CN-121986774-A - Bird repelling device and method based on infrared imaging

CN121986774ACN 121986774 ACN121986774 ACN 121986774ACN-121986774-A

Abstract

The invention relates to the technical field of bird pest control and discloses a bird repelling device and method based on infrared imaging, wherein a main control unit is respectively and electrically connected with a repelling executing mechanism, a cradle head and an infrared imaging sensor; the bird-repellent device comprises a cloud deck, a main control unit, a bird-repellent executing mechanism and a bird-repellent executing mechanism, wherein the cloud deck is used for driving an infrared imaging sensor to move and/or rotate according to a set track, the infrared imaging sensor is used for collecting infrared imaging images in a visual field range and transmitting the infrared imaging images to the main control unit, the main control unit is used for identifying birds and space position information of the birds based on the infrared imaging images transmitted by the infrared imaging sensor, the bird-repellent executing mechanism is used for sending a bird-repellent instruction to the bird-repellent executing mechanism, the track of the movement and/or rotation of the cloud deck is set, and the bird-repellent executing mechanism is used for repelling birds according to the bird-repellent instruction sent by the main control unit. The invention solves the problems of low bird-repellent success rate and the like caused by large environmental interference in the prior art.

Inventors

WANG XIAOCHUAN
CAO YE
QI XIN
XU HAILIN
GUO XUPENG
ZHANG LONGLONG
ZHANG LIQIANG
ZHANG YUCHENG
WANG BO
FU SHUAI
Feng Enyu
WANG ZHIWEI
Shang Zitong
JIANG TAO

Assignees

华润财金新能源(东营)有限公司

Dates

Publication Date: 20260508
Application Date: 20251210

Claims (10)

1. The bird repellent device based on infrared imaging is characterized by comprising a main control unit, a driving execution mechanism, a cradle head and an infrared imaging sensor arranged on the cradle head, wherein the main control unit is electrically connected with the driving execution mechanism, the cradle head and the infrared imaging sensor respectively; Wherein: the cradle head is used for driving the infrared imaging sensor to move and/or rotate according to the set track; the infrared imaging sensor is used for acquiring infrared imaging images in the field of view and transmitting the infrared imaging images to the main control unit; The main control unit is used for identifying birds and space position information thereof based on infrared imaging images transmitted by the infrared imaging sensor, sending a bird repelling instruction to the repelling executing mechanism and setting a moving and/or rotating track of the cradle head; The bird repelling executing mechanism is used for repelling birds according to the bird repelling instruction sent by the main control unit.
2. The infrared imaging-based bird repellent device according to claim 1, wherein the identification of birds and their spatial location information based on infrared imaging images comprises the steps of: Calculating whether the temperature difference value of the current frame and the previous frame of the infrared imaging image is greater than a set difference value threshold value, if so, determining that a motion area is detected, and entering the next step; Setting a temperature threshold, performing binarization processing on the infrared imaging image, and marking pixels with the temperature threshold in the infrared imaging image as a foreground; Carrying out connected domain analysis on the foreground, determining a connected domain and marking; Calculating the characteristics of each connected domain, wherein the characteristics comprise one or more of centroid coordinates, areas and envelope rectangles; The method comprises the steps of carrying out morphological discrimination on the characteristics, determining that a connected domain to which the characteristics belong comprises the target birds if the characteristics meet morphological discrimination conditions, and recording information of the connected domain, and determining that the connected domain to which the characteristics belong does not comprise the target birds if the characteristics do not meet the morphological discrimination conditions, wherein the information of the connected domain comprises one or more of coordinates, width, height, average temperature and time stamp.
3. The bird repellent device based on infrared imaging according to claim 2, comprising a laser radar and a radar processing unit electrically connected with each other, wherein the radar processing unit is electrically connected with the main control unit; Wherein: the laser radar is used for carrying out 360-degree rotation scanning in a scanning space, obtaining distance information by emitting laser beams and receiving reflected signals of the laser beams, and constructing a two-dimensional point cloud model of the scanning space; The radar processing unit is used for extracting distance information in the two-dimensional point cloud model to form distance characteristics and transmitting the distance characteristics to the main control unit.
4. The infrared imaging-based bird repellent device according to claim 3, wherein 360-degree rotational scanning is performed in a scanning space, distance information is obtained by emitting a laser beam and receiving a reflected signal of the laser beam, and a two-dimensional point cloud model of the scanning space is constructed, comprising the steps of: 360-degree rotation scanning is carried out in a scanning space, a laser beam is emitted, and a reflected signal of the laser beam is received; extracting sampling points, a starting angle, an ending angle and a distance of the reflected signals; Calculating the angle of the sampling point based on the initial angle and the end angle; Judging whether the distance is valid or not, if the distance is within the set numerical range, converting the coordinate of the distance from the polar coordinate to the Cartesian coordinate based on the angle of the sampling point, taking the distance as point cloud data, and entering the next step; dividing the point cloud data into sectors with set quantity for spatial clustering; Calculating the number of points, the barycenter coordinates, the angle range and the distance range in the sector; Judging whether the number of points is more than or equal to a set threshold value, if so, taking the number of points, centroid coordinates, an angle range and a distance range in a sector as information of a point cloud model, and if not, discarding the sector.
5. The bird repellent device based on infrared imaging of claim 4, wherein the main control unit is further configured to coordinate-match spatial location information of the target bird identified by the infrared imaging image with a point cloud model established by the laser radar, and determine a location of the target bird by a coordinate mapping algorithm.
6. The bird repellent device based on infrared imaging according to claim 1, wherein the driving actuator comprises a laser module and a voice module which are respectively electrically connected with the main control unit; Wherein: the laser module is used for flashing and irradiating according to the command for dispelling birds sent by the main control unit; The voice module is used for broadcasting the bird call.
7. The infrared imaging-based bird repellent device according to claim 6, wherein the cradle head is further configured to drive the laser module and the voice module to move and/or rotate according to a set track.
8. The bird repellent device based on infrared imaging according to claim 1, wherein the cradle head comprises a longitudinal axis double-shaft steering engine (4), a transverse axis single-shaft steering engine (5) and a bearing (9), and the longitudinal axis double-shaft steering engine (4) is movably connected with the transverse axis single-shaft steering engine (5) through the bearing (9).
9. The infrared imaging-based bird repellent device according to any one of claims 1 to 8, further comprising a wireless module, a cloud system, and the main control unit, the wireless module, and the cloud system are electrically connected in sequence.
10. An infrared imaging-based bird repelling method, characterized in that an infrared imaging-based bird repelling device according to any one of claims 1 to 9 is used for bird repelling, comprising the steps of: the cradle head drives the infrared imaging sensor to move and/or rotate according to the set track; the infrared imaging sensor acquires infrared imaging images within the field of view and transmits the infrared imaging images to the main control unit; The main control unit recognizes birds and space position information thereof based on infrared imaging images transmitted by the infrared imaging sensor, sends a bird-repelling instruction to the repelling executing mechanism, and sets a moving and/or rotating track of the cradle head; The bird-repellent executing mechanism moves and/or rotates according to the track set by the main control unit and the bird-repellent instruction sent by the main control unit.

Description

Bird repelling device and method based on infrared imaging Technical Field The invention relates to the technical field of bird pest control, in particular to a bird repelling device and method based on infrared imaging. Background The transformer substation is used as an important pivot of the power system, and the safe and stable operation of the transformer substation is crucial. However, the damage caused by nesting and staying of birds in the transformer substation is increasingly remarkable, and the safety problems of short circuit faults, insulator pollution flashover, wire damage and the like can be caused by bird activities, so that the safety problems become important factors affecting the safe operation of the transformer substation. The bird-repelling method commonly used in the current transformer substation mainly comprises two major categories of physical protection and intelligent bird-repelling. Physical protection methods such as bird thorns and bird nets require a large amount of installation, are high in cost, influence equipment inspection maintenance, and have limited coverage. The intelligent bird repellent device generally adopts technologies such as visual recognition, ultrasonic wave, shock feeling or voiceprint recognition, but has obvious defects. The bird repellent device based on visual recognition is sensitive to illumination conditions, has poor effect in low light and night environments, has low bird repellent success rate and is high in all-weather monitoring difficulty. High-pixel cameras and high-performance computing platforms are required for remote identification, and a large amount of in-situ data set training is required, so that the method is high in cost and difficult to deploy in areas lacking a sample library. The device based on ultrasonic wave is easy to be interfered by wind noise, and particularly, the performance of the device is difficult to meet the requirements in a high electromagnetic interference environment of a transmission tower of a transformer substation. The method based on vibration sense and voiceprint recognition is greatly interfered by environmental noise, the success rate of bird repelling is lower, and the bird repelling effect is poorer. Disclosure of Invention In order to overcome the defects of the prior art, the invention provides a bird repellent device and a bird repellent method based on infrared imaging, which solve the problems of low bird repellent success rate and the like caused by large environmental interference in the prior art. The technical scheme for solving the technical problems is as follows: The bird repellent device based on infrared imaging comprises a main control unit, a driving execution mechanism, a cradle head and an infrared imaging sensor arranged on the cradle head, wherein the main control unit is electrically connected with the driving execution mechanism, the cradle head and the infrared imaging sensor respectively; Wherein: the cradle head is used for driving the infrared imaging sensor to move and/or rotate according to the set track; the infrared imaging sensor is used for acquiring infrared imaging images in the field of view and transmitting the infrared imaging images to the main control unit; The main control unit is used for identifying birds and space position information thereof based on infrared imaging images transmitted by the infrared imaging sensor, sending a bird repelling instruction to the repelling executing mechanism and setting a moving and/or rotating track of the cradle head; The bird repelling executing mechanism is used for repelling birds according to the bird repelling instruction sent by the main control unit. The beneficial effects of the invention are as follows: The invention combines the infrared imaging technology and the laser radar technology, overcomes the dependence of the traditional visible light recognition on illumination conditions, realizes the automatic recognition of birds in all weather and all time periods, can still stably work in severe weather such as night, haze, rain and snow, and the like, works in a middle infrared band, is less influenced by high electromagnetic interference environment of a transformer substation, realizes the on-demand bird driving function through a temperature characteristic recognition algorithm, avoids the problems of energy waste and bird adaptability caused by continuous work, remarkably expands the monitoring coverage range in a cradle head active scanning mode, remarkably improves bird driving efficiency compared with the fixed visual angle monitoring, does not need a complex deep learning model and a large amount of training data in the method based on temperature characteristic recognition, greatly reduces calculation power requirements and deployment cost, and can run on a low-cost platform. On the basis of the technical scheme, the invention can be improved as follows. As a preferred technical solution, identifying birds