser radar for detecting the position generates is penetrated
Onto insect wing, since insect wing vibrates, line laser is reflected on the lens in corresponding laser radar, is refracted to through lens
On detector array, the signal that is flickered on the detector；
Step 2: when occurring flash signal on detector, signal is recorded by data transmission module and passes through data transmission module
Middle wireless communication module is transferred to base station or host computer is handled, and correspondence position generates periodic time domain signals on detector；
Step 3: base station or host computer are according to the position for the pixel for detecting flash signal, foundation imaging formula (1/U)+(1/
V)=1/f, U are object distance, and V is image distance, and f is focal length, and conversion obtains insect position；
Step 4: base station or host computer pass through Fourier transformation according to flash signal on detector
Time-domain signal is converted into frequency-region signal, and extracts characteristic frequency spectrum；
Step 5: according to the position of characteristic frequency spectrum characteristic frequency, the species of insect is judged.
3. a kind of non-rotating insect detection radar based on face imaging laser radar as described in claim 1, feature exist
In：The scope detected after multiple face imaging laser radars combination is 360 °；The detection model of single face imaging laser radar
It encloses for 60 °~120 °, 3~6 face imaging laser radars of generally use combine.
4. a kind of non-rotating insect detection radar based on face imaging laser radar as described in claim 1, feature exist
In：The detector array selects CCD or cmos image sensor.
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Application publication date: 20180518 |