CN117981745A - Method, device, equipment and medium for expelling bird targets in airport runway - Google Patents

Method, device, equipment and medium for expelling bird targets in airport runway Download PDF

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Publication number
CN117981745A
CN117981745A CN202410397464.4A CN202410397464A CN117981745A CN 117981745 A CN117981745 A CN 117981745A CN 202410397464 A CN202410397464 A CN 202410397464A CN 117981745 A CN117981745 A CN 117981745A
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China
Prior art keywords
bird
detection
airport runway
target
driving
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CN202410397464.4A
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CN117981745B (en
Inventor
何鹏
潘光绪
刘培刚
马勇
戈磊
程思远
邓平
曹阳
蒲佳朋
袁显鑫
王栏淋
刘凌浩
胡岳
索郎旺杰
王屹巍
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Civil Aviation Electronic Technology Co ltd
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Civil Aviation Electronic Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Human Computer Interaction (AREA)
  • Environmental Sciences (AREA)
  • Zoology (AREA)
  • Wood Science & Technology (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Pest Control & Pesticides (AREA)
  • Insects & Arthropods (AREA)
  • Birds (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application provides a method, a device, equipment and a medium for expelling bird targets in an airport runway, relates to the technical field of bird expelling, and is used for solving the problem of poor bird expelling effect of the airport runway. The method is applied to control equipment of a bird repellent system, and the bird repellent system also comprises a plurality of bird detection and repellent equipment symmetrically arranged at two sides of an airport runway; the method comprises the following steps: acquiring an airport runway image acquired by a first bird detection and driving device in a plurality of bird detection and driving devices; judging whether bird targets reside in the airport runway according to the airport runway image; and if the airport runway is determined to stop the bird target, controlling a second bird detection and driving device which is symmetrical to the first bird detection and driving device and is at a different side to play audio to drive the bird target out of the airport runway. According to the bird repellent device, the first bird repellent device and the second bird repellent device which are symmetrically arranged on two sides of the runway work cooperatively, so that the bird repellent effect of the runway is improved.

Description

Method, device, equipment and medium for expelling bird targets in airport runway
Technical Field
The application relates to the technical field of bird repelling, and provides a method, a device, equipment and a medium for repelling bird targets in an airport runway.
Background
The stopping birds on the runway surface of the airport runway are great hidden hazards of safety of the runway surface, if the stopping birds on the runway surface of the airport runway are, the operation safety of the aircraft on the runway is seriously affected, particularly, the taking-off belt and the landing belt at the two ends of the runway are positioned at full acceleration or emergency deceleration moment, the movement speed of the aircraft is high, the relative movement speed of the aircraft and the stopping birds is high, and once the birds hit, the aircraft is seriously damaged.
The runway surface of the airport runway is not a horizontal runway surface, but an arched surface with a certain gradient, and bird detection and driving equipment on one side of the airport runway cannot directly detect bird targets on the opposite side due to the influence of runway arch height, so that the bird driving effect is poor.
Disclosure of Invention
The embodiment of the application provides a method, a device, equipment and a medium for expelling bird targets in an airport runway, which are used for solving the problem of poor bird expelling effect of the airport runway.
In a first aspect, a method for driving away bird targets in an airport runway is provided, wherein the bird driving system further comprises a plurality of bird detection driving devices symmetrically arranged on two sides of the airport runway; the method for driving away the bird targets in the airport runway comprises the following steps:
Acquiring an airport runway image acquired by a first bird detection and driving device in the plurality of bird detection and driving devices;
judging whether bird targets reside in the airport runway according to the airport runway image;
If the airport runway is determined to stop the bird target, controlling a second bird detection and driving device to play audio to drive the bird target away from the airport runway; the second bird detection and driving device is symmetrical and different from the first bird detection and driving device.
Optionally, before the airport runway image acquired by the first bird detection and driving device in the plurality of bird detection and driving devices is acquired, the bird target driving method in the airport runway further includes:
If radar data detected by a plurality of target bird detection and driving devices which are on the same side and are adjacent to each other are received, determining that suspected bird targets reside in the airport runway, and determining the first bird detection and driving device from the plurality of target bird detection and driving devices.
Optionally, the radar data includes a distance between each bird detection device and the suspected bird target; the determining the first bird detection and driving device from the plurality of target bird detection and driving devices comprises:
And determining the target bird detection and driving device closest to the suspected bird target from the target bird detection and driving devices as the first bird detection and driving device according to the distance between each target bird detection and driving device and the suspected bird target.
Optionally, the radar data includes an angle between each bird repellent device and the suspected bird target; the obtaining the airport runway image collected by the first bird detection and driving device in the plurality of bird detection and driving devices comprises the following steps:
According to a third angle between the first bird detection and driving device and the suspected bird target, controlling the first bird detection and driving device to rotate by the third angle, and then acquiring an airport runway image to acquire the airport runway image; the airport runway image includes the suspected bird target.
Optionally, the controlling the second bird detection and driving device to play audio to drive the bird target away from the airport runway includes:
Determining a second angle between the second bird detection device and the avian target;
And after the second bird detection and driving device is controlled to rotate by the second angle, controlling the second bird detection and driving device to play audio to drive the bird target away from the airport runway.
Optionally, the determining a second angle between the second bird repellent device and the bird target includes:
Determining a first distance and a first angle between the first bird detection and driving device and the bird target according to radar data detected by the first bird detection and driving device;
And determining a second angle between the second bird detection and driving device and the bird target according to the first distance, the first angle and the device distance between the first bird detection and driving device and the second bird detection and driving device.
Optionally, the calculation formula of the second angle is as follows:
wherein θ1 is the first angle, L1 is the first distance, θ2 is the second angle, and L is the device distance.
In a second aspect, there is provided an apparatus for driving away bird targets in an airport runway, the apparatus being arranged in a control device of a bird driving system, the bird driving system further comprising a plurality of bird detection driving devices symmetrically installed on both sides of the airport runway; the bird target driving device in the airport runway comprises:
The acquisition module is used for acquiring airport runway images acquired by a first bird detection and driving device in the plurality of bird detection and driving devices;
The bird target recognition module is used for judging whether bird targets reside in the airport runway according to the airport runway image;
The control module is used for controlling the second bird detection and driving equipment to play audio to drive the bird targets away from the airport runway if the airport runway is determined to stop the bird targets; the second bird detection and driving device is symmetrical and different from the first bird detection and driving device.
In a third aspect, the present application provides a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor executing the computer program to implement the method of bird target repellent within an airport runway of the first aspect.
In a fourth aspect, the present application provides a computer readable storage medium having a computer program stored thereon, the computer program being executable by a processor to implement the method for driving off avian targets in an airport runway according to the first aspect.
Compared with the prior art, the embodiment of the application has the following beneficial effects:
The embodiment of the application provides a bird target expelling method in an airport runway, which is applied to control equipment of a bird expelling system, wherein the bird expelling system also comprises a plurality of bird detecting and expelling equipment symmetrically arranged at two sides of the airport runway; the method comprises the following steps: acquiring an airport runway image acquired by a first bird detection and driving device in a plurality of bird detection and driving devices; judging whether bird targets reside in the airport runway according to the airport runway image; and if the airport runway is determined to stop the bird target, controlling the second bird detection and driving equipment to play audio to drive the bird target out of the airport runway, wherein the second bird detection and driving equipment is symmetrical with the first bird detection and driving equipment at different sides. In the embodiment of the application, in a mode that the first bird detection and driving equipment and the second bird detection and driving equipment symmetrically arranged on two sides of the runway work cooperatively, when the second bird detection and driving equipment on one side of the airport runway hardly detects bird targets on the opposite side of the arched runway, the first bird detection and driving equipment on the other side of the airport runway is controlled to perform image acquisition and bird target detection, the bird targets on the airport runway are determined to stay, and then the second bird detection and driving equipment is controlled to play audio to drive the bird targets out of the airport runway, so that the bird driving effect of the airport runway is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is apparent that the drawings in the following description are only embodiments of the present application, and other drawings may be obtained according to the provided drawings without inventive effort for those skilled in the art.
Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating installation of a plurality of bird detection and driving devices according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a scanning area of a plurality of bird detection and driving devices according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of a method for driving away bird targets in an airport runway according to an embodiment of the present application;
FIG. 5 is a schematic diagram of directional driving according to an embodiment of the present application;
FIG. 6 is a schematic diagram of the positions of a first bird detection and driving device, a second bird detection and driving device and a bird target according to an embodiment of the present application;
FIG. 7 is a schematic flow chart of another method for driving away bird targets in an airport runway according to an embodiment of the present application;
fig. 8 is a schematic structural view of an apparatus for driving bird targets off in an airport runway according to an embodiment of the present application.
The marks in the figure: the device comprises a 10-probe bird-repellent device, a 101-radar, a 102-camera, a 103-horn, a 104-horizontal turntable, a 105-flexible rod, a 106-base, a 20-control device, a 201-processor, a 202-memory, a 203-I/O interface and a 204-database.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. Embodiments of the application and features of the embodiments may be combined with one another arbitrarily without conflict. Also, while a logical order is depicted in the flowchart, in some cases, the steps depicted or described may be performed in a different order than presented herein.
According to the airport operation data discovery, the airport runway often discovers the bird corpses left after the runway surface bird strike accident, the bird strike event not only causes serious damage to the aircraft which is in the bird strike, but also has serious threat to the next aircraft, once the bird corpses appear, the removal of the bird corpses also needs to apply for stopping runway use, the runway is manually processed, the service time of the runway is occupied, the service efficiency of the runway is reduced, the resident bird and the bird corpses not only form serious threat to aviation safety, but also cause great economic loss to the airport and airlines.
Various bird repellent systems in the flight area are required to be installed outside the runway ground protection area according to the requirements of civil aviation regulation documents, and are located in an area 140 meters away from the runway center line, so that the existing bird repellent equipment of the airport is far away from the runway. The runway surface of the airport runway is an arched surface, and according to the specification of the technical standard of civil airport flight area issued by the civil aviation bureau of China, the minimum gradient of the transverse slope of the airport runway of class F and class E is 1%, the maximum gradient is 1.5%, the height of the central line of the runway is about 22.5cm-45cm, and the requirements of bird repelling equipment are not higher than 42cm, so that the bird repelling equipment on one side of the airport runway cannot be directly detected by the arch height of the runway to obtain the target position of the opposite side of the runway, and the bird repelling effect is poor.
In view of this, the embodiment of the present application provides a method for directional driving of an avian target, which is applied to a control device of a bird driving system, and the following description is made for some simple descriptions of application scenarios applicable to the technical solution of the embodiment of the present application, and it should be noted that the application scenarios described below are only for illustrating the embodiment of the present application and are not limiting. In the specific implementation process, the technical scheme provided by the embodiment of the application can be flexibly applied according to actual needs.
Referring to fig. 1, a schematic view of an application scenario provided in an embodiment of the present application may be understood as a structural diagram of a bird driving system, where the application scenario includes a bird detection and driving device 10 and a control device 20. The bird detection and driving device 10 communicates with the control device 20 through a wireless network or an optical fiber ring network to realize information interaction, and data transmission between the bird detection and driving device 10 and the control device 20 can adopt Transmission Control Protocol (TCP)/Internet Protocol (IP).
The bird detection and driving device 10 is arranged at two sides of an airport runway, and can collect images of the airport runway. The bird detection and driving device 10 comprises a radar 101, a camera 102, a loudspeaker 103, a horizontal turntable 104, a foldable rod 105 and a base 106, wherein the radar 101 is used for detecting the position of a bird target in an airport runway, the camera 102 is used for collecting images of the airport runway, the loudspeaker 103 is used for playing audio to drive away the bird target, the horizontal turntable 104 is used for driving the radar 101, the camera 102 and the loudspeaker 103 to rotate, the foldable rod 105 is used for supporting the bird detection and driving device 10, and the base 106 is used for fixing the bird detection and driving device 10.
The control device 20 is disposed in the airport monitoring machine room, and can be used for judging whether the airport runway is parked with the bird target according to the airport runway image sent by the bird detection and driving device 10, so as to control the bird detection and driving device 10 to drive away the bird target. For example, personal computers (Personal Computer, PCs), servers, laptops, etc. are possible. The control device 20 may include one or more central processing units 201 (Central Processing Unit, CPU), memory 202, I/O interfaces 203, and a database 204. In particular, the processor 201 may be a central processing unit (central processing unit, CPU), or a digital processing unit, or the like. The memory 202 may be a volatile memory (RAM), such as a random-access memory (RAM); the memory 202 may also be a nonvolatile memory (non-volatile memory), such as a read-only memory, a flash memory (flash memory), a hard disk (HARD DISK DRIVE, HDD) or a solid state disk (solid-state disk) (STATE DRIVE, SSD); or memory 202 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 202 may be a combination of the above. The memory 202 may store part of program instructions of the bird target driving method in an airport runway according to the embodiment of the present application, where the program instructions, when executed by the processor 201, can be used to implement steps of the bird target driving method in an airport runway according to the embodiment of the present application, so as to solve a problem of poor bird driving effect of the airport runway. Database 204 may be used to store data relating to airport runway images, bird targets, etc. in the arrangements provided by embodiments of the present application.
In the embodiment of the present application, the control device 20 may acquire the data collected by the bird detection and driving device 10 through the I/O interface 203, and then the processor 201 of the control device 20 may execute the data according to the program instructions of the bird target driving method in the airport runway provided in the embodiment of the present application in the memory 202, and may store the data of the airport runway image, the bird target, etc. in the database 204.
It should be noted that fig. 1 is an example of a bird repellent system including one bird repellent device 10, and the number of bird repellent devices 10 in the bird repellent system is not limited in practice. Considering that an airport runway is long, in order to improve bird repelling efficiency, the bird repelling system comprises a plurality of bird detecting and repelling devices symmetrically arranged on two sides of the airport runway. Referring to fig. 2, an installation schematic diagram of a plurality of bird detection and driving devices according to an embodiment of the present application is provided, a circle represents a vertical side light of a runway, a small rectangular frame represents a bird detection and driving device, a large rectangular frame represents an airport runway, a dotted line represents a central line of the airport runway, and an installation requirement of the bird detection and driving device is described below with reference to fig. 2.
The vertical side lamp of runway is the light guide system that the airport runway must possess, every visit bird equipment of driving installs in the inboard 400mm department of the vertical side lamp of runway to avoid the stop that the vertical side lamp of runway produced, because the vertical side lamp of runway is left and right sides luminous, visit bird equipment of driving also can not produce the influence to the vertical side lamp of runway. The installation technical requirements of the bird detection and driving equipment must meet the standard requirements of navigation light, namely the bird detection and driving equipment must not be ultrahigh (not more than 43 cm) and must have the requirement of easy breaking (the bird detection and driving equipment cannot be damaged under the bending moment of 204Nm, the bending moment must be separated from the installation system completely before 680Nm, and the easy breaking point must not be more than 38mm higher than the ground). Therefore, the bird detection and driving device adopts the easily-folded piece support, namely the easily-folded rod, is arranged at the road shoulder position (at two sides of the runway, is part of the edge of the runway) of the airport runway, meets the installation standard of the road shoulder device of the airport runway, is vertically installed, and is symmetrically installed at two sides of the airport runway in a manner of being also called as a side lamp type bird detection and driving device.
Referring to fig. 3, a schematic diagram of a scanning area of a plurality of bird detection and driving devices is provided in an embodiment of the present application, two symmetrical bird detection and driving devices are a group, 5 groups of bird detection and driving devices are installed on an airport runway shown in fig. 3, wherein a W-1 bird detection and driving device and an E-1 bird detection and driving device are a 1 group, a W-2 bird detection and driving device and an E-2 bird detection and driving device are a2 group, a W-3 bird detection and driving device and an E-3 bird detection and driving device are a 3 group, a W-4 bird detection and driving device and an E-4 bird detection and driving device are a4 group, and a W-5 bird detection and driving device and an E-5 bird detection and driving device are a 5 group. The scanning areas of the plurality of groups of bird detection and driving devices cover the whole airport runway, the scanning areas of the same group of bird detection and driving devices take the central line of the airport runway as a boundary, the scanning areas of adjacent bird detection and driving devices on the same side are overlapped, but each bird detection and driving device can define a detection area which is responsible for the bird detection and driving device, and the detection areas are not overlapped.
The application scenario of the embodiment of the application and the installation method of the bird detection and driving device are introduced, and the bird target driving method in the airport runway provided by the embodiment of the application is introduced with reference to fig. 1, fig. 2 and fig. 3. Referring to fig. 4, a flow chart of a method for driving away bird targets in an airport runway according to an embodiment of the present application is shown, which may be jointly performed by the bird driving device 10 and the control device 20 shown in fig. 1. Specifically, the flow of the method is described below.
S401, acquiring an airport runway image acquired by a first bird detection and driving device in a plurality of bird detection and driving devices.
In one possible embodiment, before acquiring the airport runway image acquired by the first bird detection device of the plurality of bird detection devices, the method further comprises:
If radar data detected by a plurality of target bird detection and driving devices which are on the same side and are adjacent to each other are received, it is determined that suspected bird targets reside in the airport runway, and a first bird detection and driving device is determined from the plurality of target bird detection and driving devices.
In a specific implementation process, the control device can control the radars of all the bird detection and driving devices on two sides of the runway to send detection beams in respective scanning areas, and transmit respective detected radar data to the control device in real time. If no target is detected by the radar in the scanning process, no data is usually returned, and therefore, if the control equipment does not receive radar data detected by any bird detection and driving equipment, the suspected bird target is determined not to be parked in the airport runway. Because the scanning areas of the radars on the same side and adjacent to each other are overlapped, the same target can be detected by the radars on the same side and adjacent to each other, if the control equipment receives radar data detected by the plurality of target bird detection and driving equipment on the same side and adjacent to each other, the suspected bird targets are determined to reside in the airport runway, and the first bird detection and driving equipment is determined from the plurality of target bird detection and driving equipment.
In the embodiment of the application, firstly, the suspected bird targets are primarily detected by the radars of the plurality of bird detection and driving devices, after the suspected bird targets are determined to reside on the airport runway, the airport runway image is acquired to further confirm whether the bird targets are stopped on the airport runway, and the accuracy of bird target detection can be improved by the radar detection and the twice detection of image recognition, so that the follow-up bird driving effect is improved. And select first bird equipment that surveys to drive from a plurality of bird equipment that surveys to drive gathers the image, avoid a plurality of cameras that visit bird equipment that drive to work in real time always, reduce the power consumption that surveys bird equipment that drives.
Further, the control device may select one of the plurality of target bird detection and driving devices as the first bird detection and driving device, or determine the first bird detection and driving device from the plurality of bird detection and driving devices according to a preset condition.
In one possible embodiment, the radar data includes a distance between each of the bird detection devices and the suspected bird target, and the step of determining a first bird detection device from the plurality of target bird detection devices includes:
And determining the target bird detection and driving device nearest to the suspected bird target from the target bird detection and driving devices as first bird detection and driving device according to the distance between each target bird detection and driving device and the suspected bird target.
In the embodiment of the application, the first bird detection and driving device is nearest to the suspected bird target, so that the clearest image of the suspected bird target can be acquired, the image quality is improved, and the accuracy of subsequent bird target detection on the image is further improved.
In one possible embodiment, the radar data includes an angle between each of the bird detection devices and the suspected bird target, and the step of acquiring an airport runway image acquired by a first one of the plurality of bird detection devices includes:
According to a third angle between the first bird detection and driving device and the suspected bird target, controlling the first bird detection and driving device to rotate by the third angle, and then acquiring an airport runway image to acquire the airport runway image; the airport runway image includes suspected bird targets.
In a specific implementation process, after the first bird detection and driving device is determined from the plurality of target bird detection and driving devices, the control device can determine the azimuth of the suspected bird target according to the third angle between the first bird detection and driving device and the suspected bird target, and after the horizontal turntable of the first bird detection and driving device is controlled to drive the camera to rotate the third angle, the camera of the first bird detection and driving device is controlled to acquire an airport runway image comprising the suspected bird target and send the airport runway image to the control device, so that the control device acquires the airport runway image comprising the suspected bird target.
According to the embodiment of the application, the horizontal turntable of the first bird detection and driving device is controlled to drive the camera to rotate by a certain angle according to the azimuth of the suspected bird target, so that the central shooting area of the camera of the first bird detection and driving device is opposite to the suspected bird target, an airport runway image containing the suspected bird target is better acquired, and the image quality is improved.
S402, judging whether bird targets reside in the airport runway according to the airport runway image.
In a specific implementation process, after the control device acquires the airport runway image containing the suspected bird target, a preset bird recognition algorithm can be adopted to process the airport runway image, so that a class recognition result of the suspected bird target is obtained, and the class recognition result is used for indicating the class of the suspected bird target. If the class identification result indicates that the suspected bird target belongs to a bird target, such as sparrow, pigeon and the like, the bird target is determined to reside in the airport runway, and if the class identification result indicates that the suspected bird target does not belong to the bird target, the bird target is determined not to reside in the airport runway.
And S403, if the airport runway is determined to stop the bird target, controlling the second bird detection and driving device to play audio to drive the bird target out of the airport runway.
In a specific implementation process, if the airport runway is determined to stop the bird target, the loudspeaker of the second bird detection and driving device is controlled to play audio so as to generate sound stimulus to drive the bird target to be far away from the airport runway area. The second bird-repellent device is symmetrical and different from the first bird-repellent device, please continue to refer to fig. 3, if the W-1 bird-repellent device is the first bird-repellent device, the E-1 bird-repellent device is the second bird-repellent device, if the W-2 bird-repellent device is the first bird-repellent device, the E-2 bird-repellent device is the second bird-repellent device, if the W-3 bird-repellent device is the first bird-repellent device, the E-3 bird-repellent device is the second bird-repellent device, if the W-4 bird-repellent device is the first bird-repellent device, the E-4 bird-repellent device is the second bird-repellent device, and if the W-5 bird-repellent device is the first bird-repellent device, the E-5 bird-repellent device is the second bird-repellent device.
In one possible embodiment, the step of controlling the second bird detection and driving device to play audio to drive the bird target off the airport runway includes:
and determining a second angle between the second bird detection and driving device and the bird target, and controlling the second bird detection and driving device to play audio to drive the bird target out of the airport runway after controlling the second bird detection and driving device to rotate by the second angle.
Fig. 5 is a schematic diagram of directional driving according to an embodiment of the present application. The black dots represent bird targets, the arrows represent the direction of drive-off, the two solid lines represent airport runways, the dashed line between the two solid lines represents the midline of the airport runways, θ2 represents the second angle between the E-2 bird-seeking device and the bird targets. And the E-2 bird detection and driving device is rotated by a second angle theta 2 and then is opposite to the bird target, and the bird target can leave the airport runway as soon as possible along the driving direction by playing audio.
In the embodiment of the application, the horizontal turntable of the second bird detection and driving device is controlled to drive the horn to rotate by a second angle, so that the horn of the second bird detection and driving device is opposite to the bird target, and the horn of the second bird detection and driving device is controlled to play audio, so that the bird target can be directionally driven away in a targeted manner, all driving operations are ensured to drive the bird target to the outer side of the runway of the airport, the bird target is enabled to leave the runway area as soon as possible, and the bird driving effect is improved.
In one possible embodiment, the step of determining a second angle between the second bird repellent device and the avian target comprises:
determining a first distance and a first angle between the first bird detection and driving device and the bird target according to the radar data detected by the first bird detection and driving device; and determining a second angle between the second bird detection and driving device and the bird target according to the first distance, the first angle and the device distance between the first bird detection and driving device and the second bird detection and driving device.
In a specific implementation process, the radar data detected by the first bird detection and driving device comprises a distance and an angle between the first bird detection and driving device and a suspected bird target, and after the suspected bird target is determined to belong to the bird target, the distance between the first bird detection and driving device and the suspected bird target is a first distance between the first bird detection and driving device and the bird target, and the angle between the first bird detection and driving device and the suspected bird target is a first angle between the first bird detection and driving device and the bird target. After the installation of the plurality of bird detection and driving devices is completed, the distance between the two bird detection and driving devices in the same group, namely the device distance between the first bird detection and driving device and the second bird detection and driving device, can be obtained. And then according to the first distance, the first angle and the equipment distance, a second angle between the second bird detection and driving equipment and the bird target can be deduced by combining a mathematical formula.
Referring to fig. 6, a schematic diagram of positions among a first bird detection and driving device, a second bird detection and driving device, and a bird target according to an embodiment of the present application is shown. Wherein θ1 represents a first angle between the first bird-repellent device and the bird target, θ2 represents a second angle between the second bird-repellent device and the bird target, L1 represents a first distance between the first bird-repellent device and the bird target, L represents a device distance between the first bird-repellent device and the second bird-repellent device, L2 represents a second distance between the bird target and a line connecting the first bird-repellent device and the second bird-repellent device, L3 represents a third distance between a projection point of the bird target on the line and the first bird-repellent device, and L4 represents a fourth distance between a projection point of the bird target on the line connecting the bird target and the second bird-repellent device.
The following describes the derivation of the second angle between the second bird repellent device and the bird target with reference to fig. 6. As can be seen in conjunction with fig. 6 and the triangular equation:
Thus, from the four formulas above, it can be deduced that:
Wherein, θ1 is the first angle between the first bird detection and driving equipment and the bird target, L1 is the first distance between the first bird detection and driving equipment and the bird target, θ2 is the second angle between the second bird detection and driving equipment and the bird target, and L is the equipment distance between the first bird detection and driving equipment and the second bird detection and driving equipment.
In one possible embodiment, after the second bird detection and driving device is controlled to play the audio to drive the bird target out of the airport runway, the bird target data can be saved, so that a large amount of real bird condition data is provided for subsequent ecological bird prevention at the airport. Bird target data such as images and categories of bird targets, locations where bird targets reside within airport runways, drive-off times of bird targets, and the like. The bird target data can be pushed to airport staff, so that the airport staff can check the real-time bird driving condition in time.
For easy understanding, the overall flow of the bird target repelling method in the airport runway according to the embodiment of the present application will be described with reference to fig. 7.
Firstly, radar target detection is carried out, and all radars are controlled to transmit detection beams in respective scanning areas. And secondly, performing target primary selection, and judging whether suspected bird targets reside in the airport runway according to the detected radar data. If the suspected bird target is not present, the process is ended, if the suspected bird target is present, optical image acquisition is performed, and a camera is controlled to acquire images of the suspected bird target. And then carrying out target recognition, and if the suspected bird target is determined not to belong to the bird target according to the image of the suspected bird target, ending the process. If the suspected bird target is determined to belong to the bird target, bird subject identification is performed, and the type of the bird target is determined. And then carrying out targeted directional driving, controlling the horizontal turntable to rotate and controlling the loudspeaker to play audio to directionally drive the bird targets out of the runway of the airport. And finally, information pushing and archiving are carried out, all bird target data are stored, and information of the event is pushed to airport staff.
In summary, the embodiment of the application provides a method for expelling bird targets in an airport runway, taking into consideration
The second bird detection and driving equipment on one side of the runway can not detect bird targets on the opposite side, but has little influence on sound waves, so that based on radar and video fusion, the first bird detection and driving equipment on the other side of the runway is controlled to acquire images and detect bird targets, the bird targets on the runway are determined to stop, the second bird detection and driving equipment is controlled to play audio to drive the bird targets away from the runway, the driving efficiency of the bird targets on the runway stop can be effectively improved, and the safety of the runway and the runway running efficiency are improved.
In addition, the bird target driving method in the airport runway provided by the embodiment of the application is not limited by runway operation and night, can automatically operate according to the bird conditions of the airport, has high integration level, can collect a large amount of bird data through field test of a bird driving system, provides a large amount of real bird condition data for subsequent ecological bird prevention of the airport, can effectively improve the bird target driving work efficiency of the airport runway parking, shorten the bird corpse processing time of the airport runway, reduce the runway occupation cost, reduce the operation labor cost, improve the runway safety, improve the airport flight quasi-point rate and the like.
Based on the same inventive concept, as shown in fig. 8, the embodiment of the application further provides a bird target expelling device in an airport runway, wherein the bird target expelling device in the airport runway is arranged in a control device of a bird expelling system, and the bird expelling system further comprises a plurality of bird detection expelling devices symmetrically arranged on two sides of the airport runway; the bird target driving device in an airport runway comprises:
the acquisition module is used for acquiring airport runway images acquired by first bird detection and driving equipment in the plurality of bird detection and driving equipment;
The bird target recognition module is used for judging whether bird targets reside in the airport runway according to the airport runway image;
The control module is used for controlling the second bird detection and driving equipment to play audio to drive the bird target out of the airport runway if the airport runway is determined to stop the bird target; the second bird detection and driving device is symmetrical and different from the first bird detection and driving device.
Optionally, the bird target driving device in the airport runway further comprises a determining module, wherein the determining module is used for:
before an airport runway image acquired by a first bird detection and driving device in the plurality of bird detection and driving devices is acquired, if radar data detected by a plurality of target bird detection and driving devices on the same side and adjacent to the first bird detection and driving device are received, a suspected bird target is determined to reside in the airport runway, and the first bird detection and driving device is determined from the plurality of target bird detection and driving devices.
Optionally, the radar data includes a distance between each bird detection device and the suspected bird target; the determining module is specifically configured to:
And determining the target bird detection and driving device nearest to the suspected bird target from the target bird detection and driving devices as first bird detection and driving device according to the distance between each target bird detection and driving device and the suspected bird target.
Optionally, the radar data includes an angle between each bird detection device and the suspected bird target; the acquisition module is specifically used for:
According to a third angle between the first bird detection and driving device and the suspected bird target, controlling the first bird detection and driving device to rotate by the third angle, and then acquiring an airport runway image to acquire the airport runway image; the airport runway image includes suspected bird targets.
Optionally, the control module is specifically configured to:
Determining a second angle between a second bird detection device and the avian target;
and after the second bird detection and driving device is controlled to rotate a second angle, controlling the second bird detection and driving device to play audio to drive the bird target out of the airport runway.
Optionally, the determining module is further configured to:
Determining a first distance and a first angle between the first bird detection and driving device and the bird target according to the radar data detected by the first bird detection and driving device;
And determining a second angle between the second bird detection and driving device and the bird target according to the first distance, the first angle and the device distance between the first bird detection and driving device and the second bird detection and driving device.
Optionally, the calculation formula of the second angle is as follows:
Wherein θ1 is a first angle, L1 is a first distance, θ2 is a second angle, and L is a device distance.
It should be noted that, each module in the bird target expelling apparatus in the airport runway in this embodiment corresponds to each step in the bird target expelling method in the airport runway in the foregoing embodiment, so the specific implementation of this embodiment may refer to the implementation of the bird target expelling method in the airport runway and will not be repeated here.
In one embodiment, the present application also provides a computer device comprising a processor, a memory, and a computer program stored in the memory, which when executed by the processor, implements the method of bird target repelling in an airport runway described above.
In addition, in one embodiment, the application also provides a computer storage medium, wherein a computer program is stored on the computer storage medium, and the computer program is executed by a processor to realize the method for driving the birds targets out of the airport runway.
In some embodiments, the computer readable storage medium may be FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; but may be a variety of devices including one or any combination of the above memories. The computer may be a variety of computing devices including smart terminals and servers.
In some embodiments, the executable instructions may be in the form of programs, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and they may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.
As an example, executable instructions may, but need not, correspond to files in a file system, may be stored as part of a file that holds other programs or data, such as in one or more scripts in a hypertext markup language (HTML, hyper Text Markup Language) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).
As an example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices located at one site or distributed across multiple sites and interconnected by a communication network.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. read-only memory/random-access memory, magnetic disk, optical disk) comprising instructions for causing a multimedia terminal device (which may be a mobile phone, a computer, a television receiver, or a network device, etc.) to perform the method according to the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims (10)

1. The bird target driving method in the airport runway is characterized in that in the control equipment of the bird driving system, the bird driving system also comprises a plurality of bird detection driving equipment symmetrically arranged at two sides of the airport runway; the method for driving away the bird targets in the airport runway comprises the following steps:
Acquiring an airport runway image acquired by a first bird detection and driving device in the plurality of bird detection and driving devices;
judging whether bird targets reside in the airport runway according to the airport runway image;
If the airport runway is determined to stop the bird target, controlling a second bird detection and driving device to play audio to drive the bird target away from the airport runway; the second bird detection and driving device is symmetrical and different from the first bird detection and driving device.
2. The method of driving off bird targets in an airport runway of claim 1, wherein prior to acquiring the airport runway image acquired by a first bird detection device of the plurality of bird detection devices, the method further comprises:
If radar data detected by a plurality of target bird detection and driving devices which are on the same side and are adjacent to each other are received, determining that suspected bird targets reside in the airport runway, and determining the first bird detection and driving device from the plurality of target bird detection and driving devices.
3. A method of driving off avian targets within an airport runway according to claim 2 wherein the radar data comprises a distance between each bird-driving device and the suspected avian target; the determining the first bird detection and driving device from the plurality of target bird detection and driving devices comprises:
And determining the target bird detection and driving device closest to the suspected bird target from the target bird detection and driving devices as the first bird detection and driving device according to the distance between each target bird detection and driving device and the suspected bird target.
4. A method of driving off avian targets in an airport runway according to claim 2 wherein the radar data comprises an angle between each bird-driving device and the suspected avian target; the obtaining the airport runway image collected by the first bird detection and driving device in the plurality of bird detection and driving devices comprises the following steps:
According to a third angle between the first bird detection and driving device and the suspected bird target, controlling the first bird detection and driving device to rotate by the third angle, and then acquiring an airport runway image to acquire the airport runway image; the airport runway image includes the suspected bird target.
5. A method of repelling avian objects within an airport runway as defined in claim 1, wherein said controlling said second bird repelling device to play audio to repel said avian objects from said airport runway comprises:
Determining a second angle between the second bird detection device and the avian target;
And after the second bird detection and driving device is controlled to rotate by the second angle, controlling the second bird detection and driving device to play audio to drive the bird target away from the airport runway.
6. The method of bird target displacement within an airport runway of claim 5, wherein said determining a second angle between said second bird-repellent device and said bird target comprises:
Determining a first distance and a first angle between the first bird detection and driving device and the bird target according to radar data detected by the first bird detection and driving device;
And determining a second angle between the second bird detection and driving device and the bird target according to the first distance, the first angle and the device distance between the first bird detection and driving device and the second bird detection and driving device.
7. The method for driving off bird targets in an airport runway of claim 6 wherein said second angle is calculated as:
wherein θ1 is the first angle, L1 is the first distance, θ2 is the second angle, and L is the device distance.
8. The bird target expelling device in the airport runway is characterized by being arranged in control equipment of a bird expelling system, and the bird expelling system further comprises a plurality of bird detecting and expelling equipment symmetrically arranged on two sides of the airport runway; the bird target driving device in the airport runway comprises:
The acquisition module is used for acquiring airport runway images acquired by a first bird detection and driving device in the plurality of bird detection and driving devices;
The bird target recognition module is used for judging whether bird targets reside in the airport runway according to the airport runway image;
The control module is used for controlling the second bird detection and driving equipment to play audio to drive the bird targets away from the airport runway if the airport runway is determined to stop the bird targets; the second bird detection and driving device is symmetrical and different from the first bird detection and driving device.
9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, and wherein the processor executes the computer program to implement the method of bird target displacement within an airport runway of any of claims 1-7.
10. A computer readable storage medium having stored thereon a computer program, a processor executing the computer program to implement the method of bird target repellent in an airport runway of any of claims 1-7.
CN202410397464.4A 2024-04-03 2024-04-03 Method, device, equipment and medium for expelling bird targets in airport runway Active CN117981745B (en)

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