CN110568435B - Bird flight trajectory prediction method suitable for high-voltage tower - Google Patents
Bird flight trajectory prediction method suitable for high-voltage tower Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity 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
- G01S13/582—Velocity 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/62—Sense-of-movement determination
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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; mounting the bird repelling simulation device at the middle upper part of a pole tower and at a position 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 structure of the high-voltage pole tower and the nesting habit of harmful birds on the high-voltage pole tower, so that a powerful support is provided for driving harmful birds on the high-voltage pole tower, and the harmful birds can be accurately and effectively driven.
Description
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 a high-voltage tower.
Background
The safe operation of the high-voltage transmission line is important for ensuring uninterrupted power supply of users. The current bird damage accident becomes a hidden danger influencing the safe operation of the high-voltage transmission line, and the attention of the power department is more and more aroused.
In the prior art, bird identification and detection adopted by most of domestic high-voltage towers at present mainly relate to image identification and monotonous radar fixed-point detection, and have the defects of low detection efficiency and narrow detection range, so that harmful birds cannot be accurately and effectively driven.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a bird flight track prediction method suitable for a high-voltage tower.
The purpose of the invention is realized by the following technical scheme:
a bird flight track prediction method suitable for a high-voltage tower 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;
step three, calculating the flying speed of the flying bird;
after the installation is finished, when the flying bird is in a 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' 0 Is the frequency of the reflected wave, f 0 Is the frequency, V, of the radar wave R The speed of the moving object, C is the propagation speed of the electromagnetic wave in the space; in the above formula exceptf' 0 And V R If 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 R Thus, 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 counts when the calculated flight speed is greater than or equal to 4.4704 m/s; because the speed of electric waves in the air is high, the radar can continuously receive echoes and continuously count, and short-time accumulation counting is needed, namely, when the frequency is greater than a set threshold value, a frequency is counted; forming a track chain under the common detection of all the radars;
the termination condition of the trajectory chain is determined according to:
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 4.4704 m/s is taken 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 according to the track chain obtained by the feedback mechanism;
the method comprises the steps that space segmentation is carried out 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 detection spaces are totally 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 every 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, and determining the combination pair with more times and higher weight as the judged direction.
Preferably, the placing position of the bird repelling simulation device on the high-voltage tower in the step one is specifically designed 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 position 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.
Preferably, the detection angles for designing the four doppler radars are specifically:
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.
Compared with the prior art, the invention has the following beneficial effects:
compared with the existing bird track and direction prediction technology, the simple and efficient track direction prediction method is designed in a targeted manner aiming at the characteristics of the framework of the high-voltage pole tower and the nesting habit of the pest birds on the high-voltage pole tower, so that the strong support is provided for driving the pest birds on the high-voltage pole tower, and the pest birds are driven accurately and effectively.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a diagram of the installation position of the bird repelling simulation device on a tower;
FIG. 3 is a diagram of detection angles of four Doppler radars according to the present invention on a bird repelling simulation apparatus;
FIG. 4 is a diagram of a segmented detection volume according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1 to 4, the invention discloses a bird flight trajectory prediction method suitable for a high-voltage tower, wherein adopted hardware equipment is a doppler radar and a processor; four HB100 Doppler radars are adopted, the processor adopts a single chip microcomputer of STM32F429, the output ends of the four Doppler radars are connected with GPIO ports of the single chip microcomputer, and hardware connection is completed.
The method comprises the following specific steps:
step one, designing the placement position of the bird repelling simulation device on the high-voltage pole tower according to the framework of most high-voltage pole towers, the nesting habit of harmful birds of the high-voltage pole towers and other characteristics.
For 220 KV transmission towers such as tangent towers and strain angle towers, the height of the tower is generally about 30-40 meters, the height of a cable wire is generally more than half of the height of the tower, and the cable wire has a more compact support and a flat position from the middle upper part to the top end of the tower. According to the existing research data, the pest birds nest on the cables and the height positions of the towers higher than the middle upper part.
Therefore, the installation position of the bird repelling simulation device on the tower is designed to be arranged from the middle upper part to the top end of the tower, and according to the characteristics of the following radar device, a more detailed installation position is further designed in the following steps.
And step two, determining the specific installation position of the bird repelling simulation device. And designing detection angles of four Doppler radars on the bird repelling simulation device.
According to the step one, harmful birds are mostly gathered from the middle upper part to the top end of a high-voltage tower, namely the farthest distance to be detected is about 10-15 meters, and the HB100 radar is the farthest distance to be detected is 15 meters. Meanwhile, according to the habit of bird parking, the flying bird generally can park at a position above the cross arm of the high-voltage tower. Four dopplers are used to detect four directions in the volume, respectively, considering material savings and the most efficient detection of space.
Therefore, the bird repelling simulation device is arranged at the middle upper part of the tower and is lower than the cross arm, as shown in (1) in fig. 2.
The detection of four Doppler radars to four directions is realized, the space that four directions constitute is upper, left and right, preceding respectively, because do not survey below and rear, and HB100 radar detection angle scope itself does not reach 180, so can't be with the space that four directions constitute all coverage, then carry out the positioning to the Doppler radar of left and right, the front direction, become 45 with its direction of gravity respectively and install on bird repellent analogue means, realize the space all coverage that four directions constitute, as shown in FIG. 3, wherein 1, 2, 3, 4 are four Doppler radars respectively.
And step three, calculating the flying speed of the flying bird.
After the installation is finished, when the flying bird is in a 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' 0 Is the frequency of the reflected wave, f 0 Frequency of radar wave, f 0 ＝10.525Hz，V R C is the propagation speed of electromagnetic wave in space C =3 × 10 8 m/s. Of the above formula except f' 0 And V R If 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 R Thus, the flying speed of the bird can be obtained.
And step four, designing a radar multi-point detection feedback mechanism to form a termination condition for the bird parking.
According to the existing survey data, the flying bird flight speed is known to be 10 miles per hour at the lowest, namely 4.4704 m/s, and the detection feedback of the Doppler radar counts when the calculated flight speed is 4.4704 m/s or more, and the radar counts continuously by continuously receiving echoes due to the high speed of radio waves in the air, and counts by accumulating for a short time, namely when the number of times is greater than a set threshold value, the number of times is recorded. Under the common detection of all the radars, a track chain is formed, such as the following form:
1-1-1-2-2-4-2-2-2
wherein 1, 2 and 4 are Doppler marks.
The termination condition of the trajectory chain is determined according to 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 degrees, the farthest span distance of the flying bird in the detection spaces of the doppler radars is calculated to be 12.56 meters according to the detection angle design of the doppler radar in the step two, and the calculation is as follows:
2πr×60÷360＝4π＝12.56
wherein pi is a circumference ratio, and pi =3.14; r is radius, r =12, in meters.
The minimum flying bird flying speed 4.4704 m/s is taken as the minimum standard, and the shortest crossing time obtained by calculation is about 2.8 seconds.
The condition for ending the track chain is that the doppler radars are considered to be ended if no sounding feedback is received for more than 2.8 seconds at the same time during sounding.
And 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 detection space formed by four doppler radars is divided into 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 stereo spaces, namely eleven judgment directions, as shown in fig. 4, wherein (1) to (1) are
Eleven three-dimensional spaces.
The method of reading track chains in sequence is adopted, combinations with the lengths of 1, 2 and 3 are read respectively, namely the step lengths are 1, 2 and 3 respectively, and when the step lengths are 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.
The trajectory chain as exemplified in step four 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 respectively:
1:6, 2:9, 4:1, 12:3, 24:4 of the Chinese herbal medicines.
And the combination of the last three different step sizes is: 2. 22, 222, have corresponding weighting, and the final judgment direction is the space corresponding to 2 by comprehensive adding.
Compared with the existing bird track and direction prediction technology, the invention designs the detection device with low manufacturing cost, high prediction effectiveness and wide detection range and the simple and efficient track direction prediction method in a targeted manner aiming at the characteristics of the framework of the high-voltage pole tower and the nesting habit of harmful birds on the high-voltage pole tower, thereby providing powerful support for driving the harmful birds on the high-voltage pole tower and realizing accurate and effective driving of the harmful birds.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the 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;
mounting the bird repelling simulation device at the middle upper part of a pole tower and at a position 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' 0 Is the frequency of the reflected wave, f 0 Is the frequency, V, of the radar wave R The speed of a moving object is C, and the propagation speed of electromagnetic waves in space is C; of the above formula except f' 0 And V R If 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 R Thus, 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 pest bird to park;
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 counts when the calculated flight speed is greater 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 4.4704 m/s is taken 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 step one of designing the placement position of the bird repelling simulation device on the high-voltage tower specifically comprises:
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 position 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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| CN111812635B (en) * | 2020-06-10 | 2023-08-01 | 广东电网有限责任公司 | Bird flight trajectory prediction method based on anti-shake filtering method weighting |
| CN111742916B (en) * | 2020-07-03 | 2022-09-16 | 国网冀北电力有限公司检修分公司 | Bird repelling control method and device for power equipment |
| CN112461290B (en) * | 2020-11-09 | 2021-09-07 | 国网四川省电力公司阿坝供电公司 | Bird-repelling monitoring system for air cannon |
| CN114304132A (en) * | 2021-12-29 | 2022-04-12 | 李晓东 | Auxiliary device for pole tower equipment and pole tower equipment |
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