JPH104858A - Device for preventing birds from flying and coming - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for preventing the flying and coming of a bird, capable of suppressing the affection of the device on surroundings and capable of maintaining an effect for preventing the flying and coming of the bird for a long period by estimating the position of the bird after a prescribed time by a specific method and subsequently threatening the bird at the position with repelling noises and/or a moving body. SOLUTION: A prescribed region is photographed with photographing means such as camera modules 34A, 34B, etc., and the presence of a bird is recognized with an image-recognizing means from the photographed image information. When the presence of the bird is recognized, the three-dimensional position of the bird is specified with a position-specifying means on the basis of the information, and the presence position of the bird after a prescribed time is subsequently estimated with a position-estimating means. Noise signals are supplied to the plural speaker modules (speakers) 441-44n of threatening means with a control means 12 in a mutually noise phase-shifted state so that the noises reach the estimated position, and/or a signal for driving a moving body is supplied to a radio controller 80 of threatening means, etc. Finally noises corresponding to the noise signals are generated from the speakers, and/or the moving body such as a model airplane is flied to threaten the bird.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for preventing birds from flying, and mainly relates to airports, houses, power-related facilities, parks, shrines and the like.
The present invention relates to a bird flying prevention device applied to prevent various kinds of harm caused by bird flying in temples, farms, fields, and the like.

[0002]

2. Description of the Related Art At the present, a great deal of damage has been caused by birds at airports, houses, power-related facilities, parks, shrines and temples, farms, and fields.

[0003] At airfields, safe operation is greatly hindered by the inhalation of birds by the aircraft engine. Crashes have occurred in the past, and even if they did not crash, the amount of damage caused by engine repairs, overhauls, and disruptions in operation was enormous.

[0004] On the other hand, birds may flock, excrete, and nest in apartment houses, office buildings, power-related facilities, meeting places, parks, shrines and temples, and the like. For this reason, the landscape is impaired, and at the same time, there is a problem of sanitation, and furthermore, damage such as corrosion of steel frames is observed.

[0005] In addition, there is a great deal of damage to crops on farms and fields. Conventionally, as a countermeasure against bird harm at an airfield, processing such as mounting a so-called eyeball pattern that repels birds has been performed on an engine part of an aircraft, but this method has a blurring eyeball pattern as the engine speed increases. And the effect diminishes. In addition, the effect of the eyeball pattern itself is lost in a relatively short time due to habituation of birds.

As a countermeasure against bird harm in an apartment house or a farm, a method of killing birds is conceivable, but this method is incompatible with the concept of bird and animal protection.

As other measures against bird damage, there are a method of using magnetism, a method of using repellents, and a method of using a sword mountain or tex to eliminate a stop place. No bird damage prevention effect has been recognized until now,
Repellents cannot be applied to damage that occurs regardless of bird feeding, and the use of Kenzan and Tegus is not suitable for preventing a wide range of bird damage, including in the air.

Conventionally, in view of the above-mentioned situation, a plurality of detection / sounding units are scattered in a range where birds fly, and firstly, the flight status of birds is sensed by a plurality of detectors, and the information is obtained. A technique is known in which a shunning sound is emitted to a plurality of sounding units scattered in a shunning target range based on a command from a central control device (see Japanese Patent Application Laid-Open No. 4-36139).

[0009]

However, in such a conventional bird flying prevention device, if the distance from the sounding portion to the location of the birds is long, the birds are prevented from entering the airfield, for example, to attenuate the repellent sound. Considering the case of applying an anti-flying device, for the purpose of keeping birds away from the runway at the time of taking off and landing of an aircraft, a considerable loud repelling sound must be emitted, and other than the target birds There was a problem that it had a great influence on people.

Further, since only sound is used as a means for preventing birds from flying, there is also a problem that the effect of preventing the birds from becoming less effective in a relatively short period of time due to habituation of the birds.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a bird flying prevention device which minimizes the influence on the surroundings of a target bird when preventing birds from flying due to repelling sounds. It is a second object of the present invention to provide a bird flying prevention device capable of maintaining the bird flying prevention effect for a long period of time.

[0012]

Means for Solving the Problems The first object and the second object are described.
In order to achieve the above object, the birds flying prevention device according to claim 1 includes a plurality of photographing units that obtain image information by photographing a predetermined region, and image information of an area photographed by the plurality of photographing units. Image recognition means for recognizing the presence of birds, and when the presence of birds is recognized by the image recognition means, a position specifying means for specifying a three-dimensional position of the birds based on the image information; Position estimating means for estimating the position of the birds after a predetermined time based on the three-dimensional position information of the birds, a plurality of speakers for generating a sound corresponding to the supplied sound signal, and a supplied control signal. A threatening means including at least one of a moving body that moves in response to the moving object, and a synthetic sound wave of a sound emitted from each of the plurality of speakers in the threatening means. A first control for shifting the phase of the sound signal to each of the plurality of speakers so as to reach the bird's existence position after the predetermined time estimated by the first control and the predetermined time estimated by the position estimation means Control means for performing at least one of a second control for supplying a control signal for moving the moving body based on a later-existing position of the birds.

According to the bird flying prevention device of the first aspect, the image recognizing means recognizes whether or not a bird exists in the image data obtained by the plurality of photographing means, and recognizes that the bird exists. At this time, the position specifying unit specifies the three-dimensional position of the bird, and based on the three-dimensional position information, the position estimating unit estimates the existing position of the bird after a predetermined time.

[0014] Thereafter, the control means shifts the phases of the sound signals so that the synthesized sound waves of the sounds emitted from the plurality of speakers reach the existing position of the bird after a predetermined time estimated by the position estimating means. At least one of a first control for supplying a sound signal to a plurality of speakers and a second control for supplying a control signal for moving a moving object based on the position of the bird after a predetermined time estimated by the position estimating means. I do.

As a result, when only the first control is performed,
The synthesized sound wave of the sound waves emitted from the plurality of speakers will surely reach the position where the birds are present, and the influence of the sound on people and the like around the target birds can be suppressed. On the other hand, when only the second control is performed, the moving object can be reliably intimidated based on the location of the birds, so that the bird repelling effect can be enhanced. Further, when the first control and the second control are used in combination, the moving object itself exerts an effect of repelling birds and is linked with the sound stimulus associated therewith, so that the sound is merely a threat. Has the effect of hiding. As a result, a permanent effect can be maintained without severely damaging birds.

The moving object is a model airplane, a model motorboat, a model car, a moving object on a rail, an elevator, a rotating rod, a water gun, a water capsule gun (a small amount of water packed in a shell-shaped plastic capsule). Guns that fire as bullets), ice bullets, and the like.

In order to achieve the first object,
The birds flying prevention device according to claim 2 is the birds flying prevention device according to claim 1, further comprising environment detection means for detecting an environment state that affects the propagation state of the sound wave, and wherein the control means is configured to: In the case of performing the control of (1), the supply timing of the sound signal is determined based on the state of the environment detected by the environment detecting means.

According to the bird's flying prevention device of the second aspect, the timing of the supply of the sound signal by the control means is determined based on the state of the environment which affects the propagation state of the sound wave detected by the environment detection means. It is determined.

Therefore, it is possible to ensure that the synthesized sound reaches only the existing position of the bird, and it is possible to prevent a problem that the sound arrives at the position estimated by the position estimating means after the bird has passed.

The environment detecting means at this time is preferably an anemometer, a thermometer, an acoustic tomography or the like.

In order to achieve the second object,
The birds flying prevention device according to claim 3 is the birds flying prevention device according to claim 1 or 2, wherein the control means, when performing the first control, comprises a waveform, an amplitude, and a frequency of a sound signal to be supplied. And at least one of the cycle of repeated supply and the reach of the sound is appropriately changed.

According to the third aspect of the present invention, when the first control is performed by the control means, the waveform, amplitude and frequency of the sound signal to be supplied, the cycle of repeated supply, and the range of the sound reach. At least one is changed appropriately.

Therefore, compared to a monotonous threat by the same sound, it is possible to further prevent habituation of birds.

In order to achieve the first object,
The birds flying prevention device according to claim 4 is the birds flying prevention device according to claim 1 or 2, further comprising an expert system storing information for discriminating the type of birds, When performing the first control,
The type of sound signal to be supplied is set based on the type of bird determined by the expert system.

According to the birds flying prevention device of the fourth aspect, the kind of birds flying by the expert system is determined, and a sound signal is set based on the determined kind of birds.

Therefore, it is possible to emit a repelling sound which is most effective for the discriminated bird, thereby enhancing the threatening effect.

The information for discriminating the kind of birds stored in the expert system is preferably a habitat, a flight route, a singing voice, a bird form, etc. for each season / time.

[0028]

BEST MODE FOR CARRYING OUT THE INVENTION

[First Embodiment] A first embodiment of the present invention will now be described with reference to the drawings.
An embodiment will be described.

FIG. 1 shows the entire structure of the bird flight prevention device 10 when applied to an airfield.

As shown in FIG. 1, the bird flight prevention device 10 of the first embodiment is a central control device as a control means for controlling the entire bird flight prevention device 10, and performs photographing of the sky above the runway 94. A pair of video sound monitoring systems 90A and 90B provided with a camera module or the like as a photographing means for obtaining image data by a pair of a plurality of speaker modules configured to generate a repellent sound for birds 92A and 92B are arranged outside both ends of the runway 94. The arrow M indicates the takeoff and landing direction of the aircraft.

As shown in FIG. 2, the camera module 34
A and 34B are cameras 36 that obtain image data as analog signals by photographing the sky above the runway 94, respectively.
And an A / D converter (hereinafter referred to as ADC) for converting image data obtained by the camera 36 into a digital signal.
A digital signal processor (hereinafter referred to as a DSP) 40 for controlling the operation of the camera 36 or performing processing such as filtering and data compression on image data obtained from the camera 36 via the ADC 38; It is configured to include a network interface 42 that performs communication control processing in transmission and reception of signals to and from the T.12. Note that the camera modules 34A and 34B are installed in the video monitoring systems 90A and 90B, respectively.

Further, n speaker modules 441 to 441
44n are network interfaces 4 for performing communication control processing in transmitting and receiving signals to and from the central control device 12.
6, a DSP 48 for receiving sound signal data from the central controller 12 and controlling output timing of the sound signal data to the speaker 52, and a D / A converter (hereinafter, referred to as a digital / analog converter) for converting a digital signal into an analog signal. DAC)
50, and an omnidirectional speaker 52 that converts a sound signal into sound and outputs the sound.

Further, the central control unit 12 includes a control unit 14
And a display 24 as a display device, and a keyboard 22 as input means for inputting data, commands, and the like. The control device 14 includes C
It includes a PU 16, a ROM 18, a RAM 20, and an input / output controller (hereinafter, referred to as I / O) 26. These CPU 16, ROM 18, RAM 2
0 and the I / O 26 are connected to each other by a bus 21. The display 24 and the keyboard 22 are:
It is connected to I / O26. The I / O 26 is also connected to an environment measuring device 32 as environment detecting means for detecting environmental conditions such as temperature, wind direction, and wind speed. The above-mentioned ROM 18 stores a control program to be described later, avoidance sound signal data for birds, and the like.

The operation of the first embodiment will be described below.
In the first embodiment, a case where only one bird has flew over the runway 94 will be described for simplicity of description and easy understanding.

When a start button (not shown) provided on the central control unit 12 is turned on by an operator, FIG.
The control routine shown in FIG.
6, the control routine shown in FIG. 7 is performed by the DSP 40 of each of the two camera modules 34A and 34B.
The control routine shown in FIG.
To 44n, respectively. Each of these control routines is repeatedly executed at predetermined time intervals.

First, a control routine executed by the CPU 16 of the control device 14 shown in FIGS. 3 to 6 will be described.

In step 202, an image capture instruction signal for instructing the start of image data capture is transmitted to the two camera modules 34A and 34B.

Next, in step 204, each compressed image data above the runway 94 transmitted from the camera modules 34A and 34B in response to the image capture instruction signal is captured, and the image data is RAM20 sequentially
Then, in step 205, each compressed image data stored in the RAM 20 is expanded by a method corresponding to the compression method.

Next, at step 206, a first image recognition routine (see FIG. 4) is executed.

At step 230 in FIG. 4, a birds flag indicating the presence or absence of birds is initialized to 0, and thereafter, at step 2
At 32, it is determined whether or not each of the image data captured by the camera modules 34A and 34B stored in the RAM 20 includes an object that does not normally exist (hereinafter, referred to as an object). If an object exists, the process proceeds to step 234 to perform the object image extraction process. Otherwise, the bird image flag is set to 0 and the first image recognition routine ends.

At this time, step 232 and step 23
The determination as to whether the object No. 4 exists or not and the extraction of the object image in the case where the object does exist are performed as follows.

First, image data when no object exists is stored in each of the camera modules 34A and 34A in advance.
4B, and each image data is stored in a predetermined area of the ROM 18. Next, in Steps 204 and 205, each image data stored in the RAM 20 and taken in by each expanded camera module 34A, 34B, and each image data stored in the ROM 18 when there is no object stored in advance are stored. If any object is present in any of the resulting differential image data, it is determined that an object is present. In this case, each differential image data itself is an image from which the object is extracted. In other cases, it is determined that there is no object.

According to the above method, it is determined that an object exists in each image data, and when the object image is extracted, the process proceeds to step 236, where the size of each object image extracted in step 234 is normalized. Do. The normalization in the present embodiment is performed by enlarging or reducing the size of the extracted object image in the horizontal direction of the circumscribed frame to a predetermined value.

When the normalization of each object image is completed, in step 238, feature extraction of each object is performed using the normalized object image. The feature in the present embodiment is assumed to be data representing the shape of an object.

When the feature extraction of each object is completed,
In step 240, the feature data of each extracted object is stored in the RAM 20. The object characteristic data stored here is used in a second image recognition routine described later.

The characteristic data of each object is stored in the RAM 20
In step 242, in step 242, the feature data of each object is compared with the feature data of a known bird image, which is stored in advance in the ROM 18 as standard data and normalized in the same manner as the normalization. In step 244, it is determined whether each object is a bird based on the collation result. As a result, if any of the objects is determined to be a bird, step 246 is executed.
Then, the process is shifted to, and 1 is substituted into the birds flag to end the first image recognition routine. In other cases, the birds flag is left at the initial setting value of 0, and the first image recognition routine is ended. .

When the first image recognition is completed, step 2
At 08 (see FIG. 3), the birds flag set in the first image recognition routine is referred to, and when the value of the birds flag is 1, the birds flag is set within the photographing range of each of the camera modules 34A and 34B. Step 210 when it is determined that birds exist.
If the value of the birds flag is 0, it is determined that there is a bird that terminates the control routine. In step 210, the three-dimensional spatial position of the bird is calculated.
As shown in FIG. 9, the three-dimensional coordinate C of the camera 36L is (0, 0, 0), the three-dimensional coordinate C ′ of the camera 36R is (x ′, 0, 0), and the three-dimensional coordinate P of the bird is ( x,
y, z).

Also, let S be the intersection of a perpendicular foot lowered parallel to the Z axis from the three-dimensional coordinates P of the bird and the XY plane,
Further, the angle formed by the points SCC 'is θ, the angle formed by the points SC'C is θ', the angle formed by the points PCS is φ, and the angle formed by the points PC'S is φ '.

At this time, the three-dimensional coordinates P (x, y,
z) is: x = (x ′ sin θ′cos θ) / sin {π− (θ + θ ′)} (1) y = (x′sin θ ′ sin θ) / sin {π− (θ + θ ′)} (2) z = (x ′ sin θ ′ tan φ) / sin {π− (θ + θ ′)} (3)

Since the three-dimensional coordinates of the camera 36L and the camera 36R are given in advance, the equations (1), (2) and (3) are read from the ROM 18 in step 210, and the camera 36L and the camera 36R By substituting the horizontal and vertical angles of each camera with respect to the bird at the time when the image is captured into equations (1), (2), and (3), the three-dimensional spatial coordinates P (x, y, z) can be determined.

In the next step 212, the processing is stopped for a predetermined time, and after the predetermined time has passed, in step 214, as in step 202, the two camera modules 34 are stopped.
A, and an image capture instruction signal for instructing the start of image data capture is transmitted to 34B. In step 216, as in step 204, the camera module 34A, The compressed image data in the sky above the runway 94 transmitted from the runway 34B is taken in, the image data is sequentially stored in the RAM 20, and in step 217, the compressed image data stored in the RAM 20 is expanded.

Next, at step 218, a second image recognition routine (see FIG. 5) is executed.

In step 250 of FIG. 5, a bird flag indicating whether or not the same bird as the bird whose existence has been confirmed in the first image recognition routine is set to 0, and thereafter, in step 252, Step 214 to step 21
7, it is determined whether or not an object exists from each image data of the camera modules 34A and 34B stored in the RAM 20. If the object exists, the process proceeds to step 254 to perform the extraction process of the object image. If no, the second image recognition routine is terminated with the bird flag set to 0, and the routine proceeds to step 22 in FIG.
The processing shifts to 0.

At this time, the determination as to whether or not an object exists in each image data and the extraction of the object image in the presence of the object are performed by the same method as that used in the above-described first image recognition routine.

When the extraction of the object image from each image data is completed, the process moves to step 256, and the normalization of the size of each object image extracted in step 254 is performed in step 2 in the first image recognition routine.
Perform the same method as in 36.

When the normalization of each object image is completed, in step 258, the same type of feature extraction as in step 238 of the first image recognition routine is performed on each object image.

When the feature extraction of each object is completed,
In step 260, the characteristic data of each object,
In step 240 of the first image recognition routine, collation with the feature data stored in step 240 is performed.
Then, it is determined whether or not the object is the same bird as the bird determined to be a bird in the first image recognition routine based on the collation result. If it is determined that the birds are the same, the process proceeds to step 264,
Substituting 1 for the birds flag and terminating the second image recognition routine. If it is determined that the birds are not the same bird, the birds flag is terminated with the initial setting value of 0 and the second image recognition routine is terminated. I do.

When the second image recognition is completed, step 2
At 20 (see FIG. 3), the same bird flag set in the second image recognition routine is referred to, and if the value of the same bird flag is 1, the existence is confirmed in the first image recognition routine. It is determined that the same bird as the bird exists, and Step 222 is performed.
If the value of the bird flag is 0, it is determined that the same bird as the bird whose existence has been confirmed in the first image recognition routine cannot be confirmed, and the control routine ends. If it is determined that a bird is present, step 22
In 2, the three-dimensional spatial position of the bird is calculated in the same manner as in step 210.

In the next step 224, step 210
Then, based on the two three-dimensional spatial position coordinates calculated in step 222, the position of the bird after a predetermined time has elapsed from that point is estimated. As shown in FIG. 10, the three-dimensional space coordinates of the bird position P1 calculated in step 210 are set to (x1, y1, z1), and step 222 is performed.
The three-dimensional space coordinates of the bird's position P2 after t1 seconds calculated in are set to (x2, y2, z2), and the three-dimensional space coordinates of the bird's estimated position Px after tx seconds are (xx, yx, z
x), in the present embodiment, the three-dimensional spatial coordinates (xx, yx, zx) of the estimated position Px are: xx = x2 + {(x2-x1) × (tx / t1)} (4) yx = y2 + {(y2-y1) × (tx / t1)} (5) zx = z2 + {(z2-z1) × (tx / t1)} (6) I do.

When the estimation of the position of the bird tx seconds later is completed, in step 226, a first threatening processing routine (see FIG. 6) is executed.

In step 270 in FIG. 6, an area of a predetermined size including the bird's position after tx seconds estimated in step 224 is set as a sound collection range for the bird.

In the next step 272, each speaker 52
, The phase difference of the sound signal corresponding to the sound to be emitted from the speaker 52 is calculated based on the position information about each speaker 52 fetched from the ROM 18 and the position information of the sound collection range set in step 270.

Here, as shown in FIG. 11, a synthetic sound wave 102 having a wave front whose envelope is the wave front of the sound wave emitted from each of the plurality of omnidirectional speakers 52 has a predetermined sound collection range 1.
00 so that each speaker module 441-
The phases of the sound signals supplied to 44n are shifted from each other.

In the next step 274, the environment measuring device 3
2, the temperature T, the wind speed S, and the wind direction D are fetched, and in step 276, the propagation speed c of the sound wave is calculated by Expression (7) using the values of the temperature T, the wind speed S, and the wind direction D.

C = 331.5 + 0.607T + f (S, D) [m / sec] (7) Here, f (S, D) is a parameter determined by the wind speed S and the wind direction D.

Next, at step 278, an instruction signal for instructing the phase of the speaker 52 is transmitted to each of the speaker modules 441 to 44n. In the next step 280, each speaker module 4 of the sound signal data stored in advance in the ROM 18 for generating the repellent sound for the bird is set with a predetermined data amount as one unit.
The transmission to 41 to 44n is started. Thereafter, the sound signal data is intermittently transmitted to the speaker modules 441 to 44n using the predetermined data amount as one unit. In the next step 282, a timing signal as a reference timing is transmitted to each of the speaker modules 441 to 44n in consideration of the propagation speed c of the sound wave calculated in step 276,
Proceed to step 284. In step 284, it is determined whether or not all the sound signal data transmitted in step 280 has been transmitted. Here, the transmission of the sound signal data is repeated until it is determined that the transmission of all the data has been completed, and when the transmission of all the data has been completed, the affirmative determination is made, the processing of the first intimidation processing routine is completed, and The routine also ends.

Next, each camera module 34 shown in FIG.
A control routine executed by each of the DSPs 40A and 34B will be described. In step 300, the process waits for reception of the image capture instruction signal transmitted from the central control device 12 in step 202 described above. Upon receiving the image capture instruction signal, in step 302, the camera 36 is instructed to start photographing. Next step 304 and step 3
At 06, the camera 36 outputs A
The image data transmitted via the DC 38 is transmitted to the DSP
A predetermined amount is stored in a buffer memory (not shown) inside 40. It is assumed that the predetermined amount in the present embodiment is equivalent to one frame of an image.

When storage of a predetermined amount of image data is completed,
In step 308, an instruction signal for instructing the camera 36 to end photographing is transmitted, and the photographing operation of the camera 36 is stopped. In the next step 310, filtering is performed on a predetermined amount of image data stored in the buffer memory inside the DSP 40. The filtering is performed to remove random noise that enters the image data. In the present embodiment, a median filter that calculates the median of the values of the pixels in the vicinity of the target pixel is used. I will do it.

When the filtering of the image data is completed, in step 312, the image data is compressed. In the present embodiment, a JPEG encoding method using ADCT (Adaptive Discrete Cosine Transform), which is a standard of the encoding method for still images, is used.

In the next steps 314 and 316, the image data compressed in step 312 is transmitted to the I / O 26 of the central controller 12, and the control routine ends.

Since the image data to be transmitted at this time has been compressed in step 312, it can be transmitted in a short time.

Next, each speaker module 4 shown in FIG.
The control routine executed by each of the DSPs 48 to 44n will be described. In step 400, the process waits for reception of an instruction signal transmitted from the central control device 12 in step 278 and relating to the phase difference of the sound signal corresponding to the avoidance sound to be emitted from the speaker module 44.
Upon receiving the above instruction signal, in step 402, the reception of the sound signal data transmitted from the central controller 12 in the above step 280 is waited for. When the above sound signal data is received, the process proceeds to step 404, and storage of the received sound signal data in a buffer memory (not shown) inside the DSP 48 is started.

DS used for storing the sound signal data
The buffer memory inside P48 is used as a ring buffer. That is, when the sound signal data is stored up to the last address of the buffer memory inside the DSP 48, the following sound signal data is stored sequentially from the head address of the buffer memory inside the DSP 48. The above DSP48
Since the sound signal data is output from the buffer memory inside the DSP 48 to the DAC 50 in parallel with the storage of the sound signal data in the internal buffer memory as described later,
Sound signal data that has not been output to the DAC 50 will not be overwritten by sound signal data received after the sound signal data.

In the next step 406, the above step 2
At 82, reception of a timing signal transmitted from the central control device 12 is waited. When the above timing signal is received, the process proceeds to step 408 to start the timer corresponding to the instructed phase difference. Then, it is determined whether or not the sound signal data output timing corresponding to the instructed phase difference has been reached in step 410. The determination is repeated based on whether the timer has timed out.

When the timer times out and the sound signal data output timing comes, the process proceeds to step 412, where the DSP 4
8 reads out a predetermined amount of sound signal data from the internal buffer memory and outputs it to the DAC 50. The sound signal data output to the DAC 50 is converted into an analog sound signal by the DAC 50 and supplied to the speaker 52.

In the next step 414, it is determined whether or not there is sound signal data that has not been output to the buffer memory inside the DSP 48. If there is sound signal data in the buffer memory, the process returns to step 412, and the sound to the DAC 50 is again sent. Outputs signal data. When there is no more sound signal data that has not been output to the buffer memory inside the DSP 48, a negative determination is made in step 414, and the control routine ends.

As a result, as shown in FIG. 11, the synthesized sound wave 102 having the envelope of the wave front of the sound wave emitted from each of the plurality of non-directional speakers 52 converges to a predetermined sound collection range 100. The repellent sound is transmitted to the desired sound collection range 100.

As described above, according to the birds flying prevention device 10 according to the first embodiment, when birds fly,
Since the existence position of the bird after a predetermined time is estimated and the repelling sound is generated so that the energy of the sound is concentrated at the estimated position, it is possible to threaten only the bird.

In the first embodiment, the case where only one bird exists is described for the sake of simplicity of explanation and easy understanding. However, the present invention is not limited to this.
It may be applied when multiple birds exist in a group,
Further, the present invention may be applied to a case where birds are dispersed in a plurality of places. When a plurality of birds exist in a group, for example, the object extraction process in the first embodiment is performed as a process of extracting an object for one bird located in a substantially central portion among the birds forming the group. A method of performing the same processing as in the first embodiment can be considered. In this case, it is also effective to grasp the size of the group and to change the sound collection range according to the size of the group. In the case where birds are distributed in a plurality of places, for example, when determining whether or not an object exists in the first image recognition routine, the number of existing objects is also grasped, and the subsequent processing is performed. A method is conceivable in which time division is performed for the number of objects.

In the first embodiment, the case where only one type of sound signal is used for threatening birds has been described. However, the present invention is not limited to this, and the waveform, amplitude, frequency, The supply cycle and the sound arrival range may be changed as appropriate.

Further, in the first embodiment, as a method of extracting an object image from image data, a case is described in which a difference from image data collected when no object exists is described. However, the present invention is not limited to this. For example, the difference between the image data obtained in step 205 and the image data obtained in step 217 may be calculated. In this case, it is not necessary to collect image data when no object exists, and at the same time, both object images can be extracted in one process.

In the first embodiment, a case has been described where only data representing the shape of a target object is used as a feature used when performing image recognition. However, the present invention is not limited to this, and represents a feature of a bird. The object, for example, color data of the object may be used together.

Further, in the first embodiment, as a method of estimating the location of a bird after a predetermined time, a case is described in which three-dimensional spatial positions of only two locations where the bird is present are used. The present invention is not limited to this, and may be any number of two or more. For example, when three three-dimensional spatial positions where the bird was present are used, the difference between the distance from the first position to the second position and the distance from the second position to the third position, The accelerating state of the bird is determined, and the accelerating state can be reflected in the estimation, and more accurate estimation can be performed.

In the first embodiment, the case in which the number of camera modules 34 is two has been described. However, the present invention is not limited to this. Monitoring may be performed simultaneously.

Further, in the first embodiment, a case has been described in which an omnidirectional speaker is used as a speaker that generates an evading sound. However, the present invention is not limited to this, and a directional speaker may be used. In this case, each directional loudspeaker generates an evading sound toward the direction of the position of the bird to be threatened after a predetermined time.

[Second Embodiment] Next, a second embodiment of the present invention will be described. The same portions as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIG. 12, the birds flying prevention apparatus 10 according to the second embodiment further includes a microphone module 54 and an expert system 70, and the microphone module 54 further transmits sound data on the runway 94. A microphone 56 that obtains an analog signal, an ADC 58 that converts sound data obtained by the microphone 56 into a digital signal, and a communication control process in the transmission and reception of signals between the DSP 60 and the central control device 12 that perform processes such as control of the operation of the microphone 56 And a network interface 62 for performing the following. The microphone module 54 is arranged inside the video monitoring system 90A in FIG.

In the following, the operation of the second embodiment will be described, focusing only on the differences from the first embodiment.

In the second embodiment, as shown in FIG. 13, when a start button (not shown) provided on the central control unit 12 is turned on by an operator, step 20 is executed.
2B, two camera modules 34A, 34B
, An image capture instruction signal for instructing the start of image data capture is transmitted to the microphone module 54
Transmits a sound capture instruction signal for instructing the start of capture of sound data.

Next, at step 204B, each of the camera modules 34A, 34A corresponds to the image capture instruction signal.
B. The image data of the sky above the runway 94 transmitted from B is taken in, and the image data is sequentially stored in the RAM 20, and at the same time, the runway 94 transmitted from the microphone module 54 in response to the sound capture instruction signal. The upper sound data is fetched, and the sound data is sequentially stored in the RAM 20.

Thereafter, steps 205 to 22
4 performs the same processing as in the first embodiment. In step 225, the type of bird is specified using the expert system 70. The expert system 70 stores flight paths, sounds, and shapes of known birds in association with bird types as data. The flight path, sound data, and image data obtained in the processing up to step 224 are stored. , The type of bird is specified, and the central controller 12
Output.

When the type of bird is specified, step 226 is performed.
The process shifts to B, and a second threat processing routine (see FIG. 14) is executed.

In step 270 of FIG. 14, after the sound collection range is set in the same manner as in the first embodiment, in step 271 the ROM 18 is stored in the ROM 18 based on the type of bird obtained by the expert system 70. From the plurality of sound signal data stored in advance, the sound signal data that causes the speaker 52 to generate the most effective repellent sound for the bird is selected, and thereafter, the sound signal data is generated from the speaker in the same manner as in the first embodiment. Try to generate repellent sounds.

Next, the microphone module 54 shown in FIG.
A control routine executed by the DSP 60 will be described. In step 500, the process waits for reception of the sound capture instruction signal transmitted from the central control device 12 in step 202B described above. Upon receiving the above instruction signal, in step 502, the microphone 56 is instructed to start sound collection. In the next steps 504 and 506, sound data transmitted from the microphone 56 via the ADC 58 in response to the sound collection start instruction is stored for a predetermined time in a buffer memory (not shown) inside the DSP 60.

When the storage of the sound data for a predetermined time is completed, in step 508, an instruction to end the sound collection is issued to the microphone 56, and the operation of the microphone 56 is stopped.

In the next steps 510 and 512, the sound data stored in the buffer memory inside the DSP 60 is transmitted to the I / O 26 of the central controller 12, and the control routine ends.

As described above, the bird flying prevention device 10 according to the second embodiment includes the expert system 70.
The most effective repelling sound for that bird is selected and emitted, specifying the type of bird that has come flying.
A more effective threat can be achieved as compared with the bird flight prevention device 10 of the embodiment. In the second embodiment, a case has been described in which the expert system 70 uses three types of data of a flight path, a sound, and a shape as data used to specify the type of a bird, but the present invention is not limited to this. For example, habitat data for each season and time may be used for specifying the type of bird in addition to the above three types of data.

[Third Embodiment] Next, a third embodiment of the present invention will be described. The same portions as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIG. 16, the birds flying prevention device 10 according to the third embodiment further includes a radio control module 80 in addition to the birds flying prevention device 10 according to the first embodiment. The control module 80 further performs a communication control process for transmitting and receiving signals to and from the central controller 12 and a radio controller 82 that controls the flight operation of a model airplane as a moving object (not shown), and a DSP 84 that controls the operation of the radio controller 82. It is configured to include a network interface 86. Note that the radio control module 80
It is arranged inside the video monitoring system 90A in FIG.

In the following, the operation of the third embodiment will be described, focusing only on the differences from the first embodiment.

In the third embodiment, as shown in FIG. 17, when the future location of birds is estimated in step 224, a third intimidation processing routine (see FIG. 18) is executed in step 226C. .

At step 268 in FIG. 18, the position of the bird after a predetermined time obtained in step 224 is set as the arrival position of the model airplane, and the arrival position information is transmitted to the radio control module 80. Thereafter, after step 270, the same processing as the first threat processing routine in the first embodiment is performed.

Next, a control routine executed by the DSP 84 of the radio control module 80 shown in FIG. 19 will be described. In step 600, the above step 2
At 68, the reception of the arrival position information of the model airplane transmitted from the central controller 12 is waited. Upon receiving the arrival position information, in step 602, the flight direction and estimated arrival time of the model airplane are calculated. In DSP84,
The current position of the model airplane is always grasped, and the flight direction for reaching the arrival position from the current position in the shortest distance is set, and the flight speed and the current position of the model airplane obtained in advance experimentally are set. The time to reach the arrival position is calculated based on the distance to the arrival position.

Next, in step 604, step 602
Is transmitted to the radio controller 82, and then in step 606, a signal instructing the start of flight of the model airplane is transmitted to the radio controller 82 at a timing in consideration of the expected arrival time. Then, the flight of the model airplane is started, and in step 608, the flight is continued until the scheduled arrival time. When the determination in step 608 is affirmative, the model airplane has reached the arrival position.

When the model airplane reaches the arrival position, in step 610, an instruction signal is transmitted to the radio controller 82 to make the model airplane make a turning flight around the arrival position at a predetermined radius. Then, in step 614, an instruction signal to end the turning flight is transmitted to the radio controller 82 to stop the turning flight of the model airplane, and in step 616, the model airplane is returned to a predetermined position. An instruction signal to be transmitted is sent to the radio controller 82,
The model airplane is returned, and the control routine ends.

As described above, in the third embodiment,
As a means of intimidating birds, in addition to sound intimidation, intimidation using a model airplane as a moving object is also used. In this case, the engine sound of the model airplane also acts as a threatening sound to the bird. The model airplane itself has the effect of repelling birds and, in conjunction with the accompanying sound stimulation, has the effect of concealing that sound is merely a threat to birds. Thereby, the birds fly prevention device 10 of the third embodiment maintains a permanent effect without seriously damaging the bird. Thereafter, the effect of threatening birds can be expected even if only the conditionally reflected threatening sound is emitted.

In the third embodiment, a case where a model airplane is used as a means of intimidating birds other than the repelling sound has been described. However, the present invention is not limited to this. For example, a water gun,
Using a water capsule gun (a gun that fires a small amount of water packed in a bullet-shaped plastic capsule as a bullet), an ice bullet, a model motor boat, a model car, a moving object on a rail, an elevator, a rotating rod, etc. Is also good. In this case, for example, when using a water gun, a water capsule gun, or an ice bullet,
At the position of the bird after a predetermined period of time estimated at step 224, the threat is issued by firing water in the case of a water gun, and by firing a bullet in the case of a water capsule gun and an ice bullet.

[0108]

According to the bird flying prevention device of the first aspect, the existence position of the flying bird after a predetermined time is estimated based on the three-dimensional position of the flying bird, and the estimated position of the bird is determined with respect to the estimated position. Since at least one of the threat from the repellent sound and the threat from the moving object is performed, the threat can be reliably performed only at the position where the birds are present, and the influence of the threat to the people around the target birds is suppressed. At the same time, the threat of repelling sound and the threat of the moving body are simultaneously performed, whereby the effect of repelling birds can be made permanent.

According to the bird's flight prevention device of the second aspect, when threatening by a repelling sound, the sound by the control means is based on the state of the environment which affects the propagation state of the sound wave detected by the environment detecting means. Since the timing of supplying the signal is determined, it is possible to surely make the repellent sound reach the position where the birds are present. For example, there is a problem that the repellent sound reaches the position estimated by the position estimating means after the birds pass. The effect is that it can be prevented.

According to the third aspect of the present invention, when threatening by a repelling sound, at least one of the waveform, amplitude, frequency, repetitive supply cycle, and sound arrival range of the sound signal to be supplied is appropriately set. Since it is changed, it is possible to obtain an effect that it is possible to prevent habituation of birds more than in the case of a monotonous threat by the same sound.

According to the bird flying prevention apparatus of the fourth aspect, the type of birds flying is determined by the expert system, and when threatening by the repellent sound is performed, based on the type of bird determined by the expert system. Since the type of the sound signal is set in this way, it is possible to produce the most effective repelling sound for the bird of the discriminated type, and to increase the threatening effect.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a bird flying prevention device according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating a configuration of a birds flying prevention device according to the first embodiment.

FIG. 3 is a flowchart showing a control routine executed by the control device according to the first embodiment.

FIG. 4 is a diagram illustrating a first example of the operation performed by the control device according to the first embodiment;
9 is a flowchart showing a subroutine of the image recognition process of FIG.

FIG. 5 is a diagram illustrating a second example performed by the control device according to the first embodiment.
9 is a flowchart showing a subroutine of the image recognition process of FIG.

FIG. 6 is a diagram illustrating a first example performed by the control device according to the first embodiment;
It is a flowchart which shows the subroutine of the threat processing.

FIG. 7 is a flowchart illustrating a control routine executed on the camera module side according to the first to third embodiments.

FIG. 8 is a flowchart illustrating a control routine executed on the speaker module side according to the first to third embodiments.

FIG. 9 is a diagram provided for describing a calculation method of three-dimensional space coordinates.

FIG. 10 is a diagram provided for describing a method for estimating the location of a bird after a predetermined time.

FIG. 11 is a diagram provided for explanation of sound collection.

FIG. 12 is a block diagram illustrating a configuration of a birds flying prevention device according to a second embodiment.

FIG. 13 is a flowchart showing a control routine executed by the control device according to the second embodiment.

FIG. 14 is a flowchart illustrating a subroutine of a second threat processing executed by the control device according to the second embodiment.

FIG. 15 is a flowchart showing a control routine executed on the microphone module side according to the second embodiment.

FIG. 16 is a block diagram showing a configuration of a birds flying prevention device according to a third embodiment.

FIG. 17 is a flowchart showing a control routine executed by the control device according to the third embodiment.

FIG. 18 is a flowchart showing a subroutine of a third threat process executed by the control device according to the third embodiment.

FIG. 19 is a flowchart showing a control routine executed on the radio control module side according to the third embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Bird flying prevention device 12 Central control device (control means) 32 Environment measurement device (environment detection means) 34 Camera module (shooting means) 44 Speaker module (speaker) 54 Microphone module 70 Expert system 80 Radio control module 90 Video monitoring system 92 Array sound generator 94 Runway 100 Sound collection range 102 Synthetic sound wave

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Kenichi Umino 1-5-1, Otsuka, Inzai City, Chiba Prefecture Inside Takenaka Corporation Technical Research Institute

Claims (4)

[Claims] A plurality of photographing means for acquiring image information by photographing a predetermined area; an image recognizing means for recognizing the presence of birds based on image information of the area photographed by the plurality of photographing means; If the existence of birds is recognized by means,
Position specifying means for specifying the three-dimensional position of the bird based on the image information; and position estimation for estimating the existing position of the bird after a predetermined time based on the three-dimensional position information of the bird obtained by the position specifying means. Means, a threatening means provided with at least one of a plurality of speakers generating a sound corresponding to the supplied sound signal and a moving body which moves in accordance with the supplied control signal, and the plurality of speakers in the threatening means. The sound signals are supplied to each of the plurality of speakers with the phases of the sound signals shifted from each other so that the synthesized sound wave of the sound emitted from each reaches the bird's existence position after a predetermined time estimated by the position estimation means. A second control for supplying a control signal for moving the moving body based on the first control and the position of the birds after a predetermined time estimated by the position estimating means; Birds flying preventing apparatus characterized by having a control means for performing at least one. 2. The apparatus according to claim 1, further comprising: an environment detecting unit configured to detect an environment state affecting a propagation state of the sound wave, wherein the control unit controls a timing of supplying the sound signal when performing the first control. 2. The bird fly prevention device according to claim 1, wherein the determination is made based on the state of the environment detected by the environment detection means. 3. The control device according to claim 1, wherein, when performing the first control, at least one of a waveform, an amplitude, a frequency, a repetitive supply cycle, and a sound reach range of a sound signal to be supplied is appropriately changed. The bird flying prevention device according to claim 1 or 2, wherein 4. An expert system for storing information for discriminating the kind of birds, wherein the control means includes:
3. The bird flying prevention device according to claim 1, wherein when performing the first control, a type of a sound signal to be supplied is set based on a type of the bird determined by the expert system.