CN114661068A - Method and device for driving flying object in airport, electronic equipment and medium - Google Patents

Method and device for driving flying object in airport, electronic equipment and medium Download PDF

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Publication number
CN114661068A
CN114661068A CN202210533410.7A CN202210533410A CN114661068A CN 114661068 A CN114661068 A CN 114661068A CN 202210533410 A CN202210533410 A CN 202210533410A CN 114661068 A CN114661068 A CN 114661068A
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China
Prior art keywords
flyer
driving
flying object
position information
level
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CN202210533410.7A
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Chinese (zh)
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CN114661068B (en
Inventor
袁红
王羽玥
郭爱强
陆柯
司荣美
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Tianjin Binhai International Airport Co ltd
Tianjin Meridian Information Technology Co ltd
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Tianjin Xingwei Aviation Technology Co ltd
Tianjin Binhai International Airport Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • 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
    • A01M29/06—Scaring or repelling devices, e.g. bird-scaring apparatus using visual means, e.g. scarecrows, moving elements, specific shapes, patterns or the like
    • A01M29/10—Scaring or repelling devices, e.g. bird-scaring apparatus using visual means, e.g. scarecrows, moving elements, specific shapes, patterns or the like using light sources, e.g. lasers or flashing lights
    • 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
    • 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
    • A01M29/18—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves using ultrasonic signals

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Birds (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Catching Or Destruction (AREA)

Abstract

The application relates to a method, a device, electronic equipment and a medium for driving away a flyer in an airport, and relates to the technical field of bird driving in the airport, wherein the method comprises the steps of acquiring the position information of the flyer; judging whether the flyer is in a driving area of the airport or not based on the position information of the flyer; if the flyer is in the driving area, determining corresponding driving equipment based on the position information; and controlling the driving equipment to drive the flyer. This application has the effect that improves efficiency of driveing.

Description

Method and device for driving flying object in airport, electronic equipment and medium
Technical Field
The present disclosure relates to the field of airport bird repelling technology, and more particularly, to a method, an apparatus, an electronic device and a medium for airport flyer repelling.
Background
In recent years, an event of an intrusion of a flying object into an airport frequently occurs, thereby causing a collision between the aircraft and the flying object. The problem of collision between an airplane and a flying object is always a difficult problem which puzzles the aviation world, and most of collision accidents occur in the taking-off and landing stages of the airplane, so that the method for driving the flying object around an airport is also a main means for solving the collision accidents except for designing corresponding anti-collision measures in the structure of the airplane.
The position of prior art through discernment flyer, and then use and drive equipment and drive the flyer, nevertheless driving the flyer in-process, because the flyer species is various, the work load that the staff selected and controlled equipment of driving is great, drives efficiency lower.
Disclosure of Invention
In order to improve driving efficiency, the application provides a flyer driving method, a flyer driving device, electronic equipment and a medium for an airport.
In a first aspect, the present application provides a method for driving a flying object in an airport, which adopts the following technical scheme:
a method of flier repelling for an airport comprising:
acquiring position information of a flying object;
judging whether the flyer is in a driving area of an airport or not based on the position information of the flyer, wherein the driving area is an area outside the airport and in an attack area of driving equipment;
if the flyer is in the driving area, determining corresponding driving equipment based on the position information;
and controlling the driving equipment to drive the flyer.
By adopting the technical scheme, the position information of the flyer is acquired, whether the flyer is in the driving area of the airport is judged based on the position information, and if the flyer is in the driving area of the airport, the possibility that the flyer collides with an airplane in the airport is shown. Corresponding equipment of driving is confirmed based on positional information to control equipment of driving drives the flyer, so that equipment of driving realizes automatic driving, has improved driving efficiency effectively, and then has realized that airport intelligence bird strikes takes precautions against the integration.
In another possible implementation manner, the acquiring the position information of the flying object then further includes:
receiving image information of the flying object;
performing feature extraction on the image information to determine the category of the flying object and determine the average flying speed and the weight of the flying object based on the category;
determining a crash risk level based on the position information, the average flying speed, and the weight of the flying object.
By adopting the technical scheme, the image information of the flyer is received, the characteristic extraction is carried out on the image information, the type of the flyer is determined, the average flying speed and the weight of the flyer are determined based on the type, and the basic information of the flyer can be known through the type, the flying speed and the weight of the flyer, so that the driving equipment can drive the flyer conveniently. The collision danger level is determined based on the position information, the average flying speed and the weight of the flyer, so that the driving equipment can drive pertinently based on the collision danger level, the success rate of driving is effectively increased, and the energy waste of the driving equipment is reduced.
In another possible implementation manner, the crash risk level includes a first level, a second level and a third level, and the determining the crash risk level based on the position information, the average flying speed and the weight of the flying object includes:
determining flight characteristics of the flying object based on the position information of the flying object, wherein the flight characteristics comprise disordered flight and ordered flight;
if the flight characteristic is the disordered flight, determining that the collision danger level is the first level;
if the flight characteristic is the ordered flight, judging whether the average flight speed of the flyer reaches a preset speed or not and whether the weight of the flyer reaches a preset weight or not;
if the average flying speed reaches the preset speed and the weight reaches the preset weight, determining that the collision danger level is the second level;
and if the average flying speed does not reach the preset speed and/or the weight does not reach the preset weight, determining that the collision danger level is the third level.
By adopting the technical scheme, the flight characteristic of the flyer is determined based on the position information of the flyer, if the flight characteristic is disordered flight, the flight track of the flyer is difficult to control, and the difficulty of driving the flyer by the driving equipment is high, the collision danger level is determined to be the first level. If the flight characteristic is ordered flight, the flight track of the flyer may be regular, and the driving equipment can effectively drive the flyer based on the flight rule. For the orderly flying object, judging whether the average flying speed of the flying object reaches a preset speed or not and whether the weight of the flying object reaches a preset weight or not, wherein the higher the flying speed is, the larger the weight is, the larger the impact force is, the more serious the impact effect with the airplane is, and the difficulty in driving the flying object is relatively higher, so that the collision danger level is determined to be a second level. If the average flying speed does not reach the preset speed and/or the weight does not reach the preset weight, the difficulty of driving the flyer is smaller, and therefore the collision danger level is determined to be the third level.
In another possible implementation manner, the determining the flight characteristics of the flying object based on the position information of the flying object includes:
circularly executing the steps of determining a first vector based on the current position information of the flying object and the previous position information of the flying object, acquiring the next position information of the flying object after a preset time, determining a second vector based on the current position information of the flying object and the next position information of the flying object, and calculating an included angle between the first vector and the second vector until the number of times of calculating the included angle reaches a preset number of times;
if the number of times of calculating the included angle reaches the preset number of times, calculating a fluctuation value based on at least one included angle;
judging whether the fluctuation value is larger than a preset fluctuation value or not;
if the flight characteristic of the flyer is larger than the preset fluctuation value, determining the flight characteristic of the flyer as disordered flight;
and if the fluctuation value is not larger than the preset fluctuation value, determining the flight characteristic of the flyer to be the ordered flight.
By adopting the technical scheme, the first vector is determined based on the current position information and the previous position information of the flyer, the second vector is determined based on the current position information and the next position information of the flyer, the included angle between the first vector and the second vector is calculated, the included angle of the preset number of vectors is calculated, and the fluctuation value is calculated based on at least one included angle. The included angle can visually display the change of the flight direction of the flyer, whether the flight direction of the flyer is large in fluctuation range can be known through the fluctuation value, whether the fluctuation value is larger than a preset fluctuation value is judged, if the fluctuation value is larger than the preset fluctuation value, the fluctuation range of the flight direction is large, and the flight characteristic of the flyer is disordered flight. If the fluctuation value is not greater than the preset fluctuation value, the fluctuation range of the flight direction is moderate, and the flight characteristic of the flyer is ordered flight.
In another possible implementation manner, the determining a driving apparatus based on the position information includes:
judging whether directional driving equipment corresponding to the type of the flyer exists in the driving equipment types based on the type of the flyer, wherein the driving equipment types comprise ultrasonic driving equipment, sound driving equipment and visual driving equipment;
if the directional driving equipment exists, selecting the corresponding directional driving equipment based on the position information and the type of the flyer;
and if the pointing driving equipment does not exist, selecting the driving equipment based on the position information.
By adopting the technical scheme, whether the directional driving equipment exists in the driving equipment type is judged based on the type, and if the directional driving equipment exists, the corresponding driving equipment is selected based on the type. The directional driving equipment can drive pertinently based on the type of the flyer, and further drive efficiency of the driving equipment is improved to a great extent.
In another possible implementation manner, the controlling the driving device to drive the flying object further includes:
the control the driving device drives the flyer, and the control method also comprises the following steps:
through adopting above-mentioned technical scheme, confirm to drive equipment based on hitting quick-witted danger level, if hit quick-witted danger level and be first grade, then show that the degree of difficulty is great to driving of flyer, select to drive intensity and be one-level intensity, the ability of driving of one-level intensity is stronger, drives the success rate height. If the collision danger level is the second level, the difficulty in driving the flyer is relatively high, the driving strength is selected to be the second-level strength, the second-level strength is weaker than the first-level strength, and the waste of energy of driving equipment is effectively reduced. If the collision danger level is the third level, the difficulty in driving the flyers is low, the driving strength is selected to be the third-level strength, the third-level strength is weaker than the second-level strength, and the waste of energy of driving equipment is further reduced.
In another possible implementation manner, the controlling the driving device to drive the flying object includes:
acquiring navigation information of an airplane;
judging whether the airplane exists in a protective area of the airport based on the navigation information, wherein the protective area is an area for taking off, landing and stopping the airplane in the airport; (ii) a
And if so, controlling the driving equipment to drive the flyer.
By adopting the technical scheme, the navigation information of the airplane is acquired, whether the airplane exists in the protection area of the airport is judged based on the navigation information, if the airplane exists, the airplane can take off and land, the flying object can collide with the airplane, and the driving equipment needs to be controlled to drive the flying object.
In another possible implementation manner, the controlling the driving device to drive the flying object further includes:
judging whether the flyer enters a protection area of the airport or not based on the position information of the flyer;
and if the aircraft enters the protection area of the airport, controlling at least one driving device to drive the flyer based on the position information.
By adopting the technical scheme, after the control driving equipment drives the flyer, whether the flyer enters the protection area of the airport or not is judged based on the position information of the flyer, and if the flyer enters the protection area of the airport, the failure of driving the flyer by the driving equipment in the driving area of the airport is shown. And controlling at least one driving device to drive the flyer based on the position information so as to drive the flyer in time, thereby reducing the possibility of collision between the flyer and the airplane in the airport.
In a second aspect, the present application provides a flyer repelling device for an airport, which adopts the following technical scheme:
a flying object repelling apparatus for an airport, comprising:
the acquisition module is used for acquiring the position information of the flyer;
the first judgment module is used for judging whether the flyer is in a driving area of an airport or not based on the position information of the flyer, wherein the driving area is an area which is outside the airport and in an attack area of driving equipment;
a first determination module for determining a driving device based on the position information when the flying object is in the driving area;
and the first control module is used for controlling the driving equipment to drive the flyer.
By adopting the technical scheme, the acquisition module acquires the position information of the flyer, the first judgment module judges whether the flyer is in the driving area of the airport or not based on the position information, and if the flyer is in the driving area of the airport, the possibility that the flyer collides with an airplane in the airport is shown. Corresponding equipment of driving is confirmed to the first definite module based on positional information to drive the equipment through first control module control and drive the flyer, so that drive equipment realizes automatic driving, improved driving efficiency effectively, and then realized that airport intelligence bird strikes and takes precautions against the integration.
In another possible implementation manner, the apparatus further includes:
the receiving module is used for receiving the image information of the flying object;
the characteristic extraction module is used for carrying out characteristic extraction on the image information so as to determine the type of the flyer and determine the average flying speed and the weight of the flyer based on the type;
and the second determination module is used for determining the collision danger level based on the position information, the average flying speed and the weight of the flying object.
In another possible implementation manner, the crash risk level includes a first level, a second level, and a third level, and the second determination module, when determining the crash risk level based on the position information of the flying object, the average flying speed, and the weight, is specifically configured to:
determining flight characteristics of the flying object based on the position information of the flying object, wherein the flight characteristics comprise disordered flight and ordered flight;
if the flight characteristic is the disordered flight, determining that the collision danger level is the first level;
if the flight characteristic is the ordered flight, judging whether the average flight speed of the flyer reaches a preset speed or not and whether the weight of the flyer reaches a preset weight or not;
if the average flying speed reaches the preset speed and the weight reaches the preset weight, determining that the collision danger level is the second level;
and if the average flying speed does not reach the preset speed and/or the weight does not reach the preset weight, determining that the collision danger level is the third level.
In another possible implementation manner, the second determining module, when determining the flight characteristic of the flying object based on the position information of the flying object, is specifically configured to:
circularly executing the steps of determining a first vector based on the current position information of the flying object and the previous position information of the flying object, acquiring the next position information of the flying object after a preset time, determining a second vector based on the current position information of the flying object and the next position information of the flying object, and calculating an included angle between the first vector and the second vector until the number of times of calculating the included angle reaches a preset number of times;
if the number of times of calculating the included angle reaches the preset number of times, calculating a fluctuation value based on at least one included angle;
judging whether the fluctuation value is larger than a preset fluctuation value or not;
if the fluctuation value is larger than the preset fluctuation value, determining the flight characteristic of the flyer to be disordered flight;
and if the flight characteristic of the flyer is not greater than the preset fluctuation value, determining the ordered flight as the flight characteristic of the flyer.
In another possible implementation manner, the first determining module is specifically configured to determine the driving device based on the location information:
judging whether directional driving equipment corresponding to the type of the flyer exists in the driving equipment types based on the type of the flyer, wherein the driving equipment types comprise ultrasonic driving equipment, sound driving equipment and visual driving equipment;
if the directional driving equipment exists, selecting the corresponding directional driving equipment based on the position information and the type of the flyer;
and if the pointing driving equipment does not exist, selecting the driving equipment based on the position information.
In another possible implementation manner, the apparatus further includes:
a third determination module for determining the crash hazard level of the flying object;
the first selection module is used for determining the driving intensity of the driving equipment as first-level intensity when the collision danger level of the flyer is the first level;
the second selection module is used for determining the driving strength of the driving equipment as a secondary strength when the collision danger level of the flyer is the second level, and the secondary strength is weaker than the primary strength;
and the third selection module is used for determining that the driving strength of the driving equipment is the third-level strength when the collision danger level of the flyer is the third level, and the third-level strength is weaker than the second-level strength.
In another possible implementation manner, the first control module is configured to control the driving device to drive the flying object, and specifically is configured to:
acquiring navigation information of an airplane;
determining whether the aircraft exists in a protection area of the airport based on the navigation information;
and if so, controlling the driving equipment to drive the flyer.
In another possible implementation manner, the apparatus further includes:
the second judgment module is used for judging whether the flyer enters a protection area of the airport or not based on the position information of the flyer, wherein the protection area is an area for taking off, landing and stopping an airplane in the airport;
and the second control module is used for controlling at least one driving device to drive the flyer based on the position information when the flyer enters the protection area of the airport.
In a third aspect, the present application provides an electronic device, which adopts the following technical solutions:
an electronic device, comprising:
one or more processors;
a memory;
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more application programs configured to: a method for the driving of flying objects for an airport according to any one of the possible implementations of the first aspect is performed.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer-readable storage medium, comprising: a computer program is stored which can be loaded by a processor and which implements a method for the propulsion of flying objects for airports as shown in any one of the possible implementations of the first aspect.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the method comprises the steps of acquiring position information of the flying object, judging whether the flying object is in a driving area of the airport or not based on the position information, and if the flying object is in the driving area of the airport, indicating that the flying object possibly collides with an airplane in the airport. The corresponding driving equipment is determined based on the position information, and the driving equipment is controlled to drive the flyers, so that the driving equipment realizes automatic driving, the driving efficiency is effectively improved, and the intelligent bird-attack prevention integration of the airport is realized;
2. the image information of the flyer is received, the characteristic extraction is carried out on the image information, the type of the flyer is determined, the average flying speed and the weight of the flyer are determined based on the type, the basic information of the flyer can be known through the type, the flying speed and the weight of the flyer, and the driving equipment can drive the flyer conveniently. The collision danger level is determined based on the position information, the average flying speed and the weight of the flyer, so that the driving equipment can drive pertinently based on the collision danger level, the success rate of driving is effectively increased, and the energy waste of the driving equipment is reduced.
Drawings
Fig. 1 is a schematic flow chart of a method for driving flying objects at an airport according to an embodiment of the present application.
Fig. 2 is a schematic flow chart of a flying object repelling device for an airport according to an embodiment of the application.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to figures 1-3.
A person skilled in the art, after reading the present specification, may make modifications to the present embodiments as necessary without inventive contribution, but only within the scope of the claims of the present application are protected by patent laws.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship, unless otherwise specified.
The embodiments of the present application will be described in further detail with reference to the drawings attached hereto.
The embodiment of the application provides a method for driving flying objects in an airport, which is executed by an electronic device, wherein the electronic device can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, and a cloud server for providing cloud computing service. The terminal device may be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., but is not limited thereto, the terminal device and the server may be directly or indirectly connected through a wired or wireless communication manner, and the embodiment of the present application is not limited thereto, as shown in fig. 1, the method includes step S101, step S102, step S103 and step S104, wherein,
step S101, acquiring the position information of the flyer.
For the embodiment of the application, the electronic device can acquire data detected by the radar, the data detected by the radar can comprise the longitude and latitude of the flyer, and the electronic device can acquire other data capable of acquiring the position relation of the flyer. The flying object can be birds, kites, unmanned planes and the like. For example:
the position information of the sparrow obtained by the electronic equipment is as follows: (117.366911,39.146568).
Step S102, judging whether the flyer is in the driving area of the airport based on the position information of the flyer.
For the embodiment of the application, a user can select an airport to be protected from an airport list stored in the electronic equipment through the touch screen, and can input the airport to be protected in a text input mode. For example:
airport needing protection where electronic device obtains user input: tianjin coastal international airport.
The electronic equipment calls the electronic map from the database or the cloud server, the electronic equipment outputs the area information of the Tianjin coastal international airport after the electronic map is called, and the occupied area of the Tianjin coastal international airport can be visually seen on the electronic map.
The electronic device may set the driving region in advance. The electronic device can acquire the longitude and latitude of the driving device, and determines the attack radius based on the type of the driving device. For example:
assuming that the longitude and latitude of the gas cannon in the driving device are (117.361768, 39.150713) and the attack radius of the gas cannon is 50 meters, the electronic device can determine a circular attack area by taking the longitude and latitude of the gas cannon as the center of a circle and taking 50 meters as the radius. The electronic equipment determines the area outside the airport and in the attack area of the driving equipment as the driving area so as to ensure that the flyer is in the attack range of the driving equipment when not entering the airport, and further the flyer can be driven.
The electronic equipment judges whether the flyer is in the driving area or not according to the rule that the points are in the polygon based on the longitude and latitude of the flyer. The electronic device may also determine whether the flying object is within the driving zone in other ways.
The electronic device determines whether the flying object is within the driving area of the airport based on the longitude and latitude of the flying object, that is, the flying object does not yet enter the airport at present but is about to possibly enter.
And step S103, if the flyer is in the driving area, determining corresponding driving equipment based on the position information.
For the embodiment of the application, if the electronic device determines that the flying object is in the driving area of the airport, the electronic device determines the corresponding driving device based on the position information. For example:
the electronic device determines that the flyer is in a driving area of the airport based on the longitude and latitude of the flyer, the protection area of the airport can be divided into a plurality of sub-areas, for example, named A, B, C, D, the electronic device knows that the flyer is about to enter an area A of the protection area based on the longitude and latitude of the flyer, and then the electronic device selects the driving device of the area A so that the driving device can drive the flyer.
And step S104, controlling the driving equipment to drive the flyer.
For the embodiment of the application, the electronic device can control the driving device to rotate or move to the position of the flyer, so that the driving device can drive the flyer based on the position information.
The electronic equipment can also predict the next position information of the flyer based on the current position information of the flyer and the flying speed of the flyer, and control the driving equipment to rotate or move to the next position information, so that the driving equipment can drive the flyer based on the next position information, and further more accurately drive the flyer, and the driving efficiency is higher.
In a possible implementation manner of the embodiment of the present application, the method further includes step S105 (not shown in the figure), step S106 (not shown in the figure), and step S107 (not shown in the figure), and step S105 may be executed after step S101, wherein,
step S105, receiving image information of the flying object.
For the embodiment of the application, the electronic equipment can receive the image information acquired by the photoelectric equipment, and the photoelectric equipment can continuously detect the periphery of the airport for 24 hours so as to acquire the image information of the flying object. The optoelectronic device can also acquire the flight start time, the flight end time, the flight duration, the height of the flying object and the distance of the flying object from the optoelectronic device at the airport.
And step S106, performing feature extraction on the image information to determine the type of the flyer and determine the average flying speed and weight of the flyer based on the type.
For the embodiment of the application, the large-angle rotating probe and the vertical ninety-degree pitching and pitching rotating probe are arranged in the airport, the large-wide-angle target detection can be realized, the detection probe has specific locking and binocular automatic focusing functions, target information data after accurate identification can be uploaded to electronic equipment, the airport is also provided with an infrared detector, the target detection under the condition of poor light such as night and the like is realized, and the purposes of dynamic monitoring and information feedback for 24 hours all day are finally realized.
After the electronic equipment acquires the image information acquired by the photoelectric equipment, the image information is subjected to feature extraction, the electronic equipment can extract the features of the image by using a convolutional neural network, the electronic equipment can input the image information into a trained convolutional neural network model for identification, the electronic equipment identifies the type of the flyer in advance on the image information, and the type of the flyer comprises a kite, an unmanned aerial vehicle and birds. If the electronic equipment identifies that the flyer is a bird, the electronic equipment can further input the image information into the trained convolutional neural network model for bird species identification. After the electronic device identifies the bird species, the average flying speed and the weight corresponding to the bird species can be obtained from a database or a cloud server. For example:
the electronic equipment identifies that the flying object is a sparrow, the average flying speed of the sparrow obtained from the database by the electronic equipment is 7.5 m/s, and the weight of the sparrow is 40 g.
And step S107, determining the collision danger level based on the position information, the average flying speed and the weight of the flying object.
For the embodiment of the application, the electronic equipment determines the collision danger level based on the position information, the average flying speed and the weight of the flyer, the higher the collision danger level is, the more dangerous the flyer is, and the driving difficulty is higher.
In a possible implementation manner of the embodiment of the present application, the determining of the crash risk level in step S107 based on the position information, the average flying speed, and the weight of the flying object specifically includes step S1071 (not shown), step S1072 (not shown), step S1073 (not shown), step S1074 (not shown), and step S1075 (not shown), where the crash risk level includes a first level, a second level, and a third level,
step S1071, determining the flight characteristics of the flying object based on the position information of the flying object.
The flight characteristics include, among others, disordered flight and ordered flight.
For the embodiment of the application, the electronic device determines the flight characteristics of the flyer based on the position information of the flyer, the position information of the flyer can reflect the flight trajectory of the flyer, and the more complex the flight trajectory of the flyer is, the flight characteristics of the flyer can be disordered flight.
Step S1072, if the flight characteristic is disordered flight, determining that the collision danger level is a first level.
For the embodiment of the application, if the electronic equipment determines that the flight characteristic of the flyer is disordered flight, the electronic equipment determines that the collision danger level of the flyer is a first level. Because the flight path of the disordered flying object is not well controlled and the disordered flying object may suddenly accelerate to cause the collision time, the first level is determined, so that the driving equipment can drive the disordered flying object as soon as possible, and the collision accident is reduced. For example: the flight characteristic of the domestic swallow is disordered flight.
In another implementation manner, after receiving the position information of the flying object, the electronic device determines that the flying object is about to approach the airport, but the electronic device does not receive image information about the flying object, which indicates that the optoelectronic device may not capture the image information of the flying object because the deployment position is high, so that the electronic device cannot determine the information of the flying object, and then the electronic device determines the flying object as a low-altitude flying type. The electronic equipment outputs warning information, the electronic equipment can send the warning information of 'low-altitude flyers' in a text form to the terminal equipment of related workers, and the electronic equipment can also control the loudspeaker to send the warning information of 'low-altitude flyers' in a voice form so as to inform the related workers of manual driving or manual checking of the low-altitude flyers in time.
Step S1073, if the flight characteristic is ordered flight, judging whether the average flight speed of the flyer reaches the preset speed and whether the weight of the flyer reaches the preset weight.
For the embodiment of the application, if the electronic device determines that the flight characteristic of the flyer is in order flight, the electronic device determines whether the average flight speed of the flyer reaches a preset speed, if so, the current flight speed of the flyer is higher, and the electronic device determines whether the weight of the flyer reaches a preset weight. Taking step S1072 as an example:
assuming that the preset speed is 40 m/s and the preset volume is 50 g, the average flying speed of the sparrows is 7.5 m/s, and the weight of the sparrows is 40 g.
The average flying speed of the swallow with the sharp tail reaches the preset speed at 47 m/s, and the weight of the swallow with the sharp tail reaches the preset weight at 50 g. The danger coefficient of the swallow with the sharp tail is higher.
Step S1074, if the average flying speed reaches the preset speed and the weight reaches the preset weight, determining that the collision danger level is the second level.
For the embodiment of the application, if the electronic device determines that the average flying speed of the flyer reaches the preset speed and the weight reaches the preset weight, it indicates that the inertia of the current flyer is large in the flying process, once the collision hazard is large, and the driving device is difficult to capture, the electronic device determines that the collision hazard level of the flyer is the second level.
And step S1075, if the average flying speed does not reach the preset speed and/or the weight does not reach the preset weight, determining that the collision danger level is a third level.
For the embodiment of the application, if the average flying speed of the flyer does not reach the preset speed and the weight does not reach the preset weight, the flyer is small and exquisite, the flying speed is low, and the inertia is small in the flying process, so that the flyer is easy to drive; if the average flying speed of the flyer does not reach the preset speed, but the weight of the flyer reaches the preset weight, the flyer is heavy, so that the flying speed is low, the inertia is small in the flying process, and the flyer is easy to drive; if the average flying speed of the flyer reaches the preset speed but the weight does not reach the preset weight, the flyer is weak or easy to be frightened, and the inertia is small in the flying process, so that the flyer is easy to drive.
One possible implementation manner of the embodiment of the present application, the determining the flight characteristics of the flying object based on the position information of the flying object in step S1071 specifically includes step S1071a (not shown in the figure), step S1071b (not shown in the figure), step S1071c (not shown in the figure), step S10731d (not shown in the figure), and step S1071e (not shown in the figure), wherein,
step S1071a, determining a first vector based on the current position information of the flying object and the previous position information of the flying object, acquiring the next position information of the flying object after a preset time, determining a second vector based on the current position information of the flying object and the next position information of the flying object, and calculating an included angle between the first vector and the second vector until the number of times of calculating the included angle reaches a preset number of times.
For the present embodiment, it is assumed that the preset number of times is 3. Assuming that the current position information of the flying object is (117.363232, 39.150321), the last position information of the flying object is (117.363272, 39.150608), and the first vector is (-0.00004, -0.355759); assuming that the next position information of the flying object acquired after 1 minute is (117.362765, 39.150377), the second vector is (-0.000467, 0.000056), and the electronic device calculates an included angle 1 between the first vector and the second vector to be 96.83 degrees by using a vector calculation included angle formula;
the electronic equipment determines (-0.000467, 0.000056) as a first vector, the next position information of the flyer obtained after 1 minute is (117.36294, 39.150118), the second vector is (0.000184, -0.000259), and the electronic equipment calculates the included angle 2 to be 132.23 degrees;
the electronic equipment determines (0.000184, -0.000259) as a first vector, the next position information of the flyer obtained after 1 minute is (117.362388, 39.150269), the second vector is (-0.000552, 0.000151), and the electronic equipment calculates the included angle 3 to be 140.69 degrees; the number of times of calculating the included angle reaches 3 times of presetting, and the offset degree of the flyer in the flying process is obtained by calculating the included angle between the vectors.
In step S1071b, if the number of times of calculating the included angle reaches a preset number of times, a fluctuation value is calculated based on at least one included angle.
For the embodiment of the present application, taking step S1071a as an example, if the electronic device determines that the number of times of calculating the included angle reaches the preset number of times of 3 times, the electronic device calculates a fluctuation value based on the included angle 1, the included angle 2, and the included angle 3, where the fluctuation value may be a variance of at least one included angle, and the electronic device obtains the fluctuation value 360.9368 through a variance calculation formula.
In step S1071c, it is determined whether the fluctuation value is larger than a preset fluctuation value.
For the embodiment of the present application, assuming that the preset fluctuation value is 100, taking step S1071b as an example, the electronic device determines that the fluctuation value is greater than the preset fluctuation value 100. If the fluctuation value is larger than the preset fluctuation value, the fluctuation range of the flyer in the flying process is larger.
And step S1071d, if the fluctuation value is larger than the preset fluctuation value, determining the flight characteristic of the flyer as disordered flight.
For the embodiment of the application, taking the step S1071c as an example, if the electronic device determines that the fluctuation value is greater than the preset fluctuation value, it indicates that the flight trajectory of the current flying object is disordered and is unstable in the flight process, and the electronic device determines that the flying object is flying out of order.
Step S1071e, if the fluctuation value is not larger than the preset fluctuation value, the flight characteristic of the flyer is determined to be ordered flight.
For the embodiment of the application, if the electronic device calculates the current fluctuation value to be 10, the fluctuation value is not greater than the preset fluctuation value 100, which indicates that the flight trajectory of the current flying object is simple and intuitive and may be a straight line, which is convenient for determining the flight trend of the flying object, the flight process is stable, and the electronic device determines that the flying object flies in order.
In a possible implementation manner of the embodiment of the application, the determining of the driving device based on the position information in step S103 specifically includes step S1031 (not shown in the figure), step S1032 (not shown in the figure), and step S1033 (not shown in the figure), wherein,
and step S1031, judging whether the directional driving equipment corresponding to the type of the flyer exists in the driving equipment type based on the type of the flyer.
Wherein the driving device types include an ultrasonic driving device, a sound driving device, and a visual driving device.
For the embodiment of the application, the types of the flying objects can comprise unmanned aerial vehicles, kites or birds, directional driving equipment may exist for the unmanned aerial vehicles, and some unmanned aerial vehicles influence the flight tracks of the unmanned aerial vehicles if being interfered by ultrasonic waves, so that the directional driving equipment of the unmanned aerial vehicles may be the ultrasonic driving equipment; there may also be directional driving devices for kites which need to be driven off, so the directional driving devices of kites may be driving devices which need to be manually driven off; it is also possible for birds to be present with the directional driving apparatus, for example some birds are afraid of glare, and it is therefore possible for such birds to be a visual driving apparatus. The directional driving equipment can drive the flyer in a targeted manner, so that the driving efficiency is higher
In step S1032, if the directional repelling apparatus is present, the corresponding directional repelling apparatus is selected based on the position information and the type of the flying object.
For the embodiment of the application, if the electronic device determines that the directional driving device exists, the electronic device selects the corresponding directional driving device based on the position information and the type of the flying object, taking step S1031 as an example:
for the type of the unmanned aerial vehicle, the electronic equipment can select ultrasonic driving equipment based on the position information of the unmanned aerial vehicle; for the flying object of the kite type, the electronic equipment can select driving equipment for manually driving off based on the position information of the kite; for birds whose flying objects are light-intolerant, the electronic device may select a visual repelling device based on positional information of the bird.
Step S1033, if there is no directional driving apparatus, selects a driving apparatus based on the position information.
For the embodiment of the application, if the electronic equipment determines that the directional driving equipment does not exist, the electronic equipment selects the driving equipment based on the position information so as to drive the flyer.
In a possible implementation manner of the embodiment of the present application, the method further includes step S108 (not shown in the figure), step S109 (not shown in the figure), step S110 (not shown in the figure), and step S111 (not shown in the figure), wherein,
and step S108, determining the collision danger level of the flyer.
For the embodiment of the application, the electronic equipment determines the collision danger level of the flyer, the collision danger level comprises a first level, a second level and a third level, and the corresponding driving time is selected based on the collision danger level, so that the targeted driving is realized, and the energy in the driving process is effectively saved.
And step S109, if the collision danger level of the flyer is the first level, determining that the driving intensity of the driving equipment is the first level intensity.
For the embodiment of the application, if the electronic equipment determines that the collision danger level of the flyer is the first level, the situation that the danger coefficient of the flyer is high and the driving difficulty is high is shown, therefore, the driving strength of the driving equipment is selected to be the first level strength, and if the sound driving equipment is provided, the gas cannon with the strength of the first level strength can continuously launch 5 cannonballs, the driving strength is higher, and then the flyer with the first danger level is effectively driven, and the driving success rate is improved.
In another realizable mode, the electronic device can select different types of driving devices to be combined for driving according to the attack intensity of the driving devices, and then the flyers with the first danger level are driven. For example: selecting a combination of a gas gun and an ultrasonic driving device for driving.
And step S110, if the collision danger level of the flyer is the second level, determining that the driving strength of the driving equipment is the second level.
Wherein the secondary strength is weaker than the primary strength.
For the embodiment of the application, if the electronic equipment determines that the collision danger level of the flyer is the second level, it is indicated that the danger coefficient of the flyer is relatively high and the driving difficulty is also relatively high, the second level is determined based on the average flight speed of the flyer and the weight of the flyer, therefore, for the flyer which flies orderly and has high flight speed and large weight, the flyer flies regularly, the driving strength of the driving equipment is selected to be the second level strength, and if the sound driving equipment is adopted, the gas cannon with the second level strength can continuously emit 3 cannonballs, the driving strength is moderate, so that the birds can not fly to an airport any more, and the driving effect is further realized.
And step S111, if the collision danger level of the flyer is the third level, determining that the driving intensity of the driving equipment is the third level intensity.
Wherein the third level of intensity is weaker than the second level of intensity.
For the embodiment of the application, if the electronic device determines that the collision risk level of the flyer is the third level, it indicates that the risk coefficient of the flyer is low and the driving difficulty is low, and the third level is a flyer which flies orderly and has an average speed of the flyer not reaching the preset speed and/or has a weight not reaching the preset weight, that is, a flyer with a slow flying speed and a large weight, or a flyer with a slow flying speed or a small weight, or a flyer with a fast flying speed and a small weight. Therefore, for the flyer of which the collision machine grade is the third grade, the flyer is a bird which flies regularly and is heavy or weak to a large extent, the driving strength of the driving device is selected to be the third-grade strength, and the gas cannon of which the strength is the third-grade strength can launch 1 cannonball and is supposed to be used as the sound driving device, so that the driving strength is low, and the effect of driving the flyer can be realized.
In a possible implementation manner of the embodiment of the application, the controlling of the driving device to drive the flying object in step S104 specifically includes step S1041 (not shown in the figure), step S1042 (not shown in the figure), and step S1043 (not shown in the figure), wherein,
and S1041, acquiring navigation information of the airplane.
For the embodiment of the application, the electronic device can acquire the navigation information of the airplane from the database and also can acquire the navigation information of the airplane from the cloud server. For example:
the electronic equipment acquires the navigation information of the airplane as follows: aircraft B-2284 takes off at 10: 00.
Step S1042, judging whether an airplane exists in a protective area of an airport based on the navigation information;
for the embodiment of the application, the protection area is an area where an airplane takes off, lands and stops in an airport, and includes an apron, a runway and the like, and assuming that the electronic device determines that a flying object enters the driving area at 8:00, taking step S1041 as an example:
the electronic device determines that no aircraft is present within the protected area of the airport at 8: 00.
If the electronic device determines that the flying object enters the driving area at 10:10, because the airplane takes 20 minutes to take off, the electronic device judges that the airplane exists in the protection area of the airport at 10:10 when the airplane still takes off at 10: 10.
And S1043, if so, controlling the driving equipment to drive the flyer.
For the application embodiment, the electronic device determines that the airplane exists in the protection area of the airport, the electronic device determines that the flyer exists in the driving area of the airport, and in order to reduce the collision between the flyer and the airplane, the electronic device controls the driving device to drive. Taking step S1042 as an example:
the electronic equipment starts the driving equipment at 10:10 to drive the flyer.
In a possible implementation manner of the embodiment of the present application, the method further includes a step S112 (not shown in the figure) and a step S113 (not shown in the figure), and the step S112 may be executed after the step S104, wherein,
and step S112, judging whether the flyer enters the protection area of the airport or not based on the position information of the flyer.
For the embodiment of the application, the electronic device further judges whether the flyer enters the protection area of the airport based on the longitude and latitude of the flyer and the rule that the flyer is in the polygon, and if the electronic device determines that the flyer is in the protection area of the airport, the driving device fails to drive the flyer.
And S113, if the aircraft enters the protection area of the airport, controlling at least one driving device to drive the flyer based on the position information.
For the embodiment of the application, if the electronic device determines that the flyer enters the protection area of the airport, it indicates that the flyer is likely to collide with the airplane taking off or landing, and the flyer needs to be driven in time, and the electronic device controls all driving devices capable of attacking the flyer to drive the flyer based on the current position information of the flyer, so as to reduce the possibility that the flyer collides with the airplane. The electronic device can also control some idle driving devices which can attack the flyer to drive the flyer, and the devices which are driving are not moved, so that more flyers are reduced to enter the airport.
After the electronic device determines that the flying object has entered the protection area of the airport, the electronic device may send the warning information in the form of a text that the flying object enters the airport to the terminal device of the staff, or may control the speaker of the electronic device to send the warning information in the form of a voice that the flying object enters the airport, or may send the warning information in other forms, which is not limited herein. The early warning information is convenient for the staff to know that the flyer enters the airport in time after receiving the early warning information, and the possibility of collision of the flyer is reduced.
The above embodiments describe a method for driving away a flying object in an airport from the perspective of a method flow, and the following embodiments describe a device for driving away a flying object in an airport from the perspective of a virtual module or a virtual unit, which are described in detail in the following embodiments.
The embodiment of the present application provides a flyer driving device 20 for an airport, and as shown in fig. 2, a flyer driving device 20 for an airport may specifically include:
an obtaining module 201, configured to obtain position information of a flying object;
the first judging module 202 is used for judging whether the flyer is in a driving area of an airport or not based on the position information of the flyer;
a first determination module 203, configured to determine a driving device based on the position information when the flying object is in the driving area;
the first control module 204 is used for controlling the driving device to drive the flyer.
By adopting the technical scheme, the obtaining module 201 obtains the position information of the flying object, the first judging module 202 judges whether the flying object is in the driving area of the airport based on the position information, and if the flying object is in the driving area of the airport, it indicates that the flying object may collide with an airplane in the airport. The first determining module 203 determines corresponding driving equipment based on the position information, and controls the driving equipment to drive the flyer through the first control module 204, so that the driving equipment realizes automatic driving, the driving efficiency is effectively improved, and the integration of intelligent bird attack prevention in an airport is realized.
In a possible implementation manner of the embodiment of the present application, the apparatus 20 further includes:
the receiving module is used for receiving image information of the flyer;
the characteristic extraction module is used for carrying out characteristic extraction on the image information so as to determine the type of the flyer and determine the average flying speed and weight of the flyer based on the type;
and the second determination module is used for determining the collision danger level based on the position information, the average flying speed and the weight of the flying object.
In a possible implementation manner of the embodiment of the application, the crash risk level includes a first level, a second level, and a third level, and the second determining module is specifically configured to, when determining the crash risk level based on the position information, the average flight speed, and the weight of the flying object:
determining flight characteristics of the flying object based on the position information of the flying object, wherein the flight characteristics comprise disorder flight and ordered flight;
if the flight characteristic is disordered flight, determining that the collision danger level is a first level;
if the flight characteristic is ordered flight, judging whether the average flight speed of the flyer reaches a preset speed and whether the weight of the flyer reaches a preset weight;
if the average flying speed reaches the preset speed and the weight reaches the preset weight, determining that the collision danger level is a second level;
and if the average flying speed does not reach the preset speed and/or the weight does not reach the preset weight, determining that the collision danger level is a third level.
In a possible implementation manner of the embodiment of the application, when the second determining module determines the flight characteristics of the flying object based on the position information of the flying object, the second determining module is specifically configured to:
circularly executing the steps of determining a first vector based on the current position information of the flying object and the previous position information of the flying object, acquiring the next position information of the flying object after a preset time, determining a second vector based on the current position information of the flying object and the next position information of the flying object, and calculating an included angle between the first vector and the second vector until the number of times of calculating the included angle reaches a preset number of times;
if the number of times of calculating the included angle reaches the preset number of times, calculating a fluctuation value based on at least one included angle;
judging whether the fluctuation value is larger than a preset fluctuation value or not;
if the fluctuation value is larger than the preset fluctuation value, determining the flight characteristic of the flyer as disordered flight;
and if the fluctuation value is not greater than the preset fluctuation value, determining the flight characteristic of the flyer to be ordered flight.
In a possible implementation manner of the embodiment of the present application, the first determining module 203 is specifically configured to determine, based on the location information, the driving apparatus:
judging whether directional driving equipment corresponding to the type of the flyer exists in the driving equipment types or not based on the type of the flyer, wherein the driving equipment types comprise ultrasonic driving equipment, sound driving equipment and visual driving equipment;
if the directional driving equipment exists, selecting corresponding directional driving equipment based on the position information and the type of the flyer;
if no directional driving device exists, the driving device is selected based on the position information.
In a possible implementation manner of the embodiment of the present application, the apparatus 20 further includes:
the third determining module is used for determining the collision danger level of the flyer;
the first selection module is used for determining the driving intensity of the driving equipment as first-level intensity when the collision danger level of the flyer is a first level;
the second selection module is used for determining the driving strength of the driving equipment as a secondary strength when the collision danger level of the flyer is a second level, wherein the secondary strength is weaker than the primary strength;
and the third selection module is used for determining that the driving strength of the driving equipment is the third-level strength when the collision danger level of the flyer is the third level, and the third-level strength is weaker than the second-level strength.
In a possible implementation manner of the embodiment of the application, the first control module 204 is used for controlling the driving device to drive the flyer, and specifically is used for:
acquiring navigation information of an airplane;
judging whether an airplane exists in a protection area of the airport based on the navigation information;
and if so, controlling the driving equipment to drive the flyer.
In a possible implementation manner of the embodiment of the present application, the apparatus 20 further includes:
the second judgment module is used for judging whether the flyer enters a protection area of the airport or not based on the position information of the flyer;
and the second control module is used for controlling at least one driving device to drive the flyer based on the position information when the flyer enters the protection area of the airport.
In the embodiment of the present application, the first determining module 202 and the second determining module may be the same determining module or different determining modules. The first determining module 203, the second determining module, and the third determining module may be the same determining module, may be different determining modules, or may be partially the same determining module. The first control module 204 and the second control module may be the same control module or different control modules. The first selection module, the second selection module and the third selection module may be the same selection module, may be different selection modules, or may be partially the same selection module.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In an embodiment of the present application, an electronic device is provided, and as shown in fig. 3, an electronic device 30 shown in fig. 3 includes: a processor 301 and a memory 303. Wherein processor 301 is coupled to memory 303, such as via bus 302. Optionally, the electronic device 30 may also include a transceiver 304. It should be noted that the transceiver 304 is not limited to one in practical applications, and the structure of the electronic device 30 does not constitute a limitation to the embodiment of the present application.
The Processor 301 may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 301 may also be a combination implementing a computing function. E.g., a combination comprising one or more microprocessors, a combination of a DSP and a microprocessor, etc.
Bus 302 may include a path that transfers information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 302 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 3, but that does not indicate only one bus or one type of bus.
The Memory 303 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), a magnetic Disc storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired application code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these.
The memory 303 is used for storing application program codes for executing the scheme of the application, and the processor 301 controls the execution. The processor 301 is configured to execute application program code stored in the memory 303 to implement the aspects illustrated in the foregoing method embodiments.
Among them, electronic devices include but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. But also a server, etc. The electronic device shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
The present application provides a computer-readable storage medium, on which a computer program is stored, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments. Compared with the related art, the electronic equipment in the embodiment of the application acquires the position information of the flyer, judges whether the flyer is in the driving area of the airport or not based on the position information, and if the flyer is in the driving area of the airport, the flyer is possibly collided with an airplane in the airport. The electronic equipment determines corresponding driving equipment based on the position information, and controls the driving equipment to drive the flyer, so that the driving equipment realizes automatic driving, the driving efficiency is effectively improved, and the integration of intelligent bird attack prevention in an airport is realized.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.

Claims (11)

1. A method for aircraft repelling in an airport, comprising:
acquiring position information of a flying object;
judging whether the flyer is in a driving area of an airport or not based on the position information of the flyer, wherein the driving area is an area outside the airport and in an attack area of driving equipment;
if the flyer is in the driving area, determining corresponding driving equipment based on the position information;
and controlling the driving equipment to drive the flyer.
2. A method for repelling a flying object for an airport according to claim 1, wherein said obtaining the position information of the flying object further comprises:
receiving image information of the flying object;
performing feature extraction on the image information to determine the category of the flying object and determine the average flying speed and the weight of the flying object based on the category;
determining a crash risk level based on the position information, the average flying speed, and the weight of the flying object.
3. A method for aircraft repelling flying objects for an airport according to claim 2, wherein said crash risk level comprises a first level, a second level and a third level, said determining a crash risk level based on the position information, the average flight speed and the weight of the flying object comprises:
determining flight characteristics of the flying object based on the position information of the flying object, wherein the flight characteristics comprise disordered flight and ordered flight;
if the flight characteristic is the disordered flight, determining that the collision danger level is the first level;
if the flight characteristic is the ordered flight, judging whether the average flight speed of the flyer reaches a preset speed or not and whether the weight of the flyer reaches a preset weight or not;
if the average flying speed reaches the preset speed and the weight reaches the preset weight, determining that the collision danger level is the second level;
and if the average flying speed does not reach the preset speed and/or the weight does not reach the preset weight, determining that the collision danger level is the third level.
4. A method for repelling a flying object for an airport according to claim 3, wherein said determining flight characteristics of said flying object based on position information of said flying object comprises:
circularly executing the steps of determining a first vector based on the current position information of the flying object and the previous position information of the flying object, acquiring the next position information of the flying object after a preset time, determining a second vector based on the current position information of the flying object and the next position information of the flying object, and calculating an included angle between the first vector and the second vector until the number of times of calculating the included angle reaches a preset number of times;
if the number of times of calculating the included angle reaches the preset number of times, calculating a fluctuation value based on at least one included angle;
judging whether the fluctuation value is larger than a preset fluctuation value or not;
if the fluctuation value is larger than the preset fluctuation value, determining the flight characteristic of the flyer to be disordered flight;
and if the flight characteristic of the flyer is not greater than the preset fluctuation value, determining the ordered flight as the flight characteristic of the flyer.
5. A method of repelling flying objects for an airport according to claim 2, wherein said determining a repelling device based on said location information comprises:
judging whether directional driving equipment corresponding to the type of the flyer exists in the driving equipment types based on the type of the flyer, wherein the driving equipment types comprise ultrasonic driving equipment, sound driving equipment and visual driving equipment;
if the directional driving equipment exists, selecting the corresponding directional driving equipment based on the position information and the type of the flyer;
and if the pointing driving equipment does not exist, selecting the driving equipment based on the position information.
6. A method for repelling a flying object for an airport according to claim 3, wherein said controlling said repelling apparatus to repel said flying object further comprises:
determining the crash hazard level for the flying object;
if the collision danger level of the flyer is the first level, determining the driving strength of the driving equipment as first-level strength;
if the collision danger level of the flyer is the second level, determining the driving strength of the driving equipment to be a second-level strength, wherein the second-level strength is weaker than the first-level strength;
and if the collision danger level of the flyer is the third level, determining that the driving strength of the driving equipment is the third level strength, wherein the third level strength is weaker than the second level strength.
7. A method of repelling a flying object for an airport according to claim 1, wherein said controlling the repelling apparatus to repel the flying object comprises:
acquiring navigation information of an airplane;
judging whether the airplane exists in a protective area of the airport based on the navigation information, wherein the protective area is an area for taking off, landing and stopping the airplane in the airport;
and if so, controlling the driving equipment to drive the flyer.
8. A method of repelling a flying object for an airport according to claim 1, wherein said controlling said repelling apparatus to repel said flying object further comprises thereafter:
judging whether the flyer enters a protection area of the airport or not based on the position information of the flyer;
and if the aircraft enters the protection area of the airport, controlling at least one driving device to drive the flyer based on the position information.
9. A flyer repelling apparatus for an airport, comprising:
the acquisition module is used for acquiring the position information of the flyer;
the first judgment module is used for judging whether the flyer is in a driving area of an airport or not based on the position information of the flyer, wherein the driving area is an area which is outside the airport and in an attack area of driving equipment;
a first determination module, configured to determine a corresponding driving device based on the position information when the flying object is in the driving area;
and the first control module is used for controlling the driving equipment to drive the flyer.
10. An electronic device, comprising:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications configured to: a method of performing a flyer repelling method for an airport according to any one of claims 1 to 7.
11. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method for the repelling flying objects for an airport according to any one of claims 1 to 7.
CN202210533410.7A 2022-05-17 2022-05-17 Method and device for driving flying object in airport, electronic equipment and medium Active CN114661068B (en)

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