CN102524237A - Bird-dispersing system and method for monitoring bird situations of airports - Google Patents

Bird-dispersing system and method for monitoring bird situations of airports Download PDF

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Publication number
CN102524237A
CN102524237A CN2012100072848A CN201210007284A CN102524237A CN 102524237 A CN102524237 A CN 102524237A CN 2012100072848 A CN2012100072848 A CN 2012100072848A CN 201210007284 A CN201210007284 A CN 201210007284A CN 102524237 A CN102524237 A CN 102524237A
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bird
desktop
birds
chirping
unit
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李晓欢
李灵巧
叶金才
叶进
邓洪高
陈倩
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Guilin University of Electronic Technology
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Guilin University of Electronic Technology
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Abstract

The invention discloses a bird-dispersing system and a bird-dispersing method for monitoring bird situations of airports. The bird-dispersing system comprises a remote bird situation monitoring device, a bird-dispersing terminal and a desktop monitoring center, wherein the output end of the remote bird situation monitoring device is connected with the input end of the desktop monitoring center, and the output end of the desktop monitoring center is connected with the bird-dispersing terminal; and bird situations near parking aprons of the airports are monitored in real time by the remote bird situation monitoring device, data is processed by the desktop monitoring center, and a bird-dispersing signal is sent to the bird-dispersing terminal according to the current bird target condition, so that birds are dispersed actively, bird situation data can be recorded and counted, and the bird situation environment at the periphery of the airports is convenient to analyze and forecast.

Description

A kind of airport bird feelings monitoring bird-repeller system and method
Technical field
The present invention relates to animal scaring method and device, be specifically related to a kind of airport bird feelings monitoring bird-repeller system and method.
Background technology
Aviation safety is the focus of whole civil aviaton industry and public attention.Bird strike aircraft (be called for short " bird is hit ") is meant in airborne vehicle landing or the flight course incident that bumps against with flying object such as birds; Since there being airborne vehicle just to have bird to hit incident; Bird is hit problem and causes enormous economic loss to aircraft industry, the life security that also jeopardizes the passenger simultaneously.Find that after deliberation bird is hit major part and occurs in and take off and the landing stage, and the probability that takes place reduces distribution gradient with the rising of height.Yet; Because the expansion of mankind's activity scope; The natural environment of make suitable birdife, perch, multiplying reduces significantly, the desirable place that the airport just becomes birdife, perches, multiplies, and the probability that these combined factors effects make the bird incident of hitting take place is increasingly high.Present whole aeronautical chart does not also find a kind of way of putting things right once and for all.At present widely used is bionics method; Promptly utilize tweeting sound, squel, the comprehensive explosion sound of birds natural enemy; And the equipment such as model of bird natural enemy drive away flying bird, but such mode is the fixing passive bird mode of driving, and do not possess according to the birds ability that the movable autotelic enforcement of situation is driven on the airport; Exist waste time and energy, to be prone to the alert drawback of false-alarm and mistake and service time long after birds be easy to generate habitual reflection, thereby scarecrow device was lost efficacy.
Summary of the invention
Technical problem to be solved by this invention provides a kind of airport bird feelings monitoring bird-repeller system and method, and it links after can the moving-target Detection and Extraction with chirping of birds auditory localization and bird motion process to handle and realizes that the bird feelings discern and initiatively drive the purpose of bird.
For addressing the above problem, the present invention realizes through following scheme:
Bird feelings monitoring bird-repeller system in a kind of airport of the present invention comprises long-range bird feelings supervising device, drives bird terminal and Desktop Monitoring center; The output of its medium-long range bird feelings supervising device connects the input at Desktop Monitoring center, the output at Desktop Monitoring center with drive the bird terminal and link to each other;
Said long-range bird feelings supervising device comprises chirping of birds sound source positioning unit and bird moving object detection unit; Wherein chirping of birds sound source positioning unit mainly is made up of a plurality of non-directional microphones, a plurality of A/D converter, chirping of birds data operation unit and chirping of birds communication unit; Bird moving object detection unit then mainly is made up of a plurality of digital cameras, bird exercise data arithmetic element and bird moving communication unit;
Above-mentioned non-directional microphone and digital camera are distributed in the airfield runway guarded region on every side according to fixing distribution distance; Be that airfield runway guarded region on every side is split into a plurality of workspaces, respectively be installed with 1 non-directional microphone and at least 1 digital camera in each workspace;
Each non-directional microphone is gathered the sound in this workspace, and sends in the chirping of birds data operation unit after the sound in this workspace changed through A/D converter;
Chirping of birds data operation unit carries out pre-filtering with the sound in each workspace earlier, utilizes delay time estimation method that the sound in all workspaces is carried out simultaneous again and calculates the position that the back obtains the chirping of birds target;
The chirping of birds communication unit is sent the result of calculation of above-mentioned chirping of birds data operation unit into the Desktop Monitoring center;
Each digital camera is gathered the image in this workspace, and the image in this workspace is sent in the bird exercise data arithmetic element;
Bird exercise data arithmetic element utilizes the moving object detection algorithm that the image in each workspace is handled, and two adjacent on access time two field pictures are compared, and obtain the position of bird moving target thus;
The Desktop Monitoring center is sent the result of calculation of above-mentioned bird exercise data arithmetic element in bird moving communication unit;
The said bird terminal of driving comprises a plurality of bird-scaring units and a plurality of bird controller that drives; Wherein be equipped with 1 bird-scaring unit and 1 in each workspace in the guarded region around the airfield runway and drive the bird controller, these bird-scaring units all are connected with the Desktop Monitoring center via driving the bird controller;
Said Desktop Monitoring center is with each non-directional microphone, each digital camera, each bird-scaring unit and be dissolved in the geographic information system in the lump through the position coordinates of the invasion bird target of acquisition after chirping of birds target and the fusion of bird moving target; When occurring invasion bird target in wherein one or more workspaces in the guarded region around airfield runway is judged at the Desktop Monitoring center, then send control signal and trigger the bird-scaring unit work in the corresponding workspace.
In the said system, said Desktop Monitoring center comprises early warning and monitoring central processing unit, desktop surveillance, desktop control system and desktop database;
Said early warning and monitoring central processing unit mainly is made up of data receiving element, data fusion unit and prewarning unit;
The data receiving element is responsible for receiving the data from chirping of birds communication unit and bird moving communication unit;
The data fusion unit is responsible for relative position coordinates with the invasion bird target that receives and is converted map reference into and be fused in the geographic information system, and calibrated digital picture is linked to geographic information system;
Prewarning unit will be invaded the bird target and is shown to desktop control system and make alarm, search the end coordinates of best bird-scaring unit simultaneously, send to desktop control system request and drive the bird instruction;
Said desktop surveillance will invade bird target location, alarm, drive the bird prompting and calibrated image is shown in the screen;
Said desktop control system receives alarm command, sends control instruction to driving the bird controller;
Said desktop database is responsible for storing the coordinate information of each non-directional microphone, each digital camera and each bird-scaring unit, and from early warning and monitoring central processing unit and desktop control all coordinate informations of system and data command.
In the said system, said chirping of birds communication unit is the RS485 communication unit, and bird moving communication unit is RJ-45 ethernet communication unit.
In the said system, the said bird terminal of driving also is provided with wireless communication unit, and this wireless communication unit connects desktop control system respectively and drives the bird controller.
The bird method is driven in the bird feelings monitoring of a kind of airport of the present invention, comprises the steps:
(1) guarded region around the airfield runway is divided into M workspace, M＞1, and in each workspace, respectively be installed with 1 non-directional microphone, at least 1 digital camera and 1 bird-scaring unit;
(2) each non-directional microphone is gathered the sound that same chirping of birds target is sent, and it is back in the chirping of birds data operation unit;
(3) method of chirping of birds data operation unit by using delay estimation maximum; Calculate sound time delay between each non-directional microphone of microphone that same chirping of birds target is sent; And then through known acoustic wave propagation velocity; Calculate sound and arrive each non-directional microphone array element path difference, the space geometry according to non-directional microphone and chirping of birds target concerns the position that promptly can calculate the chirping of birds target then;
(4) the chirping of birds communication unit is sent the result of calculation of above-mentioned chirping of birds data operation unit into the Desktop Monitoring center;
(5) each digital camera is gathered the image in this workspace, and it is sent in the bird exercise data arithmetic element;
(6) bird exercise data arithmetic element is partitioned into the zone at the target place of motion in the continuous video image sequence; Utilize the moving object detection algorithm picks time to go up two adjacent frames again and monitor computing; If operation result less than predetermined threshold, is then thought static background; If the result greater than predetermined threshold, then thinks the bird moving target;
(7) the Desktop Monitoring center is sent the result of calculation of above-mentioned bird exercise data arithmetic element in bird moving communication unit;
(8) desktop management and control center utilizes geographic information system framework, transmission technology, data fusion technology to be dissolved in the geographic information system with each non-directional microphone, each digital camera, each bird-scaring unit and through the position that chirping of birds target and bird moving target merge the invasion bird target that the back obtains; When occurring invasion bird target in wherein one or more workspaces in the guarded region around airfield runway is judged at the Desktop Monitoring center, then send control signal and trigger the bird-scaring unit work in the corresponding workspace.
The said step of said method (8) specifically comprises the steps:
(8.1) the data receiving element receives the data from chirping of birds communication unit and bird moving communication unit;
(8.2) relative position coordinates of the data fusion unit invasion bird target that will receive converts map reference into and is fused in the geographic information system, and calibrated digital picture is linked to geographic information system;
(8.3) prewarning unit will be invaded the bird target and is shown to desktop control system and make alarm, search the end coordinates of best bird-scaring unit simultaneously, send to the desktop system request and drive the bird instruction;
(8.4) the desktop surveillance will be invaded bird target location, alarm, driven bird prompting and calibrated image is shown in the screen;
(8.5) desktop control system receives alarm command, sends control instruction to driving the bird controller.
In the said method, said chirping of birds data operation unit is connected through the RS485 communication unit with desktop management and control center, and bird exercise data arithmetic element is connected through RJ-45 ethernet communication unit with desktop management and control center.
In the said method, the said bird controller that drives is connected through wireless communication unit with desktop management and control center.
Compared with prior art, the present invention has following characteristic:
(1) change widely used fixed mode passive method of driving bird at present, the equipment such as model that the bird natural enemy is installed like tweeting sound, squel, the comprehensively explosion sound, and fixed point of regularly playing the birds natural enemy drive bird.Traditional method does not possess according to the birds ability that the movable autotelic enforcement of situation is driven on the airport, exist waste time and energy, be prone to the alert drawback of false-alarm and mistake and service time long back birds be easy to generate habitual reflection, thereby scarecrow device was lost efficacy.The method that the present invention uses is at first monitored the bird feelings by monitoring device in real time; Carry out data then, send according to current bird target conditions and drive the bird signal, realize initiatively driving bird; And can write down and add up bird feelings data, be convenient to analysis and prediction to airport periphery bird feelings environment;
(2) compare with the bird target radar monitoring mode that external scientific research institution proposes; The characteristic that auditory localization technology and moving object detection and birds are piped of novelty of the present invention, motion feature combine, and can overcome the shortcoming of radar system to existing operation generation strong electromagnetic in airport and little target easy " false dismissal ";
(3) wireless sensor network technology and data fusion are incorporated in the system, for duty personnel and dicision-making group provide visual and accurate information more, the generation of effectively preventing accident.
Description of drawings
Fig. 1 is a kind of airport of the present invention bird feelings monitoring bird-repeller system theory diagram;
Fig. 2 is the bird-repeller system layout;
Fig. 3 is the space geometry relation of non-directional microphone and target;
Fig. 4 is a chirping of birds target detection step;
Fig. 5 is a bird moving object detection step;
Fig. 6 is a desktop management and control center operating procedure.
Fig. 7 is for driving bird terminal operating step.
Embodiment
Referring to Fig. 1, a kind of airport of the present invention bird feelings monitoring bird-repeller system comprises long-range bird feelings supervising device, drives bird terminal and Desktop Monitoring center.The output of its medium-long range bird feelings supervising device connects the input at Desktop Monitoring center, the output at Desktop Monitoring center with drive the bird terminal and link to each other.
Said long-range bird feelings supervising device utilizes birds sound mark and flight characteristic; Be used for the bird target in airport management and control zone is monitored identification; And, calculate and judge the orientation and the current motion state at the current relatively terminal of bird target according to current place monitoring position of terminal.In the present invention, said long-range bird feelings supervising device comprises chirping of birds sound source positioning unit and bird moving object detection unit.The harvester of at first, chirping of birds sound source positioning unit and bird moving object detection unit is distributed in airfield runway guarded region on every side according to fixing distribution distance.In the present invention, the guarded region around the airfield runway is split into a plurality of workspaces, as adopting matrix partition layout type (like Fig. 2), annular zoning mode, reaching other zoning's modes.Wherein be installed with 1 non-directional microphone, 1 digital camera and 1 bird-scaring unit in each workspace at least.But in order to eliminate the monitoring blind area of digital camera, in the preferred embodiment of the present invention, each workspace flat opposed is settled 2 digital cameras.Afterwards; Chirping of birds sound source positioning unit directly is connected with the early warning and monitoring central processing unit at desktop management and control center with the mode of bird moving object detection unit through wire communication; Chirping of birds sound source positioning unit and installation site, bird moving object detection unit are fixed, and fixing coordinate is deposited in the early warning and monitoring central processing unit tables of data.
Above-mentioned chirping of birds sound source positioning unit is through the microphone array of non-directional microphone; Utilize the method for delay estimation maximum; Calculate sound time delay between each array element of microphone of non-directional microphone that same chirping of birds target is sent, and then, calculate sound and arrive each array element path difference through known acoustic wave propagation velocity; Space geometry according to array element and target concerns the coordinate that promptly can calculate target then.And operation result and current region origin be transferred to the early warning and monitoring central processing unit at Desktop Monitoring center.In the present invention, wherein chirping of birds sound source positioning unit mainly is made up of a plurality of non-directional microphones, a plurality of A/D converter, chirping of birds data operation unit and chirping of birds communication unit.Each non-directional microphone is gathered the sound in this workspace, and sends in the chirping of birds data operation unit after the sound in this workspace changed through A/D converter.Chirping of birds data operation unit carries out pre-filtering with the sound in each workspace earlier, utilizes delay time estimation method that the sound in all workspaces is carried out simultaneous again and calculates the position coordinates that the back obtains the chirping of birds target.The chirping of birds communication unit is sent the result of calculation of above-mentioned chirping of birds data operation unit into the Desktop Monitoring center.In the preferred embodiment of the present invention, said chirping of birds data operation unit is connected through the RS485 communication unit with desktop management and control center.
Above-mentioned bird moving object detection unit extracts the guarded region image through digital camera; In the continuous video image sequence, be partitioned into the zone at the target place of motion; Utilize the moving object detection algorithm picks time to go up two adjacent frames again and monitor computing, usually very short because of the time interval of adjacent two frames collection, we think that ambient brightness does not change; If operation result is set thresholding less than certain, then think static background; If the result sets thresholding greater than certain, then think target.And the result after computing finished gives desktop management and control center early warning and monitoring central processing unit with self device numbered transmission.In the present invention, bird moving object detection unit then mainly is made up of a plurality of digital cameras, bird exercise data arithmetic element and bird moving communication unit.Each digital camera is gathered the image in this workspace, and the image in this workspace is sent in the bird exercise data arithmetic element.Bird exercise data arithmetic element utilizes the moving object detection algorithm that the image in each workspace is handled, and two adjacent on access time two field pictures are compared, and obtain the position of bird moving target thus.The Desktop Monitoring center is sent the result of calculation of above-mentioned bird exercise data arithmetic element in bird moving communication unit.In the preferred embodiment of the present invention, bird exercise data arithmetic element is connected through RJ-45 ethernet communication unit with desktop management and control center.
The said bird terminal of driving is after having obtained the control signal of sending at the Desktop Monitoring center, and utilization is a bionics method, promptly drives the tweeting sound, squel, the comprehensive explosion sound equipment that send the birds natural enemy flying bird is driven away, thereby realize initiatively driving bird.In the present invention; The said bird terminal of driving comprises a plurality of bird-scaring units, a plurality of bird controller and a plurality of wireless communication unit of driving, and wherein is equipped with 1 bird-scaring unit, 1 in each workspace in the guarded region around the airfield runway and drives bird controller and 1 wireless communication unit.The desktop at Desktop Monitoring center control system through wireless communication unit with drive the bird controller and link to each other, drive bird controller output end connection bird-scaring unit.Wireless communication unit comprises wireless communication module and main control module.Wireless communication module is responsible for setting up communication link, accomplishes the tcp/ip communication agreement, guarantees the wireless communication terminal real-time online.Main control module is responsible for carrying out that desktop management and control center sends drives the bird instruction, and transfers in fact the time and drive the bird controller.In the preferred embodiment of the present invention, drive the STM32F103R8 that the bird controller adopts the ARM7 kernel; Drive bird controller trigger element and adopt relay control; The electric power system of driving the bird terminal adopts solar panel; Said bird-scaring unit is the coal gas big gun.
Said desktop management and control center utilize GIS (geographic information system) framework, wired and Radio Transmission Technology, data fusion technology with bird feelings monitoring terminal, drive the bird controller, target is dissolved in the geographic information system; Driving the bird controller is fused to the controller azimuth information among the GIS through wireless terminal; When desktop system early warning or duty personnel are judged as dangerous birds when movable through monitoring information; Can directly trigger the bird-scaring unit of corresponding region through generalized information system; Implement initiatively to drive the bird action, eliminate potential bird and hit danger.When management and control centring system unmanned; Can preset birds detector early warning program and drive the bird program; Implement the intelligent bird-repeller pattern or regularly, fixed point drives bird, and the monitor message during the unmanned is saved in the server, so that to the inquiry and the playback of bird feelings of monitoring record; Management and control center desktop system can also conduct interviews to server through various mutual contact modes, can realize the whole network management.
Above-mentioned Desktop Monitoring center is with each non-directional microphone, each digital camera, each bird-scaring unit and be dissolved in the geographic information system in the lump through the position coordinates of the invasion bird target of acquisition after chirping of birds target and the fusion of bird moving target; When occurring invasion bird target in wherein one or more workspaces in the guarded region around airfield runway is judged at the Desktop Monitoring center, then send control signal and trigger the bird-scaring unit work in the corresponding workspace.Said Desktop Monitoring center comprises early warning and monitoring central processing unit, desktop surveillance, desktop control system and desktop database.Said early warning and monitoring central processing unit mainly is made up of data receiving element, data fusion unit and prewarning unit.The data receiving element is responsible for receiving the data from chirping of birds communication unit and bird moving communication unit.The data fusion unit is responsible for relative position coordinates with the invasion bird target that receives and is converted map reference into and be fused in the geographic information system, and calibrated digital picture is linked to geographic information system.Prewarning unit will be invaded the bird target and is shown to desktop control system and make alarm, search the end coordinates of best bird-scaring unit simultaneously, send to desktop control system request and drive the bird instruction.Said desktop surveillance will invade bird target location, alarm, drive the bird prompting and calibrated image is shown in the screen.Said desktop control system receives alarm command, sends control instruction to driving the bird controller.Said desktop database is responsible for storing the coordinate information of each non-directional microphone, each digital camera and each bird-scaring unit, and from early warning and monitoring central processing unit and desktop control all coordinate informations of system and data command.
The bird method is driven in a kind of airport bird feelings monitoring that above-mentioned airport bird feelings monitoring bird-repeller system is realized, comprises the steps:
(1) guarded region around the airfield runway is divided into M workspace, M＞1, and in each workspace, respectively be installed with in 1 non-directional microphone, at least 1 digital camera and 1 bird-scaring unit.
(2) each non-directional microphone is gathered the sound that same chirping of birds target is sent, and it is back in the chirping of birds data operation unit; The method of chirping of birds data operation unit by using delay estimation maximum; Calculate sound time delay between each non-directional microphone of microphone that same chirping of birds target is sent; And then through known acoustic wave propagation velocity; Calculate sound and arrive each array element path difference of non-directional microphone, the space geometry according to non-directional microphone and chirping of birds target concerns the position coordinates that promptly can calculate the chirping of birds target then; The chirping of birds communication unit is sent the result of calculation of above-mentioned chirping of birds data operation unit into the Desktop Monitoring center.
In the preferred embodiment of the present invention, said chirping of birds object detection method (like Fig. 4) may further comprise the steps:
At first form microphone array to M non-directional microphone according to certain topological structure; Like Fig. 3 example; 9 microphones are evenly distributed on the plane that the 3 d space coordinate axle opened, and in the actual environment of airport, target location and microphone distance are bigger; Can think that the signal amplitude (acoustic pressure) that each array element of microphone array collects is changed to zero, sound wave was propagated and can be thought plane wave propagation this moment.
For ease of statement, 2 non-directional microphone array elements that we choose are wherein carried out the computational methods description.Like Fig. 3 example, microphone 1 and microphone 2 receive the distance and bearing of the acoustical signal of same chirping of birds sound source P, have reflected the distance and bearing angle of bird target and microphone line.
Step 1: through target to the anemochoric path difference of two Mikes, make up geometrical relationship:
In space coordinates, we suppose that acoustical signal that P sends is L to microphone 1 and microphone 2 apart from difference 12, L so 12=L 1p-L 2p, establish microphone 1 and be origin of coordinates r 1=(x 1, y 1, z 1)=(0,0,0), L so 1p=R p
R wherein 2=(x 2, y 2, z 2), r p=(x p, y p, z p), get by geometrical relationship among Fig. 3:
( R p + L 12 ) 2 = R 2 2 - 2 r 2 T r p + R p 2 ①
This moment our hypothesis L 12Known, 1. strict establishment of equation launched equation so:
R 2 2 - L 12 2 - 2 R p L 12 - 2 r 2 T r p = 0 ②
L in the actual operation process 12Use the time delay estimation approach, the acoustical signal that estimating target P sends is to the transmission time τ of microphone 1 and microphone 2 12Obtain, promptly
Figure BDA0000130112560000073
(wherein c is the aerial spread speed of sound, and normal temperature is down 340m/s), therefore 2. formula is not strict equals 0, and establishing error amount is ε, and 2. formula is out of shape:
ϵ = R 2 2 - L ^ 12 2 - 2 R p L ^ 12 - 2 r 2 T r p ③
Step 2: make up the internodal equation group of multi-microphone:
When microphone array was made up of M microphone, a plurality of microphone path differences capable of using made up equation in twos, and the group of solving an equation improves target location accuracy.Be exemplified as 9 microphones like Fig. 3, because of microphone 1 at initial point, for ease of calculating, we select for use microphone 2～microphone 9 and microphone 1 to make up equation group in twos.Be similar to step 1:
ϵ = R 2 2 - L 12 2 . . . R 9 2 - L 19 2 - 2 R p L ^ 12 . . . L ^ 19 - 2 x 2 y 2 z 3 . . . . . . . . . x 9 y 9 z 9 x p y p z p ④
Wherein: R p = x p 2 + y p 2 + z p 2
Step 3: use the time delay estimation approach and obtain
Figure BDA0000130112560000082
By L ^ 12 = τ 12 × c 5.
Wherein
Figure BDA0000130112560000084
Be the path difference between two microphones, c is the aerial spread speed of sound, and normal temperature is 340m/s, τ down 12For same chirping of birds sound source P to the delay volume between microphone microphone 1 and the microphone 2, it utilizes the peaked time difference of two signal correction functions to obtain.
If obtain f respectively behind A/D sampling of the target acoustical signal that microphone 1 and microphone 2 receive process and the LPF 1p(n) and f 2p(n).
f 1p(n)＝s(n-τ 1)+N 1(n)
f 2p(n)＝s(n-τ 2)+N 2(n)
Its cross-correlation function is:
P 12(τ)＝E(f 1p(n)f 2p(n-τ)) ⑥
Suppose that acoustical signal s (n) is uncorrelated with noise signal N (n): the following formula abbreviation gets:
P 12(τ)＝P s(τ-(τ 1-τ 2)) ⑦
Character by correlation function can be known P 12(τ) there is peak value P 12max(τ), and when value be P 12max(τ), the correlation of two signals is best, and we think direct signal to receive signal, at this moment signal time delay τ 12Equal τ in the formula 1-τ 2That is: τ 12=τ 1-τ 2
To f 1p(n) and f 2p(n) carry out FFT:
F 1p(k)＝FFT(f 1p(n))，F 2p(k)＝FFT(f 2p(n)) ⑧
7. can receive the crosspower spectrum of signal by formula:
G 12 ( k ) = F 1 p ( k ) F 2 p * ( k ) ⑨
:
P 12(τ)＝FFT -1(G 12(k)) ⑩
To P 12(τ) search for, with spectrum peak bring into formula 7. with formula 5., can obtain
Figure BDA0000130112560000086
Recycle step 3; Utilize microphone 1 and microphone 2～microphone 9 to make up in twos, can try to achieve
Figure BDA0000130112560000087
Step 4: calculated target positions coordinate
In being brought into step 3 gained result 4., under minimum mean square error criterion::
( x p , y p , z p ) = ( x 2 y 2 z 3 . . . . . . . . . x 9 y 9 z 9 T · 1 Δ 1 - L 12 2 - L 12 L 13 . . . - L 12 L 19 - L 13 L 12 1 - L 13 2 . . . - L 13 L 19 . . . . . . . . . . . . - L 19 L 12 - L 19 L 13 . . . 1 - L 19 2 · x 2 y 2 z 3 . . . . . . . . . x 9 y 9 z 9 ) - 1 · x 2 y 2 z 3 . . . . . . . . . x 9 y 9 z 9 T · 1 Δ 1 - L 12 2 - L 12 L 13 . . . - L 12 L 19 - L 13 L 12 1 - L 13 2 . . . - L 13 L 19 . . . . . . . . . . . . - L 19 L 12 - L 19 L 13 . . . 1 - L 19 2 · 1 2 R 2 2 - L 12 2 . . . R 9 2 - L 19 2
(wherein Δ = L 12 2 + L 13 2 + · · · + L 19 2 )
Can obtain the relative position coordinates (x of chirping of birds target p, y p, z p).
(3) each digital camera is gathered the image in this workspace, and it is sent in the bird exercise data arithmetic element; Bird exercise data arithmetic element is partitioned into the zone at the target place of motion in the continuous video image sequence; Utilize the moving object detection algorithm picks time to go up two adjacent frames again and monitor computing; If operation result less than predetermined threshold, is then thought static background; If the result greater than predetermined threshold, then thinks the bird moving target; The Desktop Monitoring center is sent the result of calculation of above-mentioned bird exercise data arithmetic element in bird moving communication unit.
In the preferred embodiment of the present invention, the moving target detection method of said bird motion process (like Fig. 5) may further comprise the steps:
Step 1: the zone (often being called the foreground target zone) that in the continuous video image sequence, is partitioned into the target place of motion.
Adjacent two frames on access time, wherein I t(i, j) expression present frame, I T-1(i j) is the former frame of present frame, D tBe the absolute value of the two each pixel difference, that is:
D t＝|I t(i，j)-I t-1(i，j)|
Step 2: utilize moving object detection algorithm monitors moving target.
Wherein M representes threshold value, B kPixel value for the bianry image corresponding points after cutting apart.
With B k=1 pixel marks in picture frame.Can obtain the bird target of moving.
The computing of frame difference method is simple, and Data Update speed is fast, is fit to simply use under the background environment around the airfield runway.
(4) desktop management and control center utilizes geographic information system framework, transmission technology, data fusion technology to be dissolved in the geographic information system with each non-directional microphone, each digital camera, each bird-scaring unit and through the position that chirping of birds target and bird moving target merge the invasion bird target that the back obtains; When occurring invasion bird target in wherein one or more workspaces in the guarded region around airfield runway is judged at the Desktop Monitoring center, then send control signal and trigger the bird-scaring unit work in the corresponding workspace.
In the preferred embodiment of the present invention, said desktop management and control center (like Fig. 6) comprises the steps:
(4.1) the outfield data processed result that monitors of said bird feelings monitoring terminal is sent into the data receiving element; The data fusion unit is responsible for converting the invasion bird target relative position that receives into global position and is fused in the geographic information system, and calibrated digital picture is linked to geographic information system.
Wherein the concrete job step of data fusion unit is following:
Step 1: the coordinate and the partition number collection of non-directional microphone microphone array, digital camera and bird-scaring unit are entered into data fusion cell data storehouse.
Step 2: after receiving data, at first read zonal coding, extract the origin of the microphone microphone array of corresponding subregion from receiving element.
Step 3: calculate (x p, y p, z p) Entirely=(x 1, y 1, z 1) Work as the proparea+ (x p, y p, z p) Work as the proparea(target world coordinates=current subregion origin+current subregion coordinates computed).
Step 4: the coordinate of the nearest bird-scaring unit of detection range in world coordinates.
(4.2) said prewarning unit will be invaded the bird target and is shown to desktop control system and make alarm, send and will drive the bird instruction to driving the bird controller.
(4.3) said desktop surveillance with target location, alarm, drive bird prompting and calibrated image is shown in the screen, the auxiliary duty personnel of Surveillance center carries out the bird feelings according to the position at current scene and judges.
(4.4) said desktop control system receives the alarm command of prewarning unit, sends control instruction to driving the bird controller.
(4.5) said desktop database storage is convenient to monitor personnel inquiry from early warning and monitoring central processing unit and desktop control all positional informations of system and data command.
(5) wireless communication unit receive desktop management and control center send drive the bird instruction, and transfer in fact the time and drive the bird controller.
In the preferred embodiment of the present invention, said wireless communication unit comprises following steps:
(5.1) start detects automatically;
(5.2) set up the GPRS/EDGE communication link, accomplish the tcp/ip communication agreement, guarantee the wireless communication terminal real-time online;
(5.3) the management and control center of receiving remote drive bird instruction, and trigger corresponding bird-scaring unit and send and drive the bird signal through driving the bird controller;
(5.4) transmission information is carried out encryption and decryption and data check, the safety of safeguards system;
(5.5) passback is driven the triggering of bird terminal and is driven the bird instruction.
(6) the long-range bird controller that drives of said instance receives the instruction that wireless communication unit sends, and implements initiatively to drive bird by instruction driving bird-scaring unit.
In the preferred embodiment of the present invention, the long-range bird end step (like Fig. 7) of driving comprises following steps:
Step 1: start is sent self-checking command to bird-scaring unit;
Step 2: monitor and drive the bird control instruction;
Step 3: send and drive the bird triggering signal;
Step 4: preserve trigger event.

Claims (8)

1. an airport bird feelings monitoring bird-repeller system is characterized in that: comprise long-range bird feelings supervising device, drive bird terminal and Desktop Monitoring center; The output of its medium-long range bird feelings supervising device connects the input at Desktop Monitoring center, the output at Desktop Monitoring center with drive the bird terminal and link to each other;
Said long-range bird feelings supervising device comprises chirping of birds sound source positioning unit and bird moving object detection unit; Wherein chirping of birds sound source positioning unit mainly is made up of a plurality of non-directional microphones, a plurality of A/D converter, chirping of birds data operation unit and chirping of birds communication unit; Bird moving object detection unit then mainly is made up of a plurality of digital cameras, bird exercise data arithmetic element and bird moving communication unit;
Above-mentioned non-directional microphone and digital camera are distributed in the airfield runway guarded region on every side according to fixing distribution distance; Be that airfield runway guarded region on every side is split into a plurality of workspaces, respectively be installed with 1 non-directional microphone and at least 1 digital camera in each workspace;
Each non-directional microphone is gathered the sound in this workspace, and sends in the chirping of birds data operation unit after the sound in this workspace changed through A/D converter;
Chirping of birds data operation unit carries out pre-filtering with the sound in each workspace earlier, utilizes delay time estimation method that the sound in all workspaces is carried out simultaneous again and calculates the position that the back obtains the chirping of birds target;
The chirping of birds communication unit is sent the result of calculation of above-mentioned chirping of birds data operation unit into the Desktop Monitoring center;
Each digital camera is gathered the image in this workspace, and the image in this workspace is sent in the bird exercise data arithmetic element;
Bird exercise data arithmetic element utilizes the moving object detection algorithm that the image in each workspace is handled, and two adjacent on access time two field pictures are compared, and obtain the position of bird moving target thus;
The Desktop Monitoring center is sent the result of calculation of above-mentioned bird exercise data arithmetic element in bird moving communication unit;
The said bird terminal of driving comprises a plurality of bird-scaring units and a plurality of bird controller that drives; Wherein be equipped with 1 bird-scaring unit and 1 in each workspace in the guarded region around the airfield runway and drive the bird controller, these bird-scaring units all are connected with the Desktop Monitoring center via driving the bird controller;
Said Desktop Monitoring center is with each non-directional microphone, each digital camera, each bird-scaring unit and be dissolved in the geographic information system in the lump through the position coordinates of the invasion bird target of acquisition after chirping of birds target and the fusion of bird moving target; When occurring invasion bird target in wherein one or more workspaces in the guarded region around airfield runway is judged at the Desktop Monitoring center, then send control signal and trigger the bird-scaring unit work in the corresponding workspace.
2. bird feelings monitoring bird-repeller system in a kind of airport according to claim 1 is characterized in that: said Desktop Monitoring center comprises early warning and monitoring central processing unit, desktop surveillance, desktop control system and desktop database;
Said early warning and monitoring central processing unit mainly is made up of data receiving element, data fusion unit and prewarning unit;
The data receiving element is responsible for receiving the data from chirping of birds communication unit and bird moving communication unit;
The data fusion unit is responsible for relative position coordinates with the invasion bird target that receives and is converted map reference into and be fused in the geographic information system, and calibrated digital picture is linked to geographic information system;
Prewarning unit will be invaded the bird target and is shown to desktop control system and make alarm, search the end coordinates of best bird-scaring unit simultaneously, send to desktop control system request and drive the bird instruction;
Said desktop surveillance will invade bird target location, alarm, drive the bird prompting and calibrated image is shown in the screen;
Said desktop control system receives alarm command, sends control instruction to driving the bird controller;
Said desktop database is responsible for storing the coordinate information of each non-directional microphone, each digital camera and each bird-scaring unit, and from early warning and monitoring central processing unit and desktop control all coordinate informations of system and data command.
3. a kind of airport according to claim 1 bird feelings monitoring bird-repeller system, it is characterized in that: said chirping of birds communication unit is the RS485 communication unit, bird moving communication unit is RJ-45 ethernet communication unit.
4. a kind of airport according to claim 1 bird feelings monitoring bird-repeller system, it is characterized in that: the said bird terminal of driving also is provided with wireless communication unit, and this wireless communication unit connects desktop control system respectively and drives the bird controller.
5. the bird method is driven in an airport bird feelings monitoring, it is characterized in that comprising the steps:
(1) guarded region around the airfield runway is divided into M workspace, M＞1, and in each workspace, respectively be installed with 1 non-directional microphone, at least 1 digital camera and 1 bird-scaring unit;
(2) each non-directional microphone is gathered the sound that same chirping of birds target is sent, and it is back in the chirping of birds data operation unit;
(3) method of chirping of birds data operation unit by using delay estimation maximum; Calculate sound time delay between each non-directional microphone of microphone that same chirping of birds target is sent; And then through known acoustic wave propagation velocity; Calculate sound and arrive each non-directional microphone array element path difference, the space geometry according to non-directional microphone and chirping of birds target concerns the position that promptly can calculate the chirping of birds target then;
(4) the chirping of birds communication unit is sent the result of calculation of above-mentioned chirping of birds data operation unit into the Desktop Monitoring center;
(5) each digital camera is gathered the image in this workspace, and it is sent in the bird exercise data arithmetic element;
(6) bird exercise data arithmetic element is partitioned into the zone at the target place of motion in the continuous video image sequence; Utilize the moving object detection algorithm picks time to go up two adjacent frames again and monitor computing; If operation result less than predetermined threshold, is then thought static background; If the result greater than predetermined threshold, then thinks the bird moving target;
(7) the Desktop Monitoring center is sent the result of calculation of above-mentioned bird exercise data arithmetic element in bird moving communication unit;
(8) desktop management and control center utilizes geographic information system framework, transmission technology, data fusion technology to be dissolved in the geographic information system with each non-directional microphone, each digital camera, each bird-scaring unit and through the position that chirping of birds target and bird moving target merge the invasion bird target that the back obtains; When occurring invasion bird target in wherein one or more workspaces in the guarded region around airfield runway is judged at the Desktop Monitoring center, then send control signal and trigger the bird-scaring unit work in the corresponding workspace.
6. the bird method is driven in a kind of airport according to claim 5 bird feelings monitoring, it is characterized in that said step (8) specifically comprises the steps:
(8.1) the data receiving element receives the data from chirping of birds communication unit and bird moving communication unit;
(8.2) relative position coordinates of the data fusion unit invasion bird target that will receive converts map reference into and is fused in the geographic information system, and calibrated digital picture is linked to geographic information system;
(8.3) prewarning unit will be invaded the bird target and is shown to desktop control system and make alarm, search the end coordinates of best bird-scaring unit simultaneously, send to the desktop system request and drive the bird instruction;
(8.4) the desktop surveillance will be invaded bird target location, alarm, driven bird prompting and calibrated image is shown in the screen;
(8.5) desktop control system receives alarm command, sends control instruction to driving the bird controller.
7. the bird method is driven in a kind of airport according to claim 5 bird feelings monitoring; It is characterized in that: said chirping of birds data operation unit is connected through the RS485 communication unit with desktop management and control center, and bird exercise data arithmetic element is connected through RJ-45 ethernet communication unit with desktop management and control center.
8. the bird method is driven in a kind of airport according to claim 5 bird feelings monitoring, and it is characterized in that: the said bird controller that drives is connected through wireless communication unit with desktop management and control center.
CN2012100072848A 2012-01-11 2012-01-11 Bird-dispersing system and method for monitoring bird situations of airports Pending CN102524237A (en)

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Application publication date: 20120704