CN202890329U - Automatic aiming laser bird repellent device based on pattern recognition - Google Patents
Automatic aiming laser bird repellent device based on pattern recognition Download PDFInfo
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- CN202890329U CN202890329U CN 201220479976 CN201220479976U CN202890329U CN 202890329 U CN202890329 U CN 202890329U CN 201220479976 CN201220479976 CN 201220479976 CN 201220479976 U CN201220479976 U CN 201220479976U CN 202890329 U CN202890329 U CN 202890329U
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Abstract
The utility model discloses an automatic aiming laser bird repellent device based on pattern recognition. The automatic aiming laser bird repellent device based on the pattern recognition comprises a horizontal rotary platform and a vertical rotary platform, wherein the vertical rotary platform is arranged on the horizontal rotary platform, and the horizontal rotary platform is movably connected with the vertical rotary platform. A camera is arranged in the vertical rotary platform, and a laser is arranged on the vertical rotary platform. The automatic aiming laser bird repellent device based on the pattern recognition not only avoids random irradiation of laser light, and thus avoids disturbance of the laser to people and passing vehicles, but also is accurate in location to birds, reduces cost by using the lower powered laser, is not enabled to cause serious hurt to the birds, also avoids that bird repellent effect is reduced because the birds adapt to bird repellent devices, can update a database of a controller and application programs according to various application occasions, and improves adaptability.
Description
Technical field
The utility model belongs to the scarer technical field, is specifically related to a kind of automatic aiming laser bird-repelling device of Schema-based identification.
Background technology
In fields such as aviation, electric power, birds are caused serious potential safety hazard to the flight safety of aviation field aircraft at present; And birds are nested at the high pressure shaft tower, also can the safety of power system be impacted; Simultaneously, the excreta of birds meeting corroding metal equipment causes service life of equipment to shorten, scrap in advance and all kinds of operational failure.
Bird is manually driven at present general employing, and not only waste of manpower financial resources, effect are also not satisfactory.Catching and killing birds then can affect the ecological balance, non-long-term plan.Utilize in addition various sound to drive the device of bird, although the initial stage can be played some effects, because the adaptive capacity of birds is extremely strong, its effect can descend gradually.Utilize the device of bionical mimicry and so on to drive bird, the adaptive capacity owing to birds is difficult to play due effect equally.Also have the method for flash of light of utilizing and so on to drive bird, because daytime, natural daylight was very strong, the sphere of action of flash of light is extremely limited, only can embody effect under the weak condition of natural daylight, and also can be adapted to by birds gradually.
Present laser bird-repelling device such as the patent of patent No. CN 200820068090.8, is a kind of laser bird-repelling device by artificial aiming, because the low precision of artificial aiming, and the waste of manpower resource, so its effect is affected.And the patent No. is the patent laser bird expelling lamp of CN 200520029033.5, then be in the scope of horizontal 360-degree and vertical 90 degree, to scan (hemispherical covers whole sky), its laser power is disperseed serious, effect on driving birds also can be affected, if want to reach ideal effect, then need use powerful laser instrument, the conditions such as its heat radiation are quite harsh, can cause cost to rise; And on a large scale indifference scanning irradiation may impact the equipment such as pedestrian, vehicle even aircraft on every side, causes serious consequence.The patent No. is that to adopt a beam power be 500mW to the patent laser bird dispeller of CN 201110330328.6, the scanning that is close to the ground downwards of the green laser of diameter 152mm, can drive the birds that fall to the ground, also avoid to a certain extent the interference of scan laser to pedestrian, vehicle and aircraft.But helpless to aloft birds, and might impact child and pet.
The utility model content
The purpose of this utility model is for above-mentioned the deficiencies in the prior art, a kind of automatic aiming laser bird-repelling device of Schema-based identification is provided, not only can realize the automatic tracking and aiming to birds, and can adopt low power laser scanning, reduce energy consumption and to the requirement of laser instrument, and then reduced cost.
For achieving the above object, the technical scheme that the utility model is taked is: a kind of automatic aiming laser bird-repelling device of Schema-based identification is provided, it is characterized in that: comprise horizontal revolving stage, vertical turntable; Described vertical turntable is arranged on the horizontal revolving stage, and horizontal revolving stage is flexibly connected with vertical turntable; Be provided with camera in the described vertical turntable; Be provided with laser instrument on the described vertical turntable.
The axis of described camera is with parallel to each other with the axis of laser instrument.
Described horizontal revolving stage, vertical turntable, camera, laser instrument all are connected with controller by data wire.
Described controller is connected with the server of background devices by Ethernet.
Described controller is the flush bonding processor that PC maybe can be realized image processing function.
The automatic aiming laser bird-repelling device of the Schema-based identification that the utility model provides has following beneficial effect:
1, this automatic aiming scarer at first utilizes camera to seek the object and orientation target, laser instrument again Emission Lasers reaches the purpose of driving bird, so not only avoided the random irradiation of laser, thereby avoid laser instrument to the interference of people and vehicular traffic, and reduced power consumption, can adopt lower powered laser instrument, reduce cost;
2, this automatic aiming scarer only to the temporary blinding of birds, can not cause serious injury to birds owing to adopt lower powered laser instrument, has avoided because the effect on driving birds decline that birds cause the adaptation of scarer yet;
3, this automatic aiming scarer can be by the birds characteristic image in the Ethernet update controller database, scanning pattern program etc. to adapt to the demand of different application occasion;
4, this automatic aiming scarer can automatically be finished and drive the bird operation, has saved manpower and financial resources.
Description of drawings
Fig. 1 is the structural representation of the automatic aiming laser bird-repelling device of Schema-based identification.
Fig. 2 be Schema-based identification drive the bird method flow diagram.
Fig. 3 is for driving the bird program flow diagram.
Fig. 4 realizes lock onto target and tracking target task process flow chart according to the position of birds in camera.
Fig. 5 is automatic aiming scarer schematic diagram when searching out target.
Schematic diagram when Fig. 6 is automatic aiming scarer lock onto target.
Wherein, 1, horizontal revolving stage; 2, vertical turntable; 3, camera; 4, laser instrument.
Embodiment
Below in conjunction with accompanying drawing the utility model is described in detail, but it is not to further restriction of the present utility model.
As shown in Figure 1, this automatic aiming laser bird-repelling device comprises horizontal revolving stage 1, vertical turntable 2; Vertical turntable 2 is arranged on the horizontal revolving stage 1, and horizontal revolving stage 1 is flexibly connected with vertical turntable 2; Be provided with camera 3 in the vertical turntable 2; Be provided with laser instrument 4 on the vertical turntable 2.The axis of camera 3 is with parallel to each other with the axis of laser instrument 4.Horizontal revolving stage 1, vertical turntable 2, camera 3, laser instrument 4 all are connected with controller by data wire.Controller is connected co-ordination by Ethernet with the server of background devices; Controller is access network based on ethernet not also, works alone.Controller is the flush bonding processor that PC maybe can be realized image processing function.The flush bonding processor that can realize image processing function can be the controller of ARM (Advanced RISC Machines), DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array).
Because the horizontal revolving stage 1 that adopts can be realized 360 ° of rotations in the horizontal plane, vertical turntable 2 can be realized 90 ° of rotations, so the automatic aiming laser bird-repelling device can drive camera 3 and laser instrument 4 is realized hemispheric comprehensive aiming.
Because camera 3 and laser instrument 4 parallel installations, the center of the image that the laser beam that laser instrument 4 sends and camera 3 gather does not overlap, and its error is the distance between camera 3 camera lens axis and laser instrument 4 axis.After the existence of this error will cause system's aiming, laser can't accurately shine target.For addressing the above problem, must adopt less camera 3 and the laser instrument 4 of mechanical diameter, in making the scarer process, system's sighting device is demarcated simultaneously.In coverage, use this equipment to be radiated on different distance, the plane vertical with laser beam, and the position of recording laser drop point on camera 3 collection images, all laser drop points are added up, and its geometric center is the aiming center that gathers on the image.
As shown in Figure 2, the bird method of driving of Schema-based identification may further comprise the steps:
Horizontal revolving stage power supply, vertical turntable power supply, camera power supply, laser power supply and controller are opened in a, beginning;
B, program initialization are carried out program initialization to horizontal revolving stage 1, vertical turntable 2, controller; Control horizontal revolving stage 1 resets with vertical turntable 2; Make camera 3 and laser instrument 4 be in closed condition;
C, startup camera 3, camera 3 enters image pickup mode;
D, according to path scanning is set, controller starts the scanning pattern program, starts simultaneously horizontal revolving stage 1 and vertical turntable 2; Horizontal revolving stage 1 drives camera 3 with vertical turntable 2 and laser instrument 4 scans according to the path of scanning pattern program setting, and camera 3 is sent to controller with the view data that gathers;
E, image background difference, controller carries out the background subtraction divisional processing to the view data that receives;
F, whether mobiles is arranged, according to background subtraction divisional processing result among the step e, judge whether to exist mobile object, if there is mobile object, then extracts the view data of moving object, and enter step g; If there is no mobile object then returns steps d, continues scanning;
G, graphic feature coupling, controller carries out the graphic feature coupling with the moving object view data that step f extracts in conjunction with the birds characteristic image in the controller database;
Whether h, mobiles are birds, according to the result of step g graphic feature coupling, if birds then enter step I; If not birds, then return steps d, continue scanning;
I, carry out and to drive the bird program, drive the bird program and return steps d after complete, continue scanning.
As shown in Figure 3, above-mentioned steps i comprises step by step following:
I1, beginning according to the view data that the steps d controller receives, are determined the position (as shown in Figure 5) of birds image in gathering image;
I2, lock onto target, the position of birds image in gathering image of determining according to step I 1, controller drives horizontal revolving stage 1 and rotates with vertical turntable 2, horizontal revolving stage 1 moves to the birds image with vertical turntable 2 drive cameras 3 and is positioned at the aiming geometric center position that gathers on the image, lock onto target (as shown in Figure 6);
I3, unlatching laser instrument 4, controller starts laser instrument 4, and birds are fixed a point to shine;
I4, tracking target, controller starts the tracking target program, controller receives the view data of camera 3 transmission in real time, according to the position of birds image in gathering image, control horizontal revolving stage 1 drives camera 3 with vertical turntable 2 and rotates, keep the birds image to be positioned at the aiming center (as shown in Figure 6) that gathers on the image, and utilize 4 pairs of birds of laser instrument to fix a point to shine;
Whether i5, target are left, camera 3 is sent to controller in real time with the view data that gathers, the view data that controller gathers camera 3 is carried out the background subtraction divisional processing and is carried out the graphic feature coupling, and judge according to background subtraction divisional processing result and graphic feature matching result whether birds leave search coverage (also be camera 3 can cover along the path of scanning pattern program setting zone), if birds have left search coverage, controller cuts out laser instrument 4, drives the bird EP (end of program); If birds do not leave search coverage, then return step I 4, continue spotting scaming.
As shown in Figure 4, realize that according to the position of birds image in gathering image the process of lock onto target and tracking target task comprises step by step following in above-mentioned steps i2 and the step I 4:
1., beginning, rectangular coordinate system to gather aiming center on the image as initial point, is set up in the position of birds image in gathering image of determining according to step I 1, and then the coordinate of definite birds image in rectangular coordinate system;
2., calculate the vertical off setting error, according to the coordinate of birds image in rectangular coordinate system that 1. step is determined, calculate the birds image apart from the vertical range that gathers the aiming center on the image (also being that the birds image is apart from the pixel number that gathers the aiming center vertical direction on the image) (as shown in Figure 5);
3., calculated level biased error, according to the coordinate of birds image in rectangular coordinate system that 1. step is determined, calculate the birds image apart from the horizontal range that gathers the aiming center on the image (also being that the birds image is apart from the pixel number that gathers the aiming center horizontal direction on the image) (as shown in Figure 5);
4., calculate vertical controlled quentity controlled variable by PID (proportional integral derivative), the birds image that 2. calculates according to step calculates the vertical controlled quentity controlled variable that controller is tackled vertical turntable 2 outputs apart from the vertical range that gathers the aiming center on the image by PID;
5., by PID calculated level controlled quentity controlled variable, the birds image that 3. calculates according to step calculates the horizontal controlled quentity controlled variable of controller reply horizontal revolving stage 1 output apart from the horizontal range that gathers the aiming center on the image by PID;
6., the output of vertical controlled quentity controlled variable, the vertical controlled quentity controlled variable that 4. controller obtains according to step drives vertical turntable 2;
7., horizontal controlled quentity controlled variable is exported the horizontal controlled quentity controlled variable driving horizontal revolving stage 1 that 5. controller obtains according to step;
8., finish, vertical turntable 2 and horizontal revolving stage 1 rotate to the birds image according to the indication of controller and are positioned at the aiming center that gathers on the image, finish the task (as shown in Figure 6) of lock onto target or tracking target.
Claims (5)
1. the automatic aiming laser bird-repelling device of a Schema-based identification is characterized in that: comprise horizontal revolving stage (1), vertical turntable (2); Described vertical turntable (2) is arranged on the horizontal revolving stage (1), and horizontal revolving stage (1) is flexibly connected with vertical turntable (2); Be provided with camera (3) in the described vertical turntable (2); Be provided with laser instrument (4) on the described vertical turntable (2).
2. automatic aiming laser bird-repelling device according to claim 1 is characterized in that: the axis of described camera (3) with and the axis of laser instrument (4) parallel to each other.
3. automatic aiming laser bird-repelling device according to claim 1 and 2 is characterized in that: described horizontal revolving stage (1), vertical turntable (2), camera (3), laser instrument (4) all are connected with controller by data wire.
4. automatic aiming laser bird-repelling device according to claim 3, it is characterized in that: described controller is connected with the server of background devices by Ethernet.
5. automatic aiming laser bird-repelling device according to claim 3, it is characterized in that: described controller is the flush bonding processor that PC maybe can be realized image processing function.
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| CN 201220479976 CN202890329U (en) | 2012-09-20 | 2012-09-20 | Automatic aiming laser bird repellent device based on pattern recognition |
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| CN 201220479976 CN202890329U (en) | 2012-09-20 | 2012-09-20 | Automatic aiming laser bird repellent device based on pattern recognition |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102860300A (en) * | 2012-09-20 | 2013-01-09 | 西南科技大学 | Automatic aiming laser bird scaring device and bird scaring method based on mode recognition |
| CN103210901A (en) * | 2013-04-28 | 2013-07-24 | 朱筱华 | Intelligent bird scarer |
| CN104430292A (en) * | 2014-11-18 | 2015-03-25 | 华北电力大学（保定） | Power transmission line laser bird repellent device |
| CN104719278A (en) * | 2015-02-09 | 2015-06-24 | 北京交通大学 | Laser bird repelling device and laser bird repelling method |
| CN104932542A (en) * | 2015-05-19 | 2015-09-23 | 李建 | Automatic positioning device and method thereof |
| CN105981712A (en) * | 2015-02-12 | 2016-10-05 | 上海磐颖实业有限公司 | Non-fatal attack system for birds |
| US11369106B2 (en) | 2019-04-12 | 2022-06-28 | Charles Hartman King | Automatic animal detection and deterrent system |
-
2012
- 2012-09-20 CN CN 201220479976 patent/CN202890329U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102860300A (en) * | 2012-09-20 | 2013-01-09 | 西南科技大学 | Automatic aiming laser bird scaring device and bird scaring method based on mode recognition |
| CN103210901A (en) * | 2013-04-28 | 2013-07-24 | 朱筱华 | Intelligent bird scarer |
| CN104430292A (en) * | 2014-11-18 | 2015-03-25 | 华北电力大学（保定） | Power transmission line laser bird repellent device |
| CN104719278A (en) * | 2015-02-09 | 2015-06-24 | 北京交通大学 | Laser bird repelling device and laser bird repelling method |
| CN104719278B (en) * | 2015-02-09 | 2017-02-22 | 北京交通大学 | Laser bird repelling device and laser bird repelling method |
| CN105981712A (en) * | 2015-02-12 | 2016-10-05 | 上海磐颖实业有限公司 | Non-fatal attack system for birds |
| CN104932542A (en) * | 2015-05-19 | 2015-09-23 | 李建 | Automatic positioning device and method thereof |
| US11369106B2 (en) | 2019-04-12 | 2022-06-28 | Charles Hartman King | Automatic animal detection and deterrent system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130424 Termination date: 20190920 |