CN107455361B - Laser voice comprehensive bird repelling device - Google Patents

Abstract

The invention is suitable for the technical field of power grid maintenance, and provides a laser voice comprehensive bird repelling device which comprises a control box, wherein a horizontal rotating platform is arranged above the control box, a base is fixed on an output shaft of the horizontal rotating platform, two supports are fixed above the base, a pitching motor is installed in each support, a laser emitter is installed on an output shaft of each pitching motor, output shafts of the two pitching motors are coaxial and reverse, a loudspeaker is further arranged on the control box, and the horizontal rotating platform, the pitching motors, the laser emitters and the loudspeaker are all connected to a control panel in the control box. This device can uninterrupted operation, and the ecological environment that influences the peripheral birds of iron tower and transmission line and rely on existence, perch and seek food for birds produce the fear psychology gradually, keep away from the iron tower, and electric power transmission line reduces the accident that brings because of the bird pest by a wide margin.

Description

Bird repellent device is synthesized to laser pronunciation

Technical Field

The invention belongs to the technical field of power grid maintenance, and particularly relates to a laser voice comprehensive bird repelling device.

Background

Lightning stroke, bird damage and external force damage are three main disasters threatening the safe operation of the power transmission line, and national relevant statistical data show that the bird damage accounts for the third place of the total faults of the power transmission line. Along with the enhancement of the protection consciousness of human beings on the natural ecological environment and the implementation of the policies of hunting forbidding and returning to forests, the human beings create better environment for the survival of birds, the variety and the number of the birds are gradually increased, and the activity range is gradually enlarged. With the development of power grids, if the power transmission lines do not take targeted bird prevention measures for prevention, the hazard degree of the power transmission lines will gradually increase. Therefore, how to reduce the harm of bird activities to electric power equipment such as overhead transmission lines and the like and promote harmony and coexistence of people and nature and people and birds becomes a new social subject faced by power grid enterprises to carry out operation and maintenance work of the overhead transmission lines.

Bird damage to transmission line the method is mainly characterized in that:

(1) Nesting birds: birds begin to nest, lay eggs and hatch on the power transmission line tower in spring. <xnotran> , , , . </xnotran> When the birds hold branches, iron wires, firewood and the like, the birds fly back and forth on the line, and the iron wires and the like fall between the cross arms and the conducting wires, the line fault is caused. When wind blows, bird nests on the tower are blown away by wind and fall on live wires or suspension bottles, and short circuit grounding faults can be caused.

(2) Birds fly: birds with larger body size, such as Geranium thunbergii, have a body length of more than 1m and wings spread out more. The birds with larger body shapes or the birds fly on the wire when fighting the inter-phase short circuit or single-phase ground fault may be caused.

(3) Bird droppings flashover: bird droppings (especially the thin feces of owls) pollute the insulator string and are easy to flashover when the air is humid and heavy fog. Bird stands on the cross arm at the upper part of the insulator string to draw down thin dung, and causes single-phase grounding when flowing down along the insulator string, or the bird dung blows to a charged body along with wind to cause air gap breakdown, thereby causing failure.

In order to ensure the safety and stability of power transmission and distribution, at present, electric power enterprises in China mainly adopt the principles of blocking boxes, baffles, bird spikes, ultrasonic waves and the like in response to bird hazards, and because the devices are fixed at a certain position, birds easily have tolerance, and are used to the devices as long as time passes, so that the devices are not afraid any more and the bird hazard prevention effect cannot be achieved. Meanwhile, in the application process of a plurality of measures, the electric power enterprises only aim to ensure the safety and stability of electric power transmission and distribution, and consider the driving or direct killing of birds unilaterally, therefore, the harmony and the coexistence of the human and the nature are destroyed, and the healthy development of the ecological environment is not facilitated.

Disclosure of Invention

In view of the above-mentioned problems, the invention aims to provide a laser voice comprehensive bird repelling device, aims to solve the technical problems that the existing bird repelling device is easy to cause tolerance and has poor bird repelling effect.

The invention adopts the following technical scheme:

bird repellent device is synthesized to laser pronunciation includes the control box, the control box top is provided with the horizontal rotation platform, be fixed with the base on the output shaft of horizontal rotation platform, the base top is fixed with two supports, installs a pitching motor in every support, installs a laser emitter on every pitching motor's the output shaft, and two pitching motor's output shaft is coaxial and reverse, still be provided with loudspeaker on the control box, horizontal rotation platform, pitching motor, laser emitter and loudspeaker all are connected to control panel in the control box.

Furthermore, the bottom of the control box is provided with a notch, a fixing nut is screwed below the notch.

Furthermore, the control panel comprises a single chip microcomputer, the single chip microcomputer is connected with a voice driving circuit, a motor driving circuit, a platform driving circuit and a wireless communication module, and a power module is further arranged in the control box and supplies power for the control panel.

Further, the bottom of the horizontal rotating platform is fixed to the upper surface of the control box in a screwed mode.

Further, the device also includes a light sensor connected to the control board.

Furthermore, the front end of the laser transmitter is also provided with a camera shooting component which is connected to the singlechip of the control panel, the single chip microcomputer controls the irradiation directions of the two laser transmitters, and the control method comprises the following steps:

setting a timing time interval of a singlechip timer, and setting a plurality of pitch angle positions alpha and a plurality of horizontal angle positions beta of a laser transmitter, wherein alpha is more than or equal to 0 degree and less than or equal to 180 degrees, and beta is more than or equal to 0 degree and less than or equal to 360 degrees;

when a scanning identification command is received, controlling the two laser transmitters to be in the same direction, and then controlling the pitch angles of the two laser transmitters to gradually change from the first pitch angle position to the last pitch angle position;

in the pitching rotation process, the laser transmitter is controlled to gradually rotate to the last horizontal angle position from the first horizontal angle position aiming at each pitching angle position, three-dimensional scanning is realized, in each horizontal angle position, the two camera shooting components are controlled to shoot back and forth, two pictures are obtained and are transmitted to the single chip microcomputer, and the shooting time difference of the two pictures is delta t;

in the three-dimensional scanning process, the single chip microcomputer identifies and judges whether birds exist according to two received pictures each time;

when a bird is found, controlling the two laser transmitters to emit laser, and controlling the laser beams emitted by the two laser transmitters to scan within the range of the photo;

and when the bird is not found after the three-dimensional scanning is finished, the bird repelling device is in a standby state until a next scanning identification command is received.

Further, the step of identifying and judging whether birds exist by the single chip microcomputer according to two received photos each time specifically comprises:

taking out the overlapped part of the two photos;

carrying out gray level processing on the two photos, and then solving the absolute value of the gray level difference value of the overlapped part to obtain a difference value image;

carrying out binarization processing on the difference image to obtain an intermediate image;

and if the black block area remains in the intermediate image, judging that birds exist in the picture.

Further, if a black block area remains in the intermediate image, after determining that a bird step exists in the photo, the method further includes:

if the intermediate image has no black block area, selecting one of the pictures after gray processing, namely the gray picture;

according to the gray-scale picture the gray-scale value of the pixel point is large, taking the pixel point with the jump gray value as a boundary pixel point to obtain a boundary outline of the gray photo;

taking the boundary contour a straight line segment of (1);

if a section of convex irregular contour exists between two adjacent straight line segments, it is judged that birds exist in the picture.

Further, if a section of convex irregular contour exists between two adjacent straight line segments, it is determined that a bird exists in the photo, and the method specifically comprises the following steps:

recording the change points of the abrupt change of the gradient of the irregular contour, and segmenting the irregular contour according to the change points to obtain a multi-segment edge path;

recording gradient change data of M points in the middle of each section of edge path to obtain a path feature vector, wherein the gradient change data is a gradient difference value of two adjacent points;

comparing the path feature vector with a feature library stored locally, and when the similarity of the path feature vector with one of the shape feature data is greater than 50%, judging that the current irregular contour is a bird, namely the bird exists in the photo, wherein the similarity greater than 50% specifically comprises the following steps: the gradient differences in the feature vectors are compared to the shape feature data in the feature library. And determining that the difference value of each gradient difference value and the corresponding item of the appearance characteristic data is similar data within a certain range, otherwise determining that the gradient difference value is different data, and determining that the similarity is greater than 50% when the feature vector is compared with one appearance characteristic data and the number of the similar data is greater than that of the different data.

The invention has the beneficial effects that: this device combines together laser and sound, including two laser emitter, two laser emitter nondirectional strays, launch two laser lines, threaten the bird, birds hardly form the tolerance, can reach the effect of dispelling better to birds, simultaneously with the sound of singing of some natural enemies of birds, the sound of gunshot and other some sounds that let birds feel uncomfortable or even feared record, then open loudspeaker in laser strays, can reach the bird effect of driving of more ideal.

Drawings

Fig. 1 is a structural diagram of a laser voice comprehensive bird repelling device provided by an embodiment of the invention;

fig. 2 is a schematic diagram of the control box.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In order to illustrate the technical solution of the present invention, the following description will be made by way of specific examples.

Fig. 1 shows a structure of a laser voice comprehensive bird repelling device provided by an embodiment of the invention, and only the parts related to the embodiment of the invention are shown for convenience of description.

As shown in fig. 1, the bird repellent device is synthesized to laser pronunciation that this embodiment provided includes control box 1, 1 top of control box is provided with horizontal rotation platform 2, be fixed with base 3 on horizontal rotation platform 2's the output shaft, 3 tops of base are fixed with two supports 4, install a pitching motor (not shown in the figure) in every support 4, install a laser emitter 5 on every pitching motor's the output shaft, two pitching motor's the coaxial and reverse of output shaft, still be provided with loudspeaker 11 on the control box 1, horizontal rotation platform 2, pitching motor, laser emitter 5 and loudspeaker 11 all are connected to control panel in the control box.

As a specific structure of the control panel, as shown in fig. 2, the control panel includes a single chip microcomputer 61, the single chip microcomputer 61 is connected to a voice driving circuit 62, a motor driving circuit 63, a platform driving circuit 64, and a wireless communication module 65, and a power module 66 is further disposed in the control box, and the power module 66 supplies power to the control panel. The voice driving circuit 62 is connected to the speaker 11, the motor driving circuit 63 is connected to the pitching motor, and the platform driving circuit is connected to the horizontal rotation platform 2.

Concrete during operation, the output shaft of single chip microcomputer control horizontal rotation platform rotates, two pitch motor's of simultaneous drive output shaft rotates, two laser emitter send out two bundles of laser altogether, the direction of motion of two bundles of laser is irrelevant, it shoots to be the non-directional sweeping, this laser wavelength is 532 nm's green laser, according to the vision reflex condition, when green laser is shot, birds is just as seeing two green big sticks, wave in the air, birds hardly forms the tolerance, can reach the effect to the better driving of birds. The laser grade is secondary laser, meets the standard of the national IEC 60825-1edition 1.2, and is 100 percent harmless to human eyes. The laser beam can directly irradiate the skin of a person without causing damage to the skin. Bird repellers should avoid eyes from directly seeing the laser beam, but even if the laser beam is directly watched, the eyes cannot be damaged. The adopted laser is ensured not to cause damage to the birds.

Meanwhile, the sound of the natural enemies of the birds, the sound of guns and other sounds which make the birds uncomfortable or even afraid are recorded, and then the horns are opened while laser scanning is carried out, so that a more ideal bird repelling effect can be achieved. And operating personnel passes through terminal equipment remote connection bird repellent device, the singlechip passes through wireless communication module and receives the setting parameter, audio data and control command etc, can be at any time long-range scanning speed who changes the laser beam, angle and laser power, the sound of loudspeaker broadcast also can be updated at any time, let birds prevent inadequately, do not leave the chance of any production adaptability, long-time, influence transmission line birds and rely on the existence, perch and the ecological environment who seeks food, make birds produce the fear psychology gradually, keep away from the transmission line guard space, the accident of bringing because of the bird pest is greatly reduced.

In addition, as a preferred embodiment, this bird repellent device still includes the photosensor who is connected to the control panel, photosensor position exposes the device surface, and concrete position is unlimited, and the control panel can rationally set up device operating time according to current light intensity.

The bird repellent device needs to be fixed to an electric power tower, which is generally made of angle steel, and for this purpose, as an implementation, in this embodiment, the bottom of the control box 1 is provided with a notch 12, a fixed nut 13 is screwed below the notch 12. After the notch 12 is inserted into the angle steel, the fixing nut 13 is screwed down, so that the whole bird repelling device can be well fixed on the angle steel. In addition, the bottom of the horizontal rotating platform 2 is fixed on the upper surface of the control box 1 in a screw-in mode, so that the whole device is convenient to disassemble and assemble.

In the foregoing, two laser emitter are basically in full time interval work, though in preferred scheme through setting up photosensitive sensor or the work and rest time control laser emitter's of birds operating time, nevertheless can work for a long time actually still, reduced laser emitter's life, and bird repellent device generally sets up remote area, and it is very convenient to maintain. Therefore, the working time of the bird repelling device needs to be further reduced. In addition, although laser light does not cause damage to the vision and other physiological activities of birds, some light pollution is generated more or less.

In order to solve this problem, the working time of the laser emitter is controlled, and the following preferred scheme is adopted in the present embodiment.

The laser emitter front end still installs the subassembly of making a video recording, the subassembly of making a video recording is connected to the singlechip of control panel, the irradiation direction of two laser emitter of singlechip control, the direction of shooing of the subassembly of making a video recording has also been controlled simultaneously promptly. The specific control method comprises the following steps:

s11, setting a timing time interval of the singlechip timer, and setting a plurality of pitching angle positions alpha and a plurality of horizontal angle positions beta of the laser transmitter, wherein alpha is more than or equal to 0 degree and less than or equal to 180 degrees, and beta is more than or equal to 0 degree and less than or equal to 360 degrees.

The bird repellent device does not need to work continuously all the time, the working time of the bird repellent device is set according to the work and rest time of birds, then the timer is set in the working time to work, three-dimensional scanning is carried out once every certain time, whether birds exist at the periphery is judged, if the birds exist, the laser transmitter is restarted, otherwise, the bird repellent device is continuously in a standby state, the working time of the laser transmitter can be well controlled, and the service life is prolonged.

When the subassembly of making a video recording was once taken a picture, can take the photo of certain width range and height range, the width field angle of for example the photo was taken a picture is 90 degrees, and high field angle is 45 degrees, can set up 5 every single move angular position and 4 horizontal angle position of laser emitter like this, and 5 every single move angular position distribute be 0 degree, 45 degrees, 90 degrees, 135 degrees, 180 degrees, when every single move angle is 0 degrees, laser emitter is just up, when every single move angle is 180 degrees, laser emitter is just down. The 4 horizontal angles are 0 degree, 90 degree, 180 degree, 270 degree.

And S12, when a scanning identification instruction is received, controlling the two laser transmitters to be in the same direction, and then controlling the pitch angles of the two laser transmitters to gradually change from the first pitch angle position to the last pitch angle position.

And S13, in the pitching rotation process, controlling the laser transmitter to gradually rotate to the last horizontal angle position from the first horizontal angle position aiming at each pitching angle position to realize three-dimensional scanning, and controlling the two camera shooting assemblies to shoot back and forth at each horizontal angle position to obtain two pictures and transmit the two pictures to the single chip microcomputer, wherein the shooting time difference of the two pictures is delta t.

When the timer is triggered each time, the singlechip receives a scanning identification instruction, firstly controls the two laser transmitters to be in the same direction, then controls the laser transmitters to be located at the first pitching angle position, and gradually changes to the last pitching angle position. And when each pitching angle position is reached, the laser transmitter is controlled to gradually rotate from the first horizontal angle position to the last horizontal angle position, namely, the laser transmitter rotates 360 degrees at each pitching angle position, so that three-dimensional scanning is realized. And the camera assembly acquires a picture at each scanning position (namely each pitch angle position and each horizontal angle position) and transmits the picture to the singlechip. For two special pitch angle positions of 0 degree and 180 degree, the photographing at each horizontal angle position is not needed, because the photographs obtained by photographing are the same. In this embodiment, two camera assemblies take pictures one after another at each scanning position, and have a time difference, which is generally set to 0.5 to 1 second.

Step S14, in the process of three-dimensional scanning, the single chip microcomputer identifies and judges whether birds exist according to the two received photos each time;

s15, when a bird is found, controlling the two laser transmitters to emit laser, and controlling the laser beams emitted by the two laser transmitters to scan in the range of the shot picture;

and S16, when no bird is found after the three-dimensional scanning is finished, the bird repelling device is in a standby state until a next scanning identification command is received.

The single chip microcomputer identifies whether a bird exists in two successively obtained photos through a preset algorithm, when the bird exists, the two laser transmitters are controlled to emit laser, and the two laser beams are swept in the photographing range to achieve the aim of repelling the bird. The sweep time can be set by itself, typically 5 minutes. If no bird is found after one round of three-dimensional scanning, the laser transmitter continues to stand by, and the singlechip waits for the next scanning identification instruction.

As an identification algorithm, the step S14 specifically includes:

s21, taking out the overlapped part of the two photos;

s22, carrying out gray level processing on the two photos, and then solving the absolute value of the gray level difference value of the overlapped part to obtain a difference value image;

s23, carrying out binarization processing on the difference image to obtain an intermediate image;

and step S24, if the black block area remains in the intermediate image, judging that birds exist in the picture.

The two images are shot by the two camera modules in the same direction but at a certain distance, so that the two images are horizontally offset by a certain amount, the offset value is a fixed value, and then the overlapped part of the two images is easily obtained by combining the images for comparison. Then carrying out gray processing on the two photographs, then solving the absolute value of the gray difference of the overlapped part to obtain a difference image, and finally carrying out binarization processing to obtain an intermediate image.

Generally, birds are in a moving state, for example, the birds fly or stand on a power tower or an electric wire to shake wings, swing heads and the like, and few birds are moving, so that the two photos are subjected to gray processing, difference calculation and binarization to obtain an intermediate image, if the birds fly, the intermediate image inevitably obtains two black block areas, and if the birds shake wings, swing heads and the like on the power tower or the electric wire, the black block areas can be seen at one position, so that whether the birds exist or not can be judged according to whether the intermediate image approximately has the black block areas.

However, if there is no black block area in the intermediate image, it cannot be directly determined that there is no bird, because there is a case where the bird does not stand, and it is necessary to further determine whether there is a bird in the photograph. The algorithm also comprises the following steps:

step S25, if no black block area exists in the intermediate image, selecting one of the pictures subjected to gray processing, namely the grey picture;

step S26, according to the gray value of the pixel points in the gray photo, the pixel points with jumping gray values are boundary pixel points, and the boundary contour of the gray photo is obtained;

s27, taking a straight line segment in the boundary contour;

and S28, if a section of convex irregular contour exists between two adjacent straight line segments, judging that birds exist in the picture.

The bird repelling device is installed on the electric iron tower, the electric iron tower is composed of angle steel and channel steel, the height of the electric iron tower is very high, and the electric iron tower is located in the suburb, so that the scenery around the iron tower is less, and the birds stand differently. Generally, the device can only stand on angle steel, channel steel or a wire, and other positions cannot exist. Therefore, in the preferred scheme, after the photo identification and the gray processing, the boundary contour of the object in the photo can be obtained according to the jump situation of the gray value, the general contour is a straight line, if a standing bird exists, a convex irregular contour inevitably appears on the straight line, namely a convex irregular contour exists between two adjacent straight line segments, so that the irregular contour can be basically determined to correspond to the bird. By irregular contour, it is meant that the contour is of an indefinite shape, not a rectangle, circle, ellipse, triangle, trapezoid, etc., but an indefinite shape.

The identification method can only be applied to the specific occasion, and the identification method cannot be realized by adopting the mode aiming at bird identification in the common scene. Although this identification method is simple, it is very practical.

If necessary, it can be further confirmed whether the irregular contour is a bird, and the specific scheme is as follows, namely the step S28 specifically includes:

s31, recording a change point of the abrupt change of the gradient of the irregular contour, and segmenting the irregular contour according to the change point to obtain a multi-segment edge path;

s32, recording gradient change data of M points in the middle of each section of edge path to obtain a path feature vector, wherein the gradient change data is a gradient difference value of two adjacent points;

s33, comparing the path feature vector with a feature library stored locally, and when the similarity of the path feature vector with one of the shape feature data is greater than 50%, judging that the current irregular contour is a bird, namely the bird exists in the photo, wherein the specific step of the similarity greater than 50% is as follows: the gradient difference in the feature vector is compared to the appearance feature data in the feature library. And determining that the difference value of each gradient difference value and the corresponding item of the appearance characteristic data is similar data within a certain range, otherwise determining that the difference value is different data, and determining that the similarity is more than 50% when the feature vector is compared with one piece of appearance characteristic data and the number of the similar data is more than that of the different data.

The shape of birds is characterized, not in any shape, and can be followed regularly. Firstly, a feature library is required to be established, and a plurality of pieces of appearance feature data are stored, wherein each piece of appearance feature data is composed of a plurality of gradient difference data.

Specifically, in this embodiment, change points at which the gradient of the irregular contour changes abruptly are recorded, the change points are turning points of the contour, and a side path is formed between two adjacent change points, so that a multi-segment edge path is obtained, M points are equally set for each edge path, gradient data, i.e., a slope, of each point is calculated, then gradient change data, i.e., a gradient difference between two adjacent points, of the M points is calculated, and finally a path feature vector of the current irregular contour is obtained, and then the path feature vector is compared with each piece of shape feature data in the feature library, and when the similarity is greater than 50%, it is determined that the current irregular contour is a bird, i.e., a bird is present in the picture.

Therefore, through multi-level comparison, whether birds exist in the picture can be basically and accurately judged, and the effect of timely repelling the birds is achieved. Certainly, some extreme situations which cannot be identified exist, such as the position of a bird is just shielded by channel steel, and the bird repelling effect of the bird repelling device cannot be affected by the extreme situations. Whether this embodiment regularly detects there is the bird, just carries out laser and sweeps when detecting there is the bird, has reduced laser emitter's operating time, prolongs its life, avoids frequent device to maintain.

The bird repelling device is provided with the wireless communication module, and can realize remote monitoring. The conventional mode of operation, i.e. continuous operation of the laser transmitter, can be set as desired. May also be arranged according to the control scheme described above.

The bird repelling device fully combines a laser and sound bird repelling scheme, considers the visual sensitivity of birds as visual animals, and when the birds are repelled by utilizing the laser, the bird repelling device can ensure that the laser cannot cause damage to the vision and other physiological activities of the birds and the like, thereby ensuring the harmonious development of people and nature.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (4)

1. A laser voice comprehensive bird repelling device is characterized by comprising a control box, wherein a horizontal rotating platform is arranged above the control box, a base is fixed on an output shaft of the horizontal rotating platform, two supports are fixed above the base, a pitching motor is installed in each support, a laser emitter is installed on an output shaft of each pitching motor, output shafts of the two pitching motors are coaxial and reverse, a loudspeaker is further arranged on the control box, the horizontal rotating platform, the pitching motors, the laser emitters and the loudspeaker are all connected to a control panel in the control box, and the device further comprises a photosensitive sensor connected to the control panel;

the front end of the laser emitter is also provided with a camera shooting assembly, the camera shooting assembly is connected to the single chip microcomputer of the control panel, the single chip microcomputer controls the irradiation directions of the two laser emitters, and the control method comprises the following steps:

setting a timing time interval of a singlechip timer, and setting a plurality of pitching angle positions alpha and a plurality of horizontal angle positions beta of a laser transmitter, wherein alpha is more than or equal to 0 degree and less than or equal to 180 degrees, and beta is more than or equal to 0 degree and less than or equal to 360 degrees;

when a scanning identification instruction is received, controlling the two laser transmitters to be in the same direction, and then controlling the pitch angles of the two laser transmitters to gradually change from the first pitch angle position to the last pitch angle position;

in the pitching rotation process, the laser transmitter is controlled to gradually rotate to the last horizontal angle position from the first horizontal angle position aiming at each pitching angle position, three-dimensional scanning is realized, in each horizontal angle position, the two camera shooting components are controlled to shoot back and forth, two pictures are obtained and are transmitted to the single chip microcomputer, and the shooting time difference of the two pictures is delta t;

in the process of three-dimensional scanning, the single chip microcomputer identifies and judges whether birds exist according to the two received photos each time;

when the bird is found, the two laser transmitters are controlled to emit laser, controlling the laser beams emitted by the two laser emitters to scan within the range of the photo;

when no bird is found after one round of three-dimensional scanning is finished, the bird repelling device is in a standby state until a next scanning identification instruction is received;

the method comprises the following steps that the single chip microcomputer identifies and judges whether birds exist according to two received photos each time, and specifically comprises the following steps:

taking out the overlapped part of the two photos;

carrying out gray level processing on the two photos, and then solving the absolute value of the gray level difference value of the overlapped part to obtain a difference value image;

carrying out binarization processing on the difference image to obtain an intermediate image;

if the intermediate image still has a black block area, judging that a bird exists in the picture;

if the intermediate image has no black block area, selecting one of the pictures after gray processing, namely the gray picture;

according to the gray value of the pixel point in the gray photo, the pixel point with the jump gray value is taken as a boundary pixel point, and the boundary contour of the gray photo is obtained;

taking a straight line segment in the boundary contour;

if a section of convex irregular contour exists between two adjacent straight line segments, judging that a bird exists in the photo;

wherein, there is a bellied irregular profile between two close straight line segments, then judge that there is the bird step in the photo, specifically include:

recording the change points of the abrupt change of the gradient of the irregular contour, and segmenting the irregular contour according to the change points to obtain a multi-segment edge path;

recording gradient change data of M points in the middle of each section of edge path to obtain a path feature vector, wherein the gradient change data is a gradient difference value of two adjacent points;

comparing the path feature vector with a feature library stored locally, and when the similarity of the path feature vector with one of the shape feature data is greater than 50%, judging that the current irregular contour is a bird, namely the bird exists in the photo, wherein the similarity greater than 50% specifically comprises the following steps: comparing the gradient difference value in the feature vector with the appearance feature data in the feature library, regarding that the difference value of each gradient difference value and the corresponding item of the appearance feature data is similar data within a certain range, otherwise, regarding the difference value as different data, and after the feature vector is compared with one piece of appearance feature data, if the similar data is more than the number of the different data, determining that the similarity is more than 50%.

2. The laser and voice integrated bird repelling device according to claim 1, wherein a notch is formed in the bottom of the control box, and a fixing nut is screwed below the notch.

3. The laser voice integrated bird repelling device of claim 2, wherein the control panel comprises a single chip microcomputer, the single chip microcomputer is connected with a voice driving circuit, a motor driving circuit, a platform driving circuit and a wireless communication module, and a power module is further arranged in the control box and supplies power to the control panel.

4. A laser and voice integrated bird repelling device according to any one of claims 1 to 3, wherein the bottom of the horizontal rotating platform is fixed to the upper surface of the control box through a screw-in manner.

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