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

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

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

technical field

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.

Background technique

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.

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.

SUMMARY OF THE INVENTION

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.

The object of the present invention is achieved through the following technical solutions:

A bird flight trajectory prediction method applicable to a high-voltage tower, comprising the following steps:

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;

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;

Install the bird repelling simulation device on the middle and upper part of the tower and below the cross arm;

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;

Step 3, calculate the flight speed of the bird;

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:

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;

Step 4: Design the radar multi-point detection feedback mechanism to form the termination condition for the pest birds to stop;

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;

The termination condition of the trajectory chain is based on the following:

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;

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;

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;

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.

Preferably, in the step 1, the placement position of the bird repelling simulation device on the high-voltage tower is specifically:

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.

Preferably, the detection angles of the designed four Doppler radars are specifically:

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.

Compared with the prior art, the present invention has the following beneficial effects:

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.

Description of drawings

Fig. 1 is the flow chart of the present invention;

Fig. 2 is the installation position diagram of the bird repelling simulation device of the present invention on the tower;

Fig. 3 is the detection angle diagram of four Doppler radars of the present invention on the bird repelling simulation device;

FIG. 4 is a diagram of the segmentation detection space of the present invention.

Detailed ways

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.

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.

The concrete steps of the present invention are as follows:

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.

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.

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.

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.

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.

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.

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.

Step 3: Calculate the flight speed of the bird.

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:

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.

Step 4: Design a feedback mechanism for radar multi-point detection to form a termination condition for pest birds to stop.

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:

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

Among them, 1, 2, and 4 are Doppler marks.

The termination condition of the trajectory chain is based on the following:

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＝12.56

Where π is the pi, take π = 3.14; r is the radius, r = 12, the unit is meter.

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.

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.

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.

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.

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.

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, 222

The counts are:

1: 6, 2: 9, 4: 1, 12: 3, 24: 4.

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.

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.

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 wave_RThe 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 V_RIf 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 equation_Rthus, 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.