CN114650366A - Flying bird defense method, master control module, flying bird defense system and storage medium - Google Patents
Flying bird defense method, master control module, flying bird defense system and storage medium Download PDFInfo
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- CN114650366A CN114650366A CN202111471974.4A CN202111471974A CN114650366A CN 114650366 A CN114650366 A CN 114650366A CN 202111471974 A CN202111471974 A CN 202111471974A CN 114650366 A CN114650366 A CN 114650366A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
- A01M29/20—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves with generation of periodically explosive reports
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
Abstract
The application discloses a flying bird defense method, a master control module, a flying bird defense system and a storage medium, wherein the method comprises the following steps: acquiring initial parameter information of an image acquisition device; the initial parameter information comprises position information, visual angle information and angle information; according to the initial parameter information, calculating the corresponding relation between the image position of the target in the image and the actual position of the target on the ground; acquiring image information acquired by an image acquisition device, and acquiring image position information of a target according to the image information; calculating the actual position information of the target according to the image position information and the corresponding relation; sending actual position information and a driving signal to the bird defending device; wherein the driving signal is used for driving the bird defending device to drive the target according to the actual position information. The target can be automatically positioned and driven, the positioning precision is high, the driving accuracy is high, manpower is saved, and the defense effect is good.
Description
Technical Field
The application relates to the technical field of bird repelling, in particular to a flying bird defense method, a main control module, a flying bird defense system and a storage medium.
Background
With the increase of the number of newly-built airports and the increasing improvement of environmental governance, the bird strike event is in a development trend which is gradually increased year by year. The defense of the airport includes both the positioning of the target and the driving of the target. Currently, automatic target positioning methods are mainly classified into two types: firstly, a target is automatically positioned by adopting a radio radar, the distance of the action of the radio radar is long, and the spatial position of the target can be calculated, but the false alarm rate is extremely high due to excessive interference of the target at low altitude on the earth surface and small target volume; secondly, the target is positioned by adopting machine vision, and the target cannot be effectively positioned due to the natural contradiction between the resolution and the observation range. The driving mode for the target comprises static setting and timing excitation. The static setting comprises modes of bird blocking nets, horror eyes, straw people, coal gas guns, loud bird repelling devices, titanium mine bombs, firework bombs, electric excitation bombs, laser bird repellers and the like. The regular excitation is generally manually excited, which consumes manpower and has poor bird repelling effect.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, the flying bird defense method, the main control module, the flying bird defense system and the storage medium are provided, the target can be automatically positioned and driven, the positioning precision is high, the driving accuracy is high, the labor is saved, and the defense effect is good.
In a first aspect, the present application provides a method of bird defense, comprising:
acquiring initial parameter information of an image acquisition device; the initial parameter information comprises position information, visual angle information and angle information;
according to the initial parameter information, calculating the corresponding relation between the image position of the target in the image and the actual position of the target on the ground;
acquiring image information acquired by the image acquisition device, and acquiring image position information of a target according to the image information;
calculating the actual position information of the target according to the image position information and the corresponding relation;
transmitting the actual position information and the driving signal to a bird repelling device; the driving signal is used for driving the flying bird defending device to drive the target according to the actual position information.
The method for defending flying birds according to the embodiment of the first aspect of the application has at least the following advantages: the image acquisition device is arranged on the two-degree-of-freedom holder, the initial parameter information of the image acquisition device is acquired, the angle of the image acquisition device can be freely adjusted, the shooting range of the image acquisition device is adjusted, the corresponding relation between the image position of the target in the image and the actual position of the target on the ground is calculated according to the initial parameter information of the image acquisition device, the actual position information of the target can be calculated according to the image information and the corresponding relation acquired from the image acquisition device, and the target is accurately positioned. After the target is positioned, the bird repelling defense device sends a repelling signal to the target, so that the effect of repelling the target entering the protection range is achieved. The whole process realizes automatic positioning and automatic driving of the target, and has the advantages of high positioning precision, high driving accuracy, labor saving and good defense effect.
According to some embodiments of the first aspect of the present application, the image capturing device is provided in plurality, and each image capturing device is provided at intervals, and the calculating, according to the initial parameter information, a corresponding relationship between an image position of the target in the image and an actual position of the target on the ground includes: judging whether cross areas exist in the view angle ranges of the image acquisition devices or not according to the initial parameter information; if the view angle ranges of the plurality of image acquisition devices have cross areas, respectively acquiring the image positions of the target in the images shot by each image acquisition device; and calculating a plurality of corresponding relations between the image position of the target in the image and the actual position of the target on the ground according to the initial parameter information, wherein the corresponding relations have an intersection point. The plurality of image acquisition devices are arranged, so that a wider space area can be shot. And according to the parameters of the initial image acquisition devices, specifically position information, visual angle information and angle information, whether two image acquisition devices in the plurality of image acquisition devices have a cross region or not can be judged, and if two image acquisition devices have a cross region, the two image information of the target in the cross region is acquired. The image position of the target and the actual space position have a corresponding relation, each target image corresponds to a region of the actual space according to each corresponding relation, two images formed by the target correspond to two regions of the actual space and have a cross point or a cross region, and the cross point or the cross region can be regarded as the actual space position of the target.
Some embodiments according to the first aspect of the present application further comprise: after a preset first time, acquiring image information shot by each image acquisition device after the target moving position, and acquiring updated image position information according to the image information; according to the initial parameter information, the corresponding relation is recalculated; calculating rotation angle information required to rotate each image acquisition device according to the image position information before and after updating; transmitting rotation angle information to each image acquisition device in real time; the rotation angle information is used for driving the image acquisition device to rotate to a corresponding angle so as to shoot the image information of the target in space in real time. The image acquisition device which shoots the target can reacquire the updated image position information of the target in the shot image at a first interval, the rotation angle information which needs to be rotated by the image acquisition device can be obtained through calculation according to the image positions before and after the target moving position, and the rotation angle information which needs to be rotated by the image acquisition device is transmitted to the image acquisition device, so that the image acquisition device can rotate a corresponding angle, and the tracking and positioning of the moving target are realized. Certainly, when no intruding target is found in the intersection area of the plurality of image acquisition devices, the image acquisition devices can rotate at a certain angle at preset intervals, and at least two image acquisition devices are always kept to have the intersection area in the rotating process, so that whether the intruding target exists in a larger space area or not is checked, and defense in a larger range is realized.
According to some embodiments of the first aspect of the application, the sending of the actual location information and a repelling signal to a bird repelling device comprises: acquiring initial angle information and initial position information of the bird defending device; transmitting actual location information of the target to the bird defense device; calculating first angle information which needs to be rotated when the bird repelling device sends a repelling signal to the target according to the actual position information, the initial position information and the initial angle information; and transmitting a first rotation angle signal to the flying bird defending device according to the first angle information, and transmitting the driving signal to the flying bird defending device, wherein the first rotation angle signal is used for driving the flying bird defending device to rotate by a first angle. After the space positioning is realized for the target, the actual space position of the target is transmitted to the flying bird defense device, and then the driving signal is automatically sent out to the received actual space position by the flying bird defense device, so that the driving efficiency is high, the accurate driving of the target can be realized, and the driving effect is better.
According to some embodiments of the first aspect of the application, the driving signal is used for driving the launching of the driving projectiles, further comprising the steps of: calculating actual distance information between the target and the bird defending device according to the actual position information, the initial position information and the initial angle information; calculating the excitation time information and the explosion time information of the driving bomb according to the actual distance information; transmitting the excitation time information and the explosion time information to the flying bird defense device; the driving bomb launching method comprises the following steps that the driving bomb is shot in the shooting time information, wherein the shooting time information is used for presetting the launching time of the driving bomb, and the explosion time information is used for presetting the explosion time of the driving bomb. Flying animals within the protective range can be frightened away by the driving projectile, such as flying birds. According to the actual distance information between the target and the bird repelling defense device, the launching time and the explosion time of the bird repelling bomb can be effectively controlled through presetting the excitation time and the explosion time, and therefore the flying animals can be effectively repelled.
According to some embodiments of the first aspect of the application, the driving signal is for driving emission of driving electromagnetic waves, comprising: calculating actual distance information between the target and the bird defending device according to the actual position information, the initial position information and the initial angle information; calculating the emission time of the driving electromagnetic waves according to the actual distance information; wherein the emission time is used for presetting the emission time of the driving electromagnetic wave. Can realize driving the aircraft through driving the electromagnetic wave, the aircraft can be unmanned aerial vehicle. After the unmanned aerial vehicle receives the driving electromagnetic wave, the direction of the unmanned aerial vehicle can be automatically turned to leave, otherwise, the unmanned aerial vehicle can lose control due to the interference of the electromagnetic wave. According to the actual distance information of the defense device and the unmanned aerial vehicle, the emission time of driving electromagnetic waves can be calculated, and therefore the unmanned aerial vehicle can be effectively driven within the intrusion protection range.
In a second aspect, the present application further provides a main control module, including: at least one memory, at least one processor and at least one program, the program being stored in the memory, the processor executing at least one of the programs to implement a method of bird defense as defined in any of the embodiments of the first aspect.
According to the main control module of the embodiment of the second aspect of the present application, at least the following beneficial effects are obtained: the angle of the image acquisition device can be freely adjusted by acquiring the initial parameter information of the image acquisition device so as to adjust the shooting range of the image acquisition device, the corresponding relation between the image position of the target in the image and the actual position of the target on the ground is calculated according to the initial parameter information of the image acquisition device, the actual position information of the target can be calculated according to the image information and the corresponding relation acquired from the image acquisition device, and the accurate positioning of the target is realized. After the target is positioned, the bird repelling defense device sends a repelling signal to the target, so that the effect of repelling the target intruding into the protection range is realized. The whole process realizes automatic positioning and automatic driving of the target, and has the advantages of high positioning precision, high driving accuracy, labor saving and good defense effect.
In a third aspect, the present application further provides a bird defense system, including the main control module according to the embodiment of the second aspect.
According to some embodiments of the third aspect of the present application, further comprising: the positioning mechanism comprises a plurality of image acquisition devices and a first placing module, the image acquisition devices are used for shooting images of a target, the first placing module comprises a plurality of two-degree-of-freedom holders arranged at intervals, and each two-degree-of-freedom holder is provided with at least one image acquisition device; the flying object defense device comprises a driving bomb, an excitation part, a bomb tube and a second placement module, wherein the second placement module comprises a vertical rotating structure and a horizontal rotating structure, the bomb tube is arranged at the upper end of the vertical rotating structure, the lower end of the vertical rotating structure is connected with the upper end of the horizontal rotating structure, the driving bomb is arranged in the bomb tube and comprises a timing part, the timing part is used for presetting the explosion time of the driving bomb, the excitation part is arranged in the driving bomb or on the bomb tube and is used for presetting the emission time of the driving bomb, a programmable interface is arranged on the bomb tube, and the programmable interface is electrically connected with the driving bomb; the main control module is respectively connected with the positioning mechanism and the flyer defense device, and is used for: calculating the actual position of the target according to the image information of the target; transmitting actual position information of the target to the flying object defense device; calculating a first angle of rotation required by the flyer defense device and controlling the second placement module to rotate by the first angle; and presetting the time of the timing part and the excitation part so as to adjust the excitation time and the explosion time of the driving bomb. The image acquisition device in the positioning mechanism is used for shooting an image of the target, and the main control module can obtain the actual position information of the target after analyzing the image information, so that the automatic positioning of the target is realized; the main control module transmits the actual position information to the flyer defense device and calculates a first angle of the flyer defense device required to rotate, so that the flyer defense device can launch the driving bomb in the direction of the target; the main control module sets the launching time and the explosion time of the driving bomb according to the actual distance between the target actual position and the flying object defense device, the driving bomb is launched within the preset time by the flying object defense device, the driving bomb explodes within the preset time, and the flying animals are effectively driven.
In a fourth aspect, the present application further provides a computer-readable storage medium storing computer-executable signals for performing the method of bird defense as defined in any of the embodiments of the first aspect.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
Additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of bird defense according to an embodiment of a first aspect of the present application;
FIG. 2 is a flow chart of a method of bird defense in accordance with another embodiment of the first aspect of the present application;
FIG. 3 is a flow chart of a method of bird defense in accordance with another embodiment of the first aspect of the present application;
FIG. 4 is a flow chart of a method of bird defense in accordance with another embodiment of the first aspect of the present application;
FIG. 5 is a flow chart of a method of bird defense in accordance with another embodiment of the first aspect of the present application;
FIG. 6 is a flow chart of a method of bird defense in accordance with another embodiment of the first aspect of the present application;
FIG. 7 is a schematic diagram of a master control module according to an embodiment of a second aspect of the present application;
FIG. 8 is a schematic view of a bird defense apparatus according to some embodiments of a third aspect of the present application;
FIG. 9 is a schematic view of a positioning mechanism of some embodiments of the third aspect of the present application.
The reference numbers are as follows:
a bird defense apparatus 100; a cartridge 110; a programmable interface 111; a horizontal rotation structure 120; a vertical rotating structure 130; a positioning mechanism 200; an image acquisition device 210; the two-degree-of-freedom pan/tilt head 220.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the positional descriptions, such as the directions of up, down, front, rear, left, right, etc., referred to herein are based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present application.
In the description of the present application, if there are first and second described only for the purpose of distinguishing technical features, it is not understood that relative importance is indicated or implied or that the number of indicated technical features or the precedence of the indicated technical features is implicitly indicated or implied.
In the description of the present application, unless otherwise specifically limited, terms such as set, installed, connected and the like should be understood broadly, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present application in combination with the specific contents of the technical solutions.
In a first aspect, and with reference to fig. 1, the present application provides a method of bird defense, including but not limited to the following steps:
step S110: acquiring initial parameter information of an image acquisition device; the initial parameter information comprises position information, view angle information and angle information;
step S120: according to the initial parameter information, calculating the corresponding relation between the image position of the target in the image and the actual position of the target on the ground;
step S130: acquiring image information acquired by an image acquisition device, and acquiring image position information of a target according to the image information;
step S140: calculating the actual position information of the target according to the image position information and the corresponding relation;
step S150: sending actual position information and a driving signal to the bird defending device; wherein the driving signal is used for driving the bird repelling defense device to repel the target according to the actual position information.
The image acquisition device 210 is arranged on the two-degree-of-freedom holder 220, initial parameter information of the image acquisition device 210 is acquired, the angle of the image acquisition device 210 can be freely adjusted, the shooting range of the image acquisition device can be adjusted, the corresponding relation between the image position of the target in the image and the actual position of the target on the ground can be calculated according to the initial parameter information of the image acquisition device 210, the actual position information of the target can be calculated according to the image information and the corresponding relation acquired from the image acquisition device 210, and accurate positioning of the target is achieved. After the target is positioned, the bird repelling device 100 sends a repelling signal to the target to achieve the effect of repelling the target entering the protection range. The whole process realizes automatic positioning and automatic driving of the target, and has the advantages of high positioning precision, high driving accuracy, labor saving and good defense effect.
Since the image acquisition device 210 captures the points of the image, a set of points corresponding to the space can be obtained, the set of points is the ray connecting the points of the image and the optical center, and the image acquisition device 210 captures the actual spatial positions of the points in the image corresponding to the target. In the plurality of image capturing devices 210, as long as two of the image capturing devices 210 have an intersection region, the target in the intersection region can be located. The plurality of image capturing devices 210 cooperate with each other to capture a wider spatial area, thereby obtaining a wider protection area.
It can be understood that, referring to fig. 2, a plurality of image capturing devices are provided, and each image capturing device is arranged at an interval, specifically, a corresponding two-degree-of-freedom cradle head is arranged below each image capturing device, that is, each two-degree-of-freedom cradle head is arranged at an interval, wherein in step S120, the following steps may further be included:
step S210: judging whether cross areas exist in the view angle ranges of the plurality of image acquisition devices or not according to the initial parameter information;
step S220: if the view angle ranges of the plurality of image acquisition devices have cross areas, respectively acquiring the image positions of the target in the images shot by each image acquisition device;
step S230: and calculating a plurality of corresponding relations between the image position of the target in the image and the actual position of the target on the ground according to the initial parameter information, wherein the plurality of corresponding relations have an intersection point.
By providing a plurality of image capture devices 210, a wider range of spatial regions can be captured. According to the parameters of the initial image capturing devices 210, specifically, the position information, the view angle information and the angle information, it can be determined whether two image capturing devices 210 in the plurality of image capturing devices 210 have a crossing region, and if two image capturing devices 210 have a crossing region, two pieces of image information of the target in the crossing region are acquired. The image position of the target and the actual space position have a corresponding relation, each target image corresponds to one area of the actual space according to each corresponding relation, two areas of two images formed by the target corresponding to the actual space have a cross point or a cross area, and the cross point or the cross area can be regarded as the actual space position of the target.
It is understood that, referring to fig. 3, the bird defense method provided by the present application further includes, but is not limited to, the following steps:
step S310: after a preset first time, acquiring image information shot by each image acquisition device after the target moves, and acquiring updated image position information according to the image information;
step S320: according to the initial parameter information, recalculating the corresponding relation;
step S330: calculating the rotation angle information of each image acquisition device needing to be rotated according to the image position information before and after updating;
step S340: transmitting the rotation angle information to each image acquisition device in real time; the rotation angle information is used for driving the image acquisition device to rotate to a corresponding angle so as to shoot image information of the target in space in real time.
Every a period of first time, the image acquisition device 210 which shoots the target can reacquire the updated image position information of the target in the shot image, and according to the image positions before and after the target moving position, the rotation angle information which the image acquisition device 210 needs to rotate can be obtained through calculation, and the angle information which the image acquisition device 210 needs to rotate is transmitted to the image acquisition device 210, so that the image acquisition device 210 can rotate by a corresponding angle, thereby realizing the tracking and positioning of the moving target. Specifically, when there is a flying target in the intersection area of the two image capturing devices 210, the two image capturing devices 210 automatically analyze the image position information of the target in the image at a certain time interval, and automatically rotate the two image capturing devices 210 according to the difference between the two image positions before and after moving, so that the intersection area of the two image capturing devices 210 can track the target, and the purpose of automatically tracking and positioning the target is achieved.
It should be noted that when no intruding object is found in the intersection area of the plurality of image capturing devices 210, the image capturing devices may be set to rotate at a certain angle every preset time, and at least two image capturing devices 210 are always kept to have the intersection area during the rotation. The angle and speed of rotation can be calculated according to the position information and the view angle information of the two image capturing devices 210. If the target is not shot in the cross area at an angle, the two image acquisition devices 210 are rotated simultaneously, and then whether the target breaks into the next cross area is shot until the two image acquisition devices 210 rotate for a circle, so that whether the target breaks into the protection range can be automatically shot. The target of the break-in can be a flying bird, an unmanned plane or other flying objects.
Referring to fig. 4, it can be understood that step S150 further includes, but is not limited to, the following steps:
step S410: acquiring initial angle information and initial position information of the bird defense device;
step S420: transmitting actual position information of the target to the flying bird defense device;
step S430: calculating first angle information which needs to be rotated when the bird repelling device sends a repelling signal to a target according to the actual position information, the initial position information and the initial angle information;
step S440: and transmitting a rotation first angle signal to the flying bird defense device according to the first angle information, and transmitting a driving signal to the flying bird defense device, wherein the rotation first angle signal is used for driving the flying bird defense device to rotate by a first angle.
After the space positioning is realized for the target, the actual space position of the target is transmitted to the bird defending device 100, and then the bird defending device 100 automatically sends out a driving signal to the received actual space position, so that the driving efficiency is high, the accurate driving of the target can be realized, and the driving effect is better.
Referring to fig. 5, it can be understood that the driving signal in step S440 is used to drive the bird defense apparatus to launch the driving projectiles, which further includes, but is not limited to, the following steps:
step S510: calculating the actual distance information between the target and the bird defense device according to the actual position information, the initial position information and the initial angle information;
step S520: calculating the excitation time information and the explosion time information of the driving bomb according to the actual distance information;
step S530: transmitting the excitation time information and the explosion time information to a bird defense device; the triggering time information is used for presetting the launching time of the driving bomb, and the explosion time information is used for presetting the explosion time of the driving bomb.
Flying animals within the protection range can be frightened away by the driving bullets, such as flying birds. According to the actual distance information between the target and the bird defending device 100, the launching time and the explosion time of the bird repelling bomb can be effectively controlled through presetting the excitation time and the explosion time, and therefore the flying animals can be effectively repelled.
Referring to fig. 6, it can be understood that the driving signal in step S440 is used to drive the bird repelling defense apparatus to emit driving electromagnetic waves, which further includes, but is not limited to, the following steps:
step S610: calculating actual distance information between the target and the bird defending device according to the actual position information, the initial position information and the initial angle information;
step S620: calculating the emission time of driving electromagnetic waves according to the actual distance information; the emission time is used for presetting the emission time of the driving electromagnetic wave.
Can realize driving the aircraft through driving the electromagnetic wave, the aircraft can be unmanned aerial vehicle. After the unmanned aerial vehicle receives the driving electromagnetic wave, the direction of the unmanned aerial vehicle can be automatically turned to leave, otherwise, the unmanned aerial vehicle can lose control due to the interference of the electromagnetic wave. According to the actual distance information of the defense device and the unmanned aerial vehicle, the emission time of driving electromagnetic waves can be calculated, and therefore the unmanned aerial vehicle can be effectively driven within the intrusion protection range.
Referring to fig. 8 and 9, the specific positioning method is as follows:
1. acquiring position information, view angle information and initial angle information of the two image acquisition devices 210, wherein the position information is the spatial coordinate positions of the two image acquisition devices 210, the view angle information is the view angle of a lens of the image acquisition devices 210, the view angle area of the first image acquisition device 210 is an area formed by two rays 01A1 and 01A2, the view angle area of the second image acquisition device 210 is an area formed by two rays 02B1 and 02B2, and the initial angle information comprises the initial horizontal angle information and the vertical initial angle information of the image acquisition devices 210;
2. calculating whether an intersection region exists in the view angle regions of the two image acquisition devices 210 according to the position information, the view angle information and the angle information of the two image acquisition devices 210, and when the intersection region exists, acquiring images of objects in the intersection region by the two image acquisition devices 210, wherein the intersection region is a region formed by intersection points C1, C2, C3 and C4 of four rays 01A1, 01A2, 02B1 and 02B 2;
3. the two image acquisition devices 210 shoot image information of a target, the central positions of the two images are analyzed, and two rays connecting the optical center and the central point of the image exist, wherein the two rays have an intersection point 0, and the intersection point is the position of the target;
4. based on the position information and the rotation angle information of the two image capturing devices 210, equations of the ray 001 and the ray 002 can be listed, and the solutions of the two equations are the coordinates of the intersection point 0, so that the actual spatial position of the target can be obtained.
Referring to fig. 8 and 9, a specific transmission method is as follows:
1. the control mechanism calculates the distance between the target and the bird defense apparatus 100 to obtain the angle of rotation required by the bird defense apparatus 100200, and transmits the information of the angle of rotation required to the bird defense apparatus 100;
2. the control mechanism presets the excitation time and the explosion time of the bird repelling bomb according to the distance of the target;
3. after receiving the information of the angle to be rotated, the bird defending device 100 rotates the corresponding angle, and launches the bird repelling bomb within the preset excitation time, and the bird repelling bomb explodes within the preset explosion time to complete the bird repelling action.
In a second aspect, the present application provides a master control module, including at least one memory, at least one processor, and at least one program, where the program is stored in the memory, and the processor executes the one or more programs to implement the above-mentioned bird defense method.
By acquiring the initial parameter information of the image acquisition device 210, the angle of the image acquisition device 210 can be freely adjusted to further adjust the shooting range of the image acquisition device, the corresponding relation between the image position of the target in the image and the actual position of the target on the ground is calculated according to the initial parameter information of the image acquisition device 210, and the actual position information of the target can be calculated according to the image information and the corresponding relation acquired from the image acquisition device 210, so that the target can be accurately positioned. After the target is positioned, the bird repelling device 100 sends a repelling signal to the target to achieve the effect of repelling the target entering the protection range. The whole process realizes automatic positioning and automatic driving of the target, and has the advantages of high positioning precision, high driving accuracy, labor saving and good defense effect.
The processor and the memory may be connected by a bus or other means, and fig. 7 illustrates one processor by way of example and a connection by a bus.
The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and signals, such as program instructions/signals corresponding to the processing modules in the embodiments of the present application. The processor executes various functional applications and data processing by executing the non-transitory software programs, instructions and signals stored in the memory, so as to implement the bird defense method of the above method embodiment.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area can store the related data of the automobile driving and steering safety early warning method and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the processing module via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more signals are stored in a memory and, when executed by the one or more processors, perform the method of bird defense in any of the method embodiments described above. For example, the above-described method steps S110 to S150 in fig. 1, method steps S210 to S230 in fig. 2, method steps S310 to S340 in fig. 3, method steps S410 to S440 in fig. 4, method steps S510 to S530 in fig. 5 and method steps S610 to S620 in fig. 6 are performed.
In a third aspect, the present application further provides a bird defense system, including the main control module in the second aspect.
Referring to fig. 8, it can be understood that the bird defense system provided by the present application further includes a positioning mechanism 200 and a bird defense device 100, the positioning mechanism 200 includes a plurality of image capturing devices 210 and a first placement module, the image capturing devices 210 are used for capturing an image of a target, the first placement module includes a plurality of two-degree-of-freedom holders 220 arranged at intervals, and each two-degree-of-freedom holder 220 is provided with at least one image capturing device 210; the bird repelling defense device 100 comprises a repelling bomb, an excitation part, a bomb tube 110 and a second placing module, wherein the second placing module comprises a vertical rotating structure 130 and a horizontal rotating structure 120, the bomb tube 110 is arranged at the upper end of the vertical rotating structure 130, the lower end of the vertical rotating structure 130 is connected with the upper end of the horizontal rotating structure 120, the repelling bomb is arranged in the bomb tube 110 and comprises a timing part, the timing part is used for presetting the explosion time of the repelling bomb, the excitation part is arranged in the repelling bomb or arranged on the bomb tube 110 and is used for presetting the emission time of the repelling bomb, a programmable interface 111 is arranged on the bomb tube 110, and the programmable interface 111 is electrically connected with the repelling bomb; the main control module is respectively connected with the positioning mechanism 200 and the bird defending device 100, and the main control module is used for: calculating the actual position of the target according to the image information of the target; transmitting the actual position information of the target to the bird defense apparatus 100; calculating a first angle of rotation required by the bird defending device 100 and controlling the second placing module to rotate by the first angle; the time of the timing part and the excitation part is preset to adjust the excitation time and the explosion time of the driving bomb. The image acquisition device 210 in the positioning mechanism 200 is used for shooting an image of the target, and the main control module can obtain the actual position information of the target after analyzing the image information, so that the target can be automatically positioned; the main control module transmits the actual position information to the bird defense device 100 and calculates a first angle at which the bird defense device 100 needs to rotate, so that the bird defense device 100 can launch a repelling bomb in the direction of the target; the main control module sets the launching time and the explosion time of the driving bomb according to the actual distance between the target actual position and the bird defending device 100, the bird defending device 100 launches the driving bomb within the preset time, and the driving bomb explodes within the preset time, so that the flying animals are effectively driven.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing computer-executable instructions, which when executed by one or more processors, may cause the one or more processors to perform the method of the method embodiments. For example, the above-described method steps S110 to S150 in fig. 1, method steps S210 to S230 in fig. 2, method steps S310 to S340 in fig. 3, method steps S410 to S440 in fig. 4, method steps S510 to S530 in fig. 5 and method steps S610 to S620 in fig. 6 are performed.
The above-described embodiments of the apparatus are merely illustrative, and units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
From the above description of embodiments, those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable signals, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable signals, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art will recognize that the embodiments described in this specification are preferred embodiments and that acts or modules are not required for this application.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments described above, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present application.
Claims (10)
1. A method of bird defense, comprising:
acquiring initial parameter information of an image acquisition device; the initial parameter information comprises position information, visual angle information and angle information;
according to the initial parameter information, calculating the corresponding relation between the image position of the target in the image and the actual position of the target on the ground;
acquiring image information acquired by the image acquisition device, and acquiring image position information of a target according to the image information;
calculating the actual position information of the target according to the image position information and the corresponding relation;
transmitting the actual position information and the driving signal to a bird repelling device; the driving signal is used for driving the flying bird defending device to drive the target according to the actual position information.
2. The flying bird defense method according to claim 1, wherein a plurality of image capturing devices are provided, and each image capturing device is provided at intervals, and the calculating of the correspondence between the image position of the target in the image and the actual position of the target on the ground according to the initial parameter information includes:
judging whether cross areas exist in the view angle ranges of the plurality of image acquisition devices or not according to the initial parameter information;
if the view angle ranges of the plurality of image acquisition devices have cross areas, respectively acquiring the image positions of the target in the images shot by each image acquisition device;
and calculating a plurality of corresponding relations between the image position of the target in the image and the actual position of the target on the ground according to the initial parameter information, wherein the corresponding relations have an intersection point.
3. The method of flying bird defense of claim 2, further comprising:
after a preset first time, acquiring image information shot by each image acquisition device after the target moves, and acquiring updated image position information according to the image information;
according to the initial parameter information, the corresponding relation is recalculated;
calculating the rotation angle information of each image acquisition device needing to rotate according to the image position information before and after updating;
transmitting rotation angle information to each image acquisition device in real time; the rotation angle information is used for driving the image acquisition device to rotate to a corresponding angle so as to shoot the image information of the target in space in real time.
4. The method of claim 1, wherein the sending the actual location information and the driving signal to a bird defense apparatus comprises:
acquiring initial angle information and initial position information of the bird defending device;
transmitting actual location information of the target to the bird defense apparatus;
calculating first angle information which needs to be rotated when the bird repelling device sends a repelling signal to the target according to the actual position information, the initial position information and the initial angle information;
and transmitting a first rotation angle signal to the flying bird defense device according to the first angle information, and transmitting the driving signal to the flying bird defense device, wherein the first rotation angle signal is used for driving the flying bird defense device to rotate by a first angle.
5. The method of bird defense of claim 4, wherein the drive signal is used to drive launch a drive missile, further comprising the steps of:
calculating actual distance information between the target and the bird defending device according to the actual position information, the initial position information and the initial angle information;
calculating the excitation time information and the explosion time information of the driving bomb according to the actual distance information;
transmitting the excitation time information and the explosion time information to the flying bird defense device; the driving bomb launching method comprises the following steps that the driving bomb is shot in the shooting time information, wherein the shooting time information is used for presetting the launching time of the driving bomb, and the explosion time information is used for presetting the explosion time of the driving bomb.
6. The method of bird defense of claim 4, wherein the repelling signal is used to drive the emission of repelling electromagnetic waves, comprising:
calculating actual distance information between the target and the bird defending device according to the actual position information, the initial position information and the initial angle information;
calculating the emission time of the driving electromagnetic waves according to the actual distance information; wherein the emission time is used for presetting the emission time of the driving electromagnetic wave.
7. A master control module, comprising: at least one memory, at least one processor and at least one program, the program being stored in the memory, the processor executing at least one of the programs to implement the method of any one of claims 1-6.
8. A bird defense system comprising the master control module of claim 7.
9. The bird defense system of claim 8, further comprising:
the positioning mechanism comprises a plurality of image acquisition devices and a first placing module, the image acquisition devices are used for shooting images of a target, the first placing module comprises a plurality of two-degree-of-freedom holders arranged at intervals, and each two-degree-of-freedom holder is provided with at least one image acquisition device;
the bird repelling defense device comprises a driving bomb, an excitation part, a bomb tube and a second placing module, wherein the second placing module comprises a vertical rotating structure and a horizontal rotating structure, the bomb tube is arranged at the upper end of the vertical rotating structure, the lower end of the vertical rotating structure is connected with the upper end of the horizontal rotating structure, the driving bomb is arranged in the bomb tube and comprises a timing part, the timing part is used for presetting the explosion time of the driving bomb, the excitation part is arranged in the driving bomb or on the bomb tube and is used for presetting the emission time of the driving bomb, a programmable interface is arranged on the bomb tube and is electrically connected with the driving bomb;
the main control module is respectively connected with the positioning mechanism and the flying bird defense device, and is used for:
calculating the actual position of the target according to the image information of the target;
transmitting actual position information of the target to the flying bird defense device;
calculating a first angle of rotation required by the bird defending device and controlling the second placing module to rotate by the first angle;
and presetting the time of the timing part and the excitation part so as to adjust the excitation time and the explosion time of the driving bomb.
10. A computer-readable storage medium having stored thereon computer-executable signals for performing the method of any of claims 1-6.
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