CN110568435A - A bird flight trajectory prediction method suitable for high-voltage towers - Google Patents

A bird flight trajectory prediction method suitable for high-voltage towers Download PDF

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CN110568435A
CN110568435A CN201910683507.4A CN201910683507A CN110568435A CN 110568435 A CN110568435 A CN 110568435A CN 201910683507 A CN201910683507 A CN 201910683507A CN 110568435 A CN110568435 A CN 110568435A
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bird
tower
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doppler
radars
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CN110568435B (en
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李鸿一
郑鑫松
张斌
李军毅
彭慧
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Guangdong University of Technology
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50Systems of measurement based on relative movement of target
    • G01S13/58Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/581Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/582Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50Systems of measurement based on relative movement of target
    • G01S13/58Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/62Sense-of-movement determination

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
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  • General Physics & Mathematics (AREA)
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Abstract

the invention discloses a bird flight track prediction method suitable for a high-voltage tower, which comprises the following steps: designing the placement position of a bird repelling simulation device on a high-voltage pole tower according to the architecture of the high-voltage pole tower and the characteristics of bird nesting habits of the high-voltage pole tower; determining a specific installation position of the bird repelling simulation device; designing detection angles of a plurality of Doppler radars on a bird repelling simulation device; the bird repelling simulation device is arranged at the middle upper part of the tower and is lower than the cross arm; four Doppler radars are adopted to respectively detect four directions in a three-dimensional space, and detection angles of the four Doppler radars are designed; the method is characterized in that a simple and efficient track direction prediction method is designed in a targeted manner according to the architecture of the high-voltage pole tower and the nesting habit of the harmful birds of the high-voltage pole tower, so that powerful support is provided for driving the harmful birds of the high-voltage pole tower, and the harmful birds are accurately and effectively driven.

Description

一种适用于高压杆塔的鸟类飞行轨迹预测方法A bird flight trajectory prediction method suitable for high-voltage towers

技术领域technical field

本发明涉及鸟类飞行轨迹预测技术领域,具体涉及一种适用于高压杆塔的鸟类飞行轨迹预测方法。The invention relates to the technical field of bird flight trajectory prediction, in particular to a bird flight trajectory prediction method suitable for high-voltage towers.

背景技术Background technique

高压输电线路的安全运行对于保证用户不间断地供电至关重要。目前的鸟害事故已成为影响高压输电线路安全运行的一大隐患,越来越引起电力部门的重视。The safe operation of high-voltage transmission lines is essential to ensure uninterrupted power supply to users. The current bird damage accident has become a major hidden danger affecting the safe operation of high-voltage transmission lines, and has attracted more and more attention from the power sector.

现有技术中,目前国内大多数高压杆塔采用的鸟类识别探测主要涉及图像识别、单调的雷达定点探测,其缺点在于探测效率低、探测范围不广,导致无法精准有效地驱赶害鸟。In the prior art, the bird identification and detection currently used by most high-voltage towers in China mainly involves image recognition and monotonous radar fixed-point detection. The disadvantages are low detection efficiency and limited detection range, resulting in the inability to accurately and effectively drive off harmful birds.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于克服现有技术的缺点与不足,提供一种适用于高压杆塔的鸟类飞行轨迹预测方法,该方法根据高压杆塔的架构与高压杆塔害鸟筑巢习性等特点,对四个雷达的探测角度以及雷达在杆塔上的位置进行设计,实现对高压杆塔害鸟高效率、最大空间且有针对性的有效探测。The object of the present invention is to overcome the shortcomings and deficiencies of the prior art, and to provide a method for predicting the flight trajectory of birds suitable for high-voltage towers. The detection angle of the radar and the position of the radar on the tower are designed to achieve high-efficiency, maximum space and targeted and effective detection of pest birds on high-voltage towers.

本发明的目的通过下述技术方案实现:The object of the present invention is achieved through the following technical solutions:

一种适用于高压杆塔的鸟类飞行轨迹预测方法,包括下述步骤:A bird flight trajectory prediction method applicable to a high-voltage tower, comprising the following steps:

步骤一,根据高压杆塔的架构与高压杆塔害鸟筑巢习性特点,设计驱鸟模拟装置在高压杆塔上的安放位置;Step 1, design the placement position of the bird repelling simulation device on the high-voltage tower according to the structure of the high-voltage tower and the characteristics of the bird's nesting habit of the high-voltage tower;

步骤二,确定驱鸟模拟装置的具体安装位置;设计多个多普勒雷达在驱鸟模拟装置上的探测角度;Step 2, determine the specific installation position of the bird repelling simulation device; design the detection angles of multiple Doppler radars on the bird repelling simulation device;

将驱鸟模拟装置安装在杆塔的中上部,且低于横担的位置;Install the bird repelling simulation device on the middle and upper part of the tower and below the cross arm;

采用四个多普勒雷达分别对立体空间中四个方向进行探测,并设计四个多普勒雷达的探测角度;Four Doppler radars are used to detect the four directions in the three-dimensional space respectively, and the detection angles of the four Doppler radars are designed;

步骤三,计算飞鸟的飞行速度;Step 3, calculate the flight speed of the bird;

完成安装后,当飞鸟在探测范围内时,多普勒发射的无线电波碰到飞鸟会反射回多普勒雷达,反射回的无线电波频率会发生变化,则根据以下公式计算飞鸟的飞行速度:After the installation is completed, when the birds are within the detection range, the radio waves emitted by Doppler will be reflected back to the Doppler radar when they hit the birds, and the frequency of the reflected radio waves will change. Calculate the flight speed of the birds according to the following formula:

其中,f'0为反射波频率,f0为雷达波的频率,VR为运动物体的速度,C为电磁波在空间的传播速度;上式中除了f'0和VR未知,其他已知,则通过反射回的电波频率代入上式,可算出运动物体的速度VR,由此可得飞鸟的飞行速度;Among them, f' 0 is the frequency of the reflected wave, f 0 is the frequency of the radar wave, VR is the speed of the moving object, and C is the propagation speed of the electromagnetic wave in space; in the above formula, except f' 0 and VR are unknown, other known , then by substituting the reflected radio frequency into the above formula, the velocity VR of the moving object can be calculated, and thus the flight speed of the bird can be obtained;

步骤四,设计雷达多点探测反馈机制,形成害鸟停驻的终止条件;Step 4: Design the radar multi-point detection feedback mechanism to form the termination condition for the pest birds to stop;

由于飞鸟飞行速度已知最低为10英里/小时,即4.4704米/秒,则多普勒雷达的探测反馈为计算得到的飞行速度大于等于4.4704米/秒时,进行计数;由于电波在空气中的速度很快,会使雷达不断接收回波而不断计数,则需通过短时积累计数,即次数大于设定阈值时,记一次数;在所有雷达共同探测下,形成一条轨迹链;Since the flying speed of the bird is known to be at least 10 miles per hour, that is, 4.4704 m/s, the detection feedback of the Doppler radar is that when the calculated flight speed is greater than or equal to 4.4704 m/s, it is counted; If the speed is very fast, the radar will continue to receive echoes and count continuously. It needs to accumulate and count in a short time, that is, when the number of times is greater than the set threshold, the number is recorded once; under the joint detection of all radars, a trajectory chain is formed;

轨迹链的终止条件根据以下而定:The termination condition of the trajectory chain is based on the following:

假设多普勒雷达的探测空间大小为半径为12米、圆心角角度为60°的类钻石三维体,根据步骤二中多普勒雷达的探测角度设计,计算出飞鸟在多个多普勒雷达探测空间的最远跨越距离为12.56米;以最低飞鸟飞行速度4.4704米/秒为最低标准,计算得到最短跨越时间大约为2.8秒;则轨迹链的终止条件为:多个多普勒雷达在探测时若同时超过2.8秒没有接收到探测反馈则视为终止;Assuming that the detection space size of the Doppler radar is a diamond-like three-dimensional body with a radius of 12 meters and a central angle of 60°, according to the design of the detection angle of the Doppler radar in step 2, it is calculated that the flying birds are in multiple Doppler radars. The longest spanning distance in the detection space is 12.56 meters; with the lowest bird flight speed of 4.4704 m/s as the minimum standard, the shortest spanning time is calculated to be about 2.8 seconds; the termination condition of the trajectory chain is: multiple Doppler radars are detecting If the probe feedback is not received for more than 2.8 seconds at the same time, it is deemed to be terminated;

步骤五,分割探测空间,根据反馈机制得到的轨迹链判断最终害鸟的停驻方向;Step 5: Divide the detection space, and judge the parking direction of the final pest bird according to the trajectory chain obtained by the feedback mechanism;

对四个多普勒雷达构成的探测空间进行空间分割,包括各自雷达对应的空间四个,相邻两个雷达构成的空间五个,相邻三个雷达构成的空间两个,总共分为十一个立体空间,即十一个判断方向;The detection space composed of four Doppler radars is divided into four spaces, including four spaces corresponding to each radar, five spaces composed of two adjacent radars, and two spaces composed of three adjacent radars, which are divided into ten spaces in total. A three-dimensional space, that is, eleven judgment directions;

采用顺序读取轨迹链的方法,分别读取长度为1、2、3的组合,即步长分别为1、2、3;步长为2和3时,需要相邻空间才可组合;每次读取间隔一位,即学习率为1,形成多个组合,再对这些组合分类计数,且对最后的三个不同步长的组合加权,次数较多且权重较高的组合对即为所判断的方向。The method of sequentially reading the track chain is used to read the combinations of lengths 1, 2, and 3, respectively, that is, the steps are 1, 2, and 3 respectively; when the steps are 2 and 3, adjacent spaces are required to combine; each The reading interval is one bit, that is, the learning rate is 1, and multiple combinations are formed, and then these combinations are classified and counted, and the last three combinations of different lengths are weighted. The combination pair with more times and higher weight is the direction determined.

优选地,所述步骤一中设计驱鸟模拟装置在高压杆塔上的安放位置具体为:Preferably, in the step 1, the placement position of the bird repelling simulation device on the high-voltage tower is specifically:

针对220千伏输电杆塔,塔高高度一般在30~40米,电缆拉线高度一般在塔高的一半以上,且从杆塔中上部到顶端有较密实的支撑和平坦的位置,害鸟会在电缆及高于中上部的杆塔高度位置筑巢,则设计驱鸟模拟装置在杆塔上的安装位置为杆塔的中上部至顶端。For the 220kV transmission tower, the height of the tower is generally 30-40 meters, the height of the cable cable is generally more than half of the tower height, and there is a relatively dense support and a flat position from the middle and upper part of the tower to the top. And the height of the tower is higher than the middle and upper part of the tower to build the nest, then the installation position of the bird repelling simulation device on the tower is designed to be from the upper part of the tower to the top.

优选地,所述设计四个多普勒雷达的探测角度具体为:Preferably, the detection angles of the designed four Doppler radars are specifically:

实现四个多普勒雷达对四个方向的探测,分别为上、左、右、前四个方向构成的空间,由于不对下方和后方进行探测,且HB100雷达本身探测角度范围达不到180°,所以无法将四个方向所构成的空间全覆盖,则对左、右、前方向的多普勒雷达进行调位,分别将其与重力方向成45°安装在驱鸟模拟装置上,实现四个方向所构成的空间全覆盖。Realize the detection of four Doppler radars in four directions, which are the space formed by the upper, left, right, and front directions. Since the lower and rear are not detected, and the HB100 radar itself has a detection angle range of less than 180° , so the space formed by the four directions cannot be fully covered, so adjust the positions of the Doppler radars in the left, right, and front directions, and install them on the bird repelling simulation device at 45° to the direction of gravity to achieve four The space formed by each direction is fully covered.

本发明与现有技术相比具有以下的有益效果:Compared with the prior art, the present invention has the following beneficial effects:

与现有的鸟类轨迹与方向预测技术相比,本发明重点针对高压杆塔的架构与高压杆塔害鸟筑巢习性特点,有针对性的设计了一种简单高效的轨迹方向预测方法,为驱赶高压杆塔害鸟提供了强有力的支持,实现精准有效地驱赶害鸟。Compared with the existing bird trajectory and direction prediction technology, the present invention focuses on the structure of the high-voltage tower and the characteristics of the high-voltage tower's harmful bird's nesting habit, and designs a simple and efficient trajectory direction prediction method, in order to drive away the bird's nesting habit. The high-voltage pole tower provides strong support to drive the birds accurately and effectively.

附图说明Description of drawings

图1为本发明的流程图;Fig. 1 is the flow chart of the present invention;

图2为本发明驱鸟模拟装置在杆塔上的安装位置图;Fig. 2 is the installation position diagram of the bird repelling simulation device of the present invention on the tower;

图3为本发明四个多普勒雷达在驱鸟模拟装置上的探测角度图;Fig. 3 is the detection angle diagram of four Doppler radars of the present invention on the bird repelling simulation device;

图4为本发明分割探测空间图。FIG. 4 is a diagram of the segmentation detection space of the present invention.

具体实施方式Detailed ways

下面结合实施例及附图对本发明作进一步详细的描述,但本发明的实施方式不限于此。The present invention will be described in further detail below with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

如图1~4所示,本发明公开了一种适用于高压杆塔的鸟类飞行轨迹预测方法,所采用的硬件设备为多普勒雷达以及处理器;采用四个HB100多普勒雷达,处理器采用STM32F429的单片机,将四个多普勒雷达的输出端连接单片机的GPIO端口,完成硬件连接。As shown in Figures 1-4, the present invention discloses a bird flight trajectory prediction method suitable for high-voltage towers. The hardware equipment used is a Doppler radar and a processor; four HB100 Doppler radars are used to process The device adopts STM32F429 single-chip microcomputer, and connects the output terminals of the four Doppler radars to the GPIO port of the single-chip microcomputer to complete the hardware connection.

本发明的具体步骤如下:The concrete steps of the present invention are as follows:

步骤一,根据大部分高压杆塔的架构与高压杆塔害鸟筑巢习性等特点,设计驱鸟模拟装置在高压杆塔上的安放位置。Step 1: Design the placement position of the bird repelling simulation device on the high-voltage tower according to the structure of most high-voltage towers and the nesting habits of harmful birds in high-voltage towers.

诸如直线塔、耐张转角塔,针对220千伏输电杆塔,塔高高度一般在30~40米左右,电缆拉线高度一般在塔高的一半以上,且从杆塔中上部到顶端有较密实的支撑和平坦的位置。根据已有调查资料,害鸟会在电缆及高于中上部的杆塔高度位置筑巢。Such as straight-line towers and tension-resistant corner towers, for 220 kV transmission towers, the height of the tower is generally about 30 to 40 meters, the height of the cable cable is generally more than half the height of the tower, and there is a denser support from the upper part of the tower to the top and flat position. According to the existing survey data, harmful birds will build their nests at the height of cables and towers higher than the middle and upper parts.

因此,设计驱鸟模拟装置在杆塔上的安装位置于杆塔的中上部至顶端,且根据以下雷达装置的特点,在以下步骤进一步设计更细致的安装位置。Therefore, the installation position of the bird repelling simulation device on the tower is designed to be from the middle to the top of the tower, and according to the characteristics of the following radar devices, a more detailed installation position is further designed in the following steps.

步骤二,确定驱鸟模拟装置的具体安装位置。设计四个多普勒雷达在驱鸟模拟装置上的探测角度。Step 2: Determine the specific installation position of the bird repelling simulation device. Design the detection angles of four Doppler radars on the bird repelling simulator.

现有驱鸟模拟装置大小为30cm×30cm×30cm的立体装置,根据步骤一,害鸟多聚集在高压杆塔的中上部至顶端,即需要探测的最远距离大约为10~15米,而HB100雷达探测距离最远为15米。同时,根据鸟类停驻的习性,飞鸟一般会停驻在高压杆塔横担以上的位置。考虑材料的节省和空间的最大有效探测,采用四个多普勒分别对立体空间中四个方向进行探测。The existing bird repellent simulation device is a three-dimensional device with a size of 30cm×30cm×30cm. According to step 1, the harmful birds are mostly gathered in the upper part of the high-voltage tower to the top, that is, the longest distance to be detected is about 10-15 meters, while the HB100 The radar detection distance is up to 15 meters. At the same time, according to the habit of birds to park, the birds generally park at the position above the cross arm of the high-voltage tower. Considering the material saving and the maximum effective detection of space, four Dopplers are used to detect the four directions in the three-dimensional space respectively.

因此,将驱鸟模拟装置安装在杆塔的中上部,且低于横担的位置,如图2中①所示。Therefore, the bird repelling simulation device is installed in the middle and upper part of the tower, and is lower than the position of the cross arm, as shown in ① in Figure 2.

实现四个多普勒雷达对四个方向的探测,分别为上、左、右、前四个方向构成的空间,由于不对下方和后方进行探测,且HB100雷达本身探测角度范围达不到180°,所以无法将四个方向所构成的空间全覆盖,则对左、右、前方向的多普勒雷达进行调位,分别将其与重力方向成45°安装在驱鸟模拟装置上,实现四个方向所构成的空间全覆盖,如图3所示,其中1、2、3、4分别为四个多普勒雷达。Realize the detection of four Doppler radars in four directions, which are the space formed by the upper, left, right, and front directions. Since the lower and rear are not detected, and the HB100 radar itself has a detection angle range of less than 180° , so the space formed by the four directions cannot be fully covered, so adjust the positions of the Doppler radars in the left, right, and front directions, and install them on the bird repelling simulation device at 45° to the direction of gravity to achieve four The space formed by each direction is fully covered, as shown in Figure 3, where 1, 2, 3, and 4 are four Doppler radars respectively.

步骤三,计算飞鸟的飞行速度。Step 3: Calculate the flight speed of the bird.

完成安装后,当飞鸟在探测范围内时,多普勒发射的无线电波碰到飞鸟会反射回多普勒雷达,反射回的无线电波频率会发生变化,则根据以下公式计算飞鸟的飞行速度:After the installation is completed, when the birds are within the detection range, the radio waves emitted by Doppler will be reflected back to the Doppler radar when they hit the birds, and the frequency of the reflected radio waves will change. Calculate the flight speed of the birds according to the following formula:

其中,f'0为反射波频率,f0为雷达波的频率,f0=10.525Hz,VR为运动物体的速度,C为电磁波在空间的传播速度C=3×108m/s。上式中除了f'0和VR未知,其他已知,则通过反射回的电波频率代入上式,可算出运动物体的速度VR,由此可得飞鸟的飞行速度。Among them, f' 0 is the frequency of the reflected wave, f 0 is the frequency of the radar wave, f 0 = 10.525Hz , VR is the speed of the moving object, C is the propagation speed of the electromagnetic wave in space C=3×10 8 m/s. In the above formula, except f' 0 and VR are unknown, other known, then by substituting the reflected radio frequency into the above formula, the speed VR of the moving object can be calculated, thus the flight speed of the bird can be obtained.

步骤四,设计雷达多点探测反馈机制,形成一种害鸟停驻的终止条件。Step 4: Design a feedback mechanism for radar multi-point detection to form a termination condition for pest birds to stop.

据现有调查资料,飞鸟飞行速度已知最低为10英里/小时,即4.4704米/秒,则多普勒雷达的探测反馈为计算得到的飞行速度大于等于4.4704米/秒时,进行计数,由于电波在空气中的速度很快,会使雷达不断接收回波而不断计数,则需通过短时积累计数,即次数大于设定阈值时,记一次数。在所有雷达共同探测下,形成一条轨迹链,如以下形式:According to the existing survey data, the minimum known flying speed of the bird is 10 miles per hour, that is, 4.4704 m/s, then the detection feedback of the Doppler radar is that the calculated flight speed is greater than or equal to 4.4704 m/s. The speed of the radio wave in the air is very fast, which will make the radar continue to receive echoes and count continuously. It needs to accumulate and count in a short time, that is, when the number of times is greater than the set threshold, count the number once. Under the common detection of all radars, a trajectory chain is formed, as follows:

1-1-1-2-2-4-2-2-21-1-1-2-2-4-2-2-2

其中,1、2、4为多普勒记号。Among them, 1, 2, and 4 are Doppler marks.

轨迹链的终止条件根据以下而定:The termination condition of the trajectory chain is based on the following:

假设多普勒雷达的探测空间大小为半径为12米、圆心角角度为60°的类钻石三维体,根据步骤二中多普勒雷达的探测角度设计,计算出飞鸟在多个多普勒雷达探测空间的最远跨越距离为12.56米,计算如下:Assuming that the detection space size of the Doppler radar is a diamond-like three-dimensional body with a radius of 12 meters and a central angle of 60°, according to the design of the detection angle of the Doppler radar in step 2, it is calculated that the flying birds are in multiple Doppler radars. The farthest spanning distance in the detection space is 12.56 meters, which is calculated as follows:

2πr×60÷360=4π=12.562πr×60÷360=4π=12.56

其中π为圆周率,取π=3.14;r为半径,r=12,单位米。Where π is the pi, take π = 3.14; r is the radius, r = 12, the unit is meter.

以最低飞鸟飞行速度4.4704米/秒为最低标准,计算得到最短跨越时间大约为2.8秒。Taking the minimum bird flight speed of 4.4704 m/s as the minimum standard, the shortest crossing time is calculated to be about 2.8 seconds.

则轨迹链的终止条件为多个多普勒雷达在探测时若同时超过2.8秒没有接收到探测反馈则视为终止。Then the termination condition of the trajectory chain is that if multiple Doppler radars do not receive detection feedback for more than 2.8 seconds at the same time during detection, it is regarded as terminated.

步骤五,分割探测空间,根据反馈机制得到的轨迹链判断最终害鸟的停驻方向。Step 5: Divide the detection space, and judge the parking direction of the final pest bird according to the trajectory chain obtained by the feedback mechanism.

对四个多普勒雷达构成的探测空间进行空间分割,包括各自雷达对应的空间四个,相邻两个雷达构成的空间五个,相邻三个雷达构成的空间两个,总共分为十一个立体空间,即十一个判断方向,如图4所示,其中①至为十一个立体空间。The detection space composed of four Doppler radars is divided into four spaces, including four spaces corresponding to each radar, five spaces composed of two adjacent radars, and two spaces composed of three adjacent radars, which are divided into ten spaces in total. A three-dimensional space, that is, eleven judgment directions, as shown in Figure 4, where ① to for eleven three-dimensional spaces.

采用顺序读取轨迹链的方法,分别读取长度为1、2、3的组合,即步长分别为1、2、3,步长为2和3时,需要相邻空间才可组合;每次读取间隔一位,即学习率为1,形成多个组合,再对这些组合分类计数,且对最后的三个不同步长的组合加权,次数较多且权重较高的组合对即为所判断的方向。The method of sequentially reading the track chain is used to read the combinations of lengths 1, 2, and 3 respectively, that is, the steps are 1, 2, and 3, respectively. When the steps are 2 and 3, adjacent spaces are required to combine; The reading interval is one bit, that is, the learning rate is 1, and multiple combinations are formed, and then these combinations are classified and counted, and the last three combinations of different lengths are weighted. The combination pair with more times and higher weight is the direction determined.

如步骤四中所示例的轨迹链,将其分为如下组合:As the trajectory chain exemplified in step 4, it is divided into the following combinations:

1、1、1、2、2、4、2、2、2、11、11、12、22、24、22、22、111、112、122、224、242、422、2221, 1, 1, 2, 2, 4, 2, 2, 2, 11, 11, 12, 22, 24, 22, 22, 111, 112, 122, 224, 242, 422, 222

分别计数为:The counts are:

1:6个、2:9个、4:1个、12:3个、24:4个。1: 6, 2: 9, 4: 1, 12: 3, 24: 4.

且最后的三个不同步长的组合为:2、22、222,均有相应的加权,综合加分可知最后的判断方向为2所对应的空间。And the last three combinations of different step lengths are: 2, 22, 222, all of which have corresponding weights, and comprehensively add points to know that the final judgment direction is the space corresponding to 2.

与现有的鸟类轨迹与方向预测技术相比,本发明重点针对高压杆塔的架构与高压杆塔害鸟筑巢习性特点,有针对性的设计了一种制作成本低、预测有效性高、探测范围广的探测装置与一种简单高效的轨迹方向预测方法,为驱赶高压杆塔害鸟提供了强有力的支持,实现精准有效地驱赶害鸟。Compared with the existing bird trajectory and direction prediction technology, the present invention focuses on the structure of the high-voltage tower and the characteristics of the high-voltage tower's harmful bird's nesting habit. A wide range of detection devices and a simple and efficient trajectory direction prediction method provide strong support for driving away harmful birds from high-voltage towers and achieve accurate and effective driving of harmful birds.

上述为本发明较佳的实施方式,但本发明的实施方式并不受上述内容的限制,其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化,均应为等效的置换方式,都包含在本发明的保护范围之内。The above are the preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above-mentioned contents, and any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention are all Should be equivalent replacement manners, all are included within the protection scope of the present invention.

Claims (3)

1. a bird flight track prediction method suitable for a high-voltage tower is characterized by comprising the following steps:
designing the placement position of a bird repelling simulation device on a high-voltage pole tower according to the architecture of the high-voltage pole tower and the characteristics of bird nesting habits of the high-voltage pole tower;
determining a specific installation position of the bird repelling simulation device; designing detection angles of a plurality of Doppler radars on a bird repelling simulation device;
The bird repelling simulation device is arranged at the middle upper part of the tower and is lower than the cross arm;
four Doppler radars are adopted to respectively detect four directions in a three-dimensional space, and detection angles of the four Doppler radars are designed;
calculating the flying speed of the flying bird;
after the installation is finished, when the flying bird is in the detection range, the Doppler transmitted radio wave is collided with the flying bird and reflected back to the Doppler radar, the frequency of the reflected radio wave changes, and then the flying speed of the flying bird is calculated according to the following formula:
Wherein, f'0Is the frequency of the reflected wave, f0Is the frequency, V, of the radar waveRThe speed of a moving object is C, and the propagation speed of electromagnetic waves in space is C; of the above formula except f'0And VRIf unknown or otherwise known, the velocity V of the moving object can be calculated by substituting the frequency of the reflected radio wave into the above equationRthus, the flying speed of the flying bird can be obtained;
designing a radar multi-point detection feedback mechanism to form a termination condition for the bird parking;
Since the flying bird flight speed is known to be 10 miles per hour at the lowest, namely 4.4704 m/s, the detection feedback of the Doppler radar is counted when the calculated flight speed is more than or equal to 4.4704 m/s; because the speed of electric waves in the air is fast, the radar can continuously receive the echo waves and continuously count, and the counting needs to be accumulated for a short time, namely, when the frequency is greater than a set threshold value, the frequency is recorded; forming a track chain under the common detection of all the radars;
the termination condition of the trajectory chain is determined according to the following:
Assuming that the detection space of the Doppler radar is a diamond-like three-dimensional body with the radius of 12 meters and the central angle of 60 degrees, and calculating the farthest spanning distance of the bird in the detection spaces of the Doppler radars to be 12.56 meters according to the detection angle design of the Doppler radars in the step two; the minimum flying bird flying speed of 4.4704 m/s is used as the minimum standard, and the shortest crossing time obtained by calculation is about 2.8 seconds; the termination condition of the trajectory chain is: if the detection feedback is not received within 2.8 seconds at the same time during detection of the plurality of Doppler radars, the detection is regarded as termination;
step five, dividing the detection space, and judging the final parking direction of the pest birds according to the track chain obtained by the feedback mechanism;
the method comprises the following steps of performing space segmentation on detection spaces formed by four Doppler radars, wherein the detection spaces include four spaces corresponding to the respective radars, five spaces formed by two adjacent radars, and two spaces formed by three adjacent radars, and the total space is divided into eleven three-dimensional spaces, namely eleven judgment directions;
Reading combinations with lengths of 1, 2 and 3 respectively by adopting a method of sequentially reading track chains, namely, the step lengths are 1, 2 and 3 respectively; when the step length is 2 and 3, adjacent spaces are required to be combined; reading one bit at an interval each time, namely the learning rate is 1, forming a plurality of combinations, classifying and counting the combinations, weighting the last three combinations with different step lengths, wherein the combination pair with more times and higher weight is the judged direction.
2. The bird flight trajectory prediction method suitable for the high-voltage tower as claimed in claim 1, wherein the design of the placement position of the bird repelling simulation device on the high-voltage tower in the first step is specifically as follows:
For a 220 kV transmission tower, the height of the tower is generally 30-40 meters, the height of a cable pull wire is generally more than half of the height of the tower, dense support and flat positions are arranged from the middle upper part to the top end of the tower, pest birds nest in the cable and the height of the tower higher than the middle upper part, and then the installation position of the bird repelling simulation device on the tower is designed to be the middle upper part to the top end of the tower.
3. the bird flight trajectory prediction method suitable for the high-voltage tower as claimed in claim 1, wherein the detection angles of the four doppler radars are specifically designed as follows:
The detection of four Doppler radars to four directions is realized, the space formed by the upper direction, the left direction, the right direction and the front direction is respectively realized, the lower direction and the rear direction are not detected, the detection angle range of the HB100 radar per se does not reach 180 degrees, so the space formed by the four directions cannot be fully covered, the Doppler radars in the left direction, the right direction and the front direction are adjusted, and are respectively installed on a bird repelling simulation device in an angle of 45 degrees with the gravity direction, and the full coverage of the space formed by the four directions is realized.
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