Acousto-optic directional denial strategy system and method for airport safety

Abstract

The invention discloses an acousto-optic directional denial strategy system and method for airport safety, and relates to the technical field of bird repellency, an acousto-optic collaborative directional denial system is formed, sensors of different types are installed in the system, bird scales are classified, different acousto-optic frequency ranges are set for different bird scales, and therefore the bird repellency is improved. Marking danger levels, and constructing a four-dimensional expelling strategy library; giving different weights for different state data, and fusing different bird state data according to the weights to obtain a bird stress resistance index; the bird stress resistance index is judged through the repelling threshold value, and different repelling strategies are selected; setting an unpredictable time sequence modulation mechanism in a selected expelling strategy frequency range, and dynamically adjusting an acousto-optic emission time sequence and a sound wave frequency; counting the bird repelling failure rate, measuring the bird escape time during each repelling, calculating the resistance inhibition coefficient, judging the resistance inhibition coefficient, and updating the four-dimensional repelling strategy library.

Description

Technical Field

[0001] This invention relates to the field of bird deterrence technology, specifically to an acoustic and optical directional denial strategy system and method for airport security. Background Technology

[0002] Traditional airport bird control methods include physical deterrence (such as scarecrows and protective netting), chemical agents, and ultrasonic bird deterrence. However, these methods suffer from low efficiency, strong bird adaptability, and environmental pollution. For example, ultrasonic bird deterrence has a limited effective range, strong sound bird deterrence lacks monitoring and assessment methods, and laser bird deterrence is ineffective during the day. In 2008, my country introduced non-lethal sonic weapons from the United States for the first time and exhibited them at the China International Police Equipment Expo. Subsequently, related technologies in China developed rapidly, and acoustic deterrence equipment began to be used by the military, armed police, and other units. In the field of airport security, the introduction of acoustic and optical directional technologies for bird control and other security threats has also begun. With continuous technological advancements, acoustic and optical directional denial systems for airport security have gradually improved. For example, some bird control systems integrate directional acoustic bird deterrence equipment and motion detection systems, achieving effective driving away and centralized control of bird flocks. Simultaneously, laser technology has also been applied to airport bird control, using laser beams of specific wavelengths to deter and drive away birds.

[0003] However, when using sound waves and lasers to scare away birds, the birds vary in size and have different resistance to sound and light. Therefore, targeted bird scare strategies are needed to drive them away. However, birds move quickly, resulting in rapid changes in real time. Therefore, it is crucial to adjust the scare strategy quickly according to the changes. In addition, birds have a natural adaptability to the environment. In static scare strategies, the effectiveness of sound and light will be greatly reduced after a period of use due to the birds' adaptation. Summary of the Invention

[0004] The purpose of this invention is to provide an acoustic and optical directional denial strategy system and method for airport security, in order to solve the problems raised in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A method for acoustic and optical directional denial strategy for airport security, the method comprising the following steps: S100. Sound wave emitters and laser emitters are set up at the airport to form an acoustic-optical coordinated directional denial system. Different types of sensors are installed in the system to collect data on the status of birds when the system drives them away. Furthermore, the specific steps for the data acquisition system to collect data on the birds' status during the bird removal process are as follows: S101. An audio-visual transmission tower is set up in the airport. The audio-visual transmission tower is equipped with a sound wave transmitter and a laser transmitter. An additional monitoring radar is installed. The monitoring radar detects birds in the airport. When a bird is detected, a response signal and the bird's location information are sent to the sound wave transmitter and the laser transmitter. After receiving the response signal, the sound wave transmitter and the laser transmitter emit sound waves and lasers respectively according to the bird's location information. Simultaneously equipped with a sonic emitter, a laser emitter, and a monitoring radar, the monitoring radar can quickly detect birds and send their location information, allowing the sonic and laser emitters to accurately target the birds. This avoids the problems of blind firing and low efficiency of traditional deterrent equipment, ensuring that the deterrent effect is on the target birds and reducing interference with non-target areas.

[0006] Infrared thermal imagers and microphone arrays are installed in the sound and light transmission tower. The infrared thermal imagers are used to detect bird body temperature data, and the microphone arrays are used to detect bird call frequency data. All sensors and radars are spatiotemporally calibrated to output different types of data collected at the same time and space. S102. Extract the effective radius of the acoustic wave emitter and laser emitter in each acoustic-optical transmission tower, and set the spacing between the acoustic-optical transmission towers using the formula: D=3 1 / 2 ×r, where D represents the spacing between the acoustic and optical transmission towers, and r represents the effective radius of the acoustic wave transmitter and the laser transmitter. The effective radius is the minimum of the two transmission radii of the acoustic wave transmitter and the laser transmitter. Acoustic and optical transmission towers are set up in the airport according to the spacing. A honeycomb grid coverage model is used to regard the effective coverage area of ​​each acoustic and optical transmission tower as a hexagon. All acoustic and optical transmission towers are used to construct an airspace wall in the airport.

[0007] By treating the effective range of each transmission tower as a hexagon, the coverage area of ​​the equipment can be maximized, blind spots can be eliminated, the airport airspace can be protected in all aspects, and birds can be effectively prevented from entering the critical areas of the airport from areas that have never been covered.

[0008] S200: Collect bird size data from historical bird removal records at the airport, classify bird sizes, extract sound and light frequencies from the removal records, set different sound and light frequency ranges for different bird sizes, mark the danger level, and build a four-dimensional bird removal strategy library. Furthermore, the specific steps for constructing the four-dimensional expulsion strategy library are as follows: S201. Collect bird size data from historical bird removal records at the airport and classify the bird sizes. Collect the body size data of all birds in the removal records, calculate the average body size of all birds, classify birds larger than the average body size as large birds, and classify birds smaller than the average body size as small birds. For the number of birds during migration, extract the minimum number of birds during migration as the migration group threshold. When the number of birds appearing at the airport at the same time is greater than the migration group threshold, it is judged as a migration group. Finally, classify the bird sizes in the airport into large birds, small birds, and migration groups. Birds are categorized into large and small based on their average body size, and migration groups are determined by combining this with migration group thresholds, making the bird size classification more realistic. Birds of different sizes respond significantly to dispersal methods; for example, larger birds may require stronger dispersal efforts. This classification method provides a basis for developing differentiated dispersal strategies, avoiding a "one-size-fits-all" approach and improving the targeting of dispersal efforts.

[0009] S202. Extract the sound wave frequencies and laser frequencies emitted by the acoustic and laser emitters from the deterrence records for different bird sizes, and extract the maximum and minimum values ​​to form frequency ranges [p]. min p max The system sets danger levels for different bird sizes: small birds are class 1, large birds are class 2, and migratory flocks are class 3. A four-dimensional repulsion strategy is constructed based on {bird size, frequency range, danger level}. The repulsion strategies for the three bird sizes are integrated to obtain a four-dimensional repulsion strategy library.

[0010] S300: Standardize the bird state data collected in real time by the sensor during bird removal, assign different weights to different state data, and fuse the different bird state data according to the weights to obtain the bird stress resistance index. Furthermore, the specific steps for fusing data from different bird states according to weights to obtain the bird stress resistance index are as follows: S301. Use monitoring radar to track the movement data of birds when they are driven away to obtain the birds' escape acceleration a. Use an infrared thermal imager to detect the change in the birds' body temperature ΔT when they escape. Use a microphone array to detect the frequency shift of the birds' calls Δf. Set weights w1, w2, and w3 for the three types of bird status data respectively. The weights are set by airport staff based on experience. The detected bird state data for the three species were standardized, and the standardized bird state data were then fused using weights, as shown in the formula: ; In the formula, R represents the bird stress resistance index, and a0 represents the initial escape acceleration of the bird before being driven away.

[0011] S400. Calculate the expulsion threshold based on different safety levels in the four-dimensional expulsion strategy library, use the expulsion threshold to judge the stress resistance index of birds, and select different expulsion strategies. Furthermore, the specific steps for selecting different expulsion strategies are as follows: S401. During the initial operation of the acoustic-optical coordinated directional rejection system, calculate the resistance index for each rejection attempt at three bird species. Calculate the average and standard deviation of the resistance index. Use the average plus the standard deviation to obtain the upper control limit (UCL). During subsequent operation of the acoustic-optical coordinated directional rejection system, calculate the rejection resistance index. When the resistance index is less than the upper control limit, optimize the average and standard deviation of the resistance index from the initial operation using the resistance index. The formula is: ; In the formula, μ(t) represents the average resistance index at the t-th expulsion, and R... t Let μ(t-1) represent the resistance index at the t-th eviction, and μ(t-1) represent the average resistance index at the (t-1)-th eviction. This represents the variance of the resistance index at the t-th eviction. This represents the standard deviation at the t-th eviction. Let represent the variance of the resistance index at the (t-1)th expulsion, and λ represent the smoothing factor; the optimized standard deviation is obtained by taking the arithmetic square root of the optimized resistance index variance. S402. For each bird size, the deportation strategy is calculated using the optimized mean plus standard deviation. Let In1 be the deportation threshold for small birds, In2 be the deportation threshold for large birds, and In3 be the deportation threshold for migratory flocks. When birds are deported in real time, the real-time resistance index is judged using the three deportation thresholds, and the real-time deportation strategy is dynamically changed. Specifically, when the real-time resistance index is less than In1, the danger level class1 strategy is selected; when the real-time resistance index is less than In2 but greater than In1, the danger level class2 strategy is selected; and when the real-time resistance index is less than In3 but greater than In2, the danger level class3 strategy is selected.

[0012] The deportation thresholds (In1, In2, In3) for different bird sizes are calculated based on the optimized average value plus standard deviation. The corresponding strategy is selected based on the relationship between the real-time resistance index and the threshold. The deportation strategy is flexibly adjusted according to the real-time stress resistance of the birds. For example, when the bird resistance index increases, a stronger deportation strategy is automatically selected to avoid deportation failure due to lag in the deportation strategy, thereby improving the flexibility and effectiveness of deportation.

[0013] S500: Within the selected drive-away strategy frequency range, an unpredictable timing modulation mechanism is set to dynamically adjust the acoustic and optical emission timing and acoustic wave frequency. Furthermore, the specific steps for dynamically adjusting the acousto-optic emission timing and sound wave frequency are as follows: S501. After selecting the removal strategy, an unpredictable timing modulation mechanism is set within the acousto-optic frequency range of the removal strategy, specifically as follows: ; In the formula, g n+1 G represents the time interval between the (n+1)th acousto-optic emission. n This represents the time interval between the nth sound and light emission; setting an unpredictable time interval for sound and light emission breaks the fixed timing pattern. Birds have the ability to learn and adapt, and a fixed timing method of deterrence can easily lead to bird adaptation, reducing the deterrence effect. An unpredictable timing can effectively avoid this problem and maintain the deterrent effect of the deterrence method.

[0014] The acoustic-optical frequency random walk mechanism is constructed using the following formula: ; In the formula, f s (g) represents the acoustic-optical frequency at time interval g, and rand(g) represents a pseudo-random number based on the time interval. Based on the aforementioned unpredictable temporal modulation mechanism and acoustic-optical frequency random walk mechanism, sound waves and lasers are emitted within the selected frequency range according to random emission time intervals and random acoustic-optical frequencies to drive away birds. A frequency random walk mechanism is constructed to make the acoustic-optical frequency change randomly within the effective range. The randomly changing frequency can stimulate birds from multiple aspects, increasing their discomfort and further improving the driving-away effect, while avoiding birds developing tolerance to a single frequency.

[0015] S600: Statistically calculate the bird removal failure rate, measure the bird escape time during each removal, calculate the resistance inhibition coefficient, judge the resistance inhibition coefficient, and update the four-dimensional removal strategy library.

[0016] Furthermore, the specific steps for updating the four-dimensional expulsion strategy library are as follows: S601, the acoustic-optical coordinated directional denial system records each expulsion attempt and calculates the expulsion failure rate using the formula: pf=N fail / N total Where pf represents the removal failure rate, N fail N represents the number of failed expulsion records. total This represents the total number of times birds were driven away; the escape time tr of birds during each drive was measured, and the resistance inhibition coefficient was calculated using the following formula: ; In the formula, The resistance inhibition coefficient is represented by α, the decay coefficient by tr0, the initial escape time by pf0, and the initial expulsion failure rate by pf0. The expulsion failure rate is calculated and the escape time of birds is measured. The expulsion effect is presented in the form of specific data, which makes it easier for staff to intuitively understand the effectiveness of the current strategy and provides an objective basis for judging whether the strategy needs to be updated.

[0017] S602, when When the value is less than 0.9, it is determined that the four-dimensional expulsion strategy library needs to be updated, and the deep learning algorithm is started to update the four-dimensional expulsion strategy library.

[0018] An acoustic-optical directional denial strategy system for airport security includes an acoustic-optical coordinated directional denial module, a four-dimensional deterrence strategy library module, a resistance index calculation module, a strategy selection module, a random mechanism emission module, and a strategy update module. The acoustic-optical coordinated directional denial module is used to set up acoustic wave emitters and laser emitters at the airport to form an acoustic-optical coordinated directional denial system. Different types of sensors are installed in the system to collect the status data of birds when the system drives them away. The four-dimensional repulsion strategy library module is used to set different sound and light frequency ranges for different bird sizes and mark the danger level to build a four-dimensional repulsion strategy library. The resistance index calculation module is used to assign different weights to different state data, and to fuse different bird state data according to the weights to obtain the bird stress resistance index. The strategy selection module is used to calculate the expulsion threshold based on different safety levels in the four-dimensional expulsion strategy library, use the expulsion threshold to judge the stress resistance index of birds, and select different expulsion strategies. The random mechanism emission module is used to set an unpredictable timing modulation mechanism within the selected drive-away strategy frequency range to dynamically adjust the acousto-optic emission timing and acoustic frequency. The strategy update module is used to measure the escape time of birds during each expulsion, calculate the resistance inhibition coefficient, judge the resistance inhibition coefficient, and update the four-dimensional expulsion strategy library.

[0019] The strategy selection module includes an upper control limit update unit, a deportation threshold calculation unit, and a strategy selection unit; The upper control limit update unit is used to optimize the average value and standard deviation of the resistance index during the initial operation when the resistance index is less than the upper control limit. The deportation threshold calculation unit is used to calculate the deportation threshold using the optimized mean plus standard deviation for each bird size deportation strategy. The strategy selection unit is used to determine the real-time resistance index using three removal thresholds when birds are being driven away in real time, and to dynamically change the real-time removal strategy.

[0020] The random mechanism transmission module includes an unpredictable timing modulation mechanism and an acousto-optic frequency random walk mechanism; The unpredictable timing modulation mechanism is used to randomly calculate and generate the acousto-optic emission time interval; The aforementioned random walk mechanism for acoustic and optical frequencies is used to randomly calculate acoustic and optical frequencies.

[0021] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention standardizes three core data types—bird escape acceleration, body temperature change, and call frequency shift—and calculates the bird stress resistance index R by setting weights based on airport experience. This transforms the "degree of bird resistance to expulsion" into a quantifiable value, providing an objective basis for strategy adjustments and avoiding the subjective errors of traditional methods that rely on manual observation and judgment.

[0022] 2. In the initial stage of system operation, the average value and standard deviation of the resistance index are calculated. Subsequently, the system is dynamically optimized through a smoothing factor, and the repulsion threshold is determined based on the optimized "average value + standard deviation". When the birds' resistance index changes due to adaptation to the repulsion method, the threshold can be adjusted synchronously to ensure that the strategy always matches the current state of the birds, avoiding the problem of "rapid failure" of traditional fixed thresholds.

[0023] 3. Traditional deterrent devices, due to their "fixed timing and single frequency," easily allow birds to adapt (e.g., they become accustomed to sound waves at fixed intervals and no longer flee). This invention avoids bird adaptation from a dual dimension of "timing + frequency" by using unpredictable timing modulation and random walks of sound and light frequencies, thus maintaining long-term deterrent effectiveness. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a module of an acoustic-optical directional denial strategy system for airport security according to the present invention. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example: Figure 1 As shown, the present invention provides a technical solution. A method for acoustic and optical directional denial strategy for airport security, the method comprising the following steps: S100. Sound wave emitters and laser emitters are set up at the airport to form an acoustic-optical coordinated directional denial system. Different types of sensors are installed in the system to collect data on the status of birds when the system drives them away. The specific steps for the data acquisition system to collect data on the birds' status during bird removal are as follows: S101. An audio-visual transmission tower is set up in the airport. The audio-visual transmission tower is equipped with a sound wave transmitter and a laser transmitter. An additional monitoring radar is installed. The monitoring radar detects birds in the airport. When a bird is detected, a response signal and the bird's location information are sent to the sound wave transmitter and the laser transmitter. After receiving the response signal, the sound wave transmitter and the laser transmitter emit sound waves and lasers respectively according to the bird's location information. Simultaneously equipped with a sonic emitter, a laser emitter, and a monitoring radar, the monitoring radar can quickly detect birds and send their location information, allowing the sonic and laser emitters to accurately target the birds. This avoids the problems of blind firing and low efficiency of traditional deterrent equipment, ensuring that the deterrent effect is on the target birds and reducing interference with non-target areas.

[0027] Infrared thermal imagers and microphone arrays are installed in the sound and light transmission tower. The infrared thermal imagers are used to detect bird body temperature data, and the microphone arrays are used to detect bird call frequency data. All sensors and radars are spatiotemporally calibrated to output different types of data collected at the same time and space. S102. Extract the effective radius of the acoustic wave emitter and laser emitter in each acoustic-optical transmission tower, and set the spacing between the acoustic-optical transmission towers using the formula: D=3 1 / 2 ×r, where D represents the spacing between the acoustic and optical transmission towers, and r represents the effective radius of the acoustic wave transmitter and the laser transmitter. The effective radius is the minimum of the two transmission radii of the acoustic wave transmitter and the laser transmitter. Acoustic and optical transmission towers are set up in the airport according to the spacing. A honeycomb grid coverage model is used to regard the effective coverage area of ​​each acoustic and optical transmission tower as a hexagon. All acoustic and optical transmission towers are used to construct an airspace wall in the airport.

[0028] By treating the effective range of each transmission tower as a hexagon, the coverage area of ​​the equipment can be maximized, blind spots can be eliminated, the airport airspace can be protected in all aspects, and birds can be effectively prevented from entering the critical areas of the airport from areas that have never been covered.

[0029] S200: Collect bird size data from historical bird removal records at the airport, classify bird sizes, extract sound and light frequencies from the removal records, set different sound and light frequency ranges for different bird sizes, mark the danger level, and build a four-dimensional bird removal strategy library. The specific steps for building a four-dimensional expulsion strategy library are as follows: S201. Collect bird size data from historical bird removal records at the airport and classify the bird sizes. Collect the body size data of all birds in the removal records, calculate the average body size of all birds, classify birds larger than the average body size as large birds, and classify birds smaller than the average body size as small birds. For the number of birds during migration, extract the minimum number of birds during migration as the migration group threshold. When the number of birds appearing at the airport at the same time is greater than the migration group threshold, it is judged as a migration group. Finally, classify the bird sizes in the airport into large birds, small birds, and migration groups. Birds are categorized into large and small based on their average body size, and migration groups are determined by combining this with migration group thresholds, making the bird size classification more realistic. Birds of different sizes respond significantly to dispersal methods; for example, larger birds may require stronger dispersal efforts. This classification method provides a basis for developing differentiated dispersal strategies, avoiding a "one-size-fits-all" approach and improving the targeting of dispersal efforts.

[0030] S202. Extract the sound wave frequencies and laser frequencies emitted by the acoustic and laser emitters from the deterrence records for different bird sizes, and extract the maximum and minimum values ​​to form frequency ranges [p]. min p max The system sets danger levels for different bird sizes: small birds are class 1, large birds are class 2, and migratory flocks are class 3. A four-dimensional repulsion strategy is constructed based on {bird size, frequency range, danger level}. The repulsion strategies for the three bird sizes are integrated to obtain a four-dimensional repulsion strategy library.

[0031] S300: Standardize the bird state data collected in real time by the sensor during bird removal, assign different weights to different state data, and fuse the different bird state data according to the weights to obtain the bird stress resistance index. The specific steps for fusing data from different bird states based on weights to obtain the bird stress resistance index are as follows: S301. Use monitoring radar to track the movement data of birds when they are driven away to obtain the birds' escape acceleration a. Use an infrared thermal imager to detect the change in the birds' body temperature ΔT when they escape. Use a microphone array to detect the frequency shift of the birds' calls Δf. Set weights w1, w2, and w3 for the three types of bird status data respectively. The weights are set by airport staff based on experience. The detected bird state data for the three species were standardized, and the standardized bird state data were then fused using weights, as shown in the formula: ; In the formula, R represents the bird stress resistance index, and a0 represents the initial escape acceleration of the bird before being driven away.

[0032] S400. Calculate the expulsion threshold based on different safety levels in the four-dimensional expulsion strategy library, use the expulsion threshold to judge the stress resistance index of birds, and select different expulsion strategies. The specific steps for selecting different expulsion strategies are as follows: S401. During the initial operation of the acoustic-optical coordinated directional rejection system, calculate the resistance index for each rejection attempt at three bird species. Calculate the average and standard deviation of the resistance index. Use the average plus the standard deviation to obtain the upper control limit (UCL). During subsequent operation of the acoustic-optical coordinated directional rejection system, calculate the rejection resistance index. When the resistance index is less than the upper control limit, optimize the average and standard deviation of the resistance index from the initial operation using the resistance index. The formula is: ; In the formula, μ(t) represents the average resistance index at the t-th expulsion, and R... t Let μ(t-1) represent the resistance index at the t-th eviction, and μ(t-1) represent the average resistance index at the (t-1)-th eviction. This represents the variance of the resistance index at the t-th eviction. This represents the standard deviation at the t-th eviction. Let represent the variance of the resistance index at the (t-1)th expulsion, and λ represent the smoothing factor; the optimized standard deviation is obtained by taking the arithmetic square root of the optimized resistance index variance. S402. For each bird size, the deportation strategy is calculated using the optimized mean plus standard deviation. Let In1 be the deportation threshold for small birds, In2 be the deportation threshold for large birds, and In3 be the deportation threshold for migratory flocks. When birds are deported in real time, the real-time resistance index is judged using the three deportation thresholds, and the real-time deportation strategy is dynamically changed. Specifically, when the real-time resistance index is less than In1, the danger level class1 strategy is selected; when the real-time resistance index is less than In2 but greater than In1, the danger level class2 strategy is selected; and when the real-time resistance index is less than In3 but greater than In2, the danger level class3 strategy is selected.

[0033] The deportation thresholds (In1, In2, In3) for different bird sizes are calculated based on the optimized average value plus standard deviation. The corresponding strategy is selected based on the relationship between the real-time resistance index and the threshold. The deportation strategy is flexibly adjusted according to the real-time stress resistance of the birds. For example, when the bird resistance index increases, a stronger deportation strategy is automatically selected to avoid deportation failure due to lag in the deportation strategy, thereby improving the flexibility and effectiveness of deportation.

[0034] S500: Within the selected drive-away strategy frequency range, an unpredictable timing modulation mechanism is set to dynamically adjust the acoustic and optical emission timing and acoustic wave frequency. The specific steps for dynamically adjusting the acousto-optic emission timing and sound wave frequency are as follows: S501. After selecting the removal strategy, an unpredictable timing modulation mechanism is set within the acousto-optic frequency range of the removal strategy, specifically as follows: ; In the formula, g n+1 G represents the time interval between the (n+1)th acousto-optic emission. n This represents the time interval between the nth sound and light emission; setting an unpredictable time interval for sound and light emission breaks the fixed timing pattern. Birds have the ability to learn and adapt, and a fixed timing method of deterrence can easily lead to bird adaptation, reducing the deterrence effect. An unpredictable timing can effectively avoid this problem and maintain the deterrent effect of the deterrence method.

[0035] The acoustic-optical frequency random walk mechanism is constructed using the following formula: ; In the formula, f s (g) represents the acoustic-optical frequency at time interval g, and rand(g) represents a pseudo-random number based on the time interval. Based on the aforementioned unpredictable temporal modulation mechanism and acoustic-optical frequency random walk mechanism, sound waves and lasers are emitted within the selected frequency range according to random emission time intervals and random acoustic-optical frequencies to drive away birds. A frequency random walk mechanism is constructed to make the acoustic-optical frequency change randomly within the effective range. The randomly changing frequency can stimulate birds from multiple aspects, increasing their discomfort and further improving the driving-away effect, while avoiding birds developing tolerance to a single frequency.

[0036] S600: Statistically calculate the bird removal failure rate, measure the bird escape time during each removal, calculate the resistance inhibition coefficient, judge the resistance inhibition coefficient, and update the four-dimensional removal strategy library.

[0037] The specific steps for updating the four-dimensional expulsion strategy library are as follows: S601, the acoustic-optical coordinated directional denial system records each expulsion attempt and calculates the expulsion failure rate using the formula: pf=N fail / N total Where pf represents the removal failure rate, N fail N represents the number of failed expulsion records. total This represents the total number of times birds were driven away; the escape time tr of birds during each drive was measured, and the resistance inhibition coefficient was calculated using the following formula: ; In the formula, The resistance inhibition coefficient is represented by α, the decay coefficient by tr0, the initial escape time by pf0, and the initial expulsion failure rate by pf0. The expulsion failure rate is calculated and the escape time of birds is measured. The expulsion effect is presented in the form of specific data, which makes it easier for staff to intuitively understand the effectiveness of the current strategy and provides an objective basis for judging whether the strategy needs to be updated.

[0038] S602, when When the value is less than 0.9, it is determined that the four-dimensional expulsion strategy library needs to be updated, and the deep learning algorithm is started to update the four-dimensional expulsion strategy library.

[0039] An acoustic-optical directional denial strategy system for airport security includes an acoustic-optical coordinated directional denial module, a four-dimensional deterrence strategy library module, a resistance index calculation module, a strategy selection module, a random mechanism emission module, and a strategy update module. The acoustic-optical coordinated directional denial module is used to set up acoustic wave emitters and laser emitters at the airport to form an acoustic-optical coordinated directional denial system. Different types of sensors are installed in the system to collect the status data of birds when the system drives them away. The four-dimensional repulsion strategy library module is used to set different sound and light frequency ranges for different bird sizes and mark the danger level to build a four-dimensional repulsion strategy library. The resistance index calculation module is used to assign different weights to different state data, and to fuse different bird state data according to the weights to obtain the bird stress resistance index. The strategy selection module is used to calculate the expulsion threshold based on different safety levels in the four-dimensional expulsion strategy library, use the expulsion threshold to judge the stress resistance index of birds, and select different expulsion strategies. The random mechanism emission module is used to set an unpredictable timing modulation mechanism within the selected drive-away strategy frequency range to dynamically adjust the acousto-optic emission timing and acoustic frequency. The strategy update module is used to measure the escape time of birds during each expulsion, calculate the resistance inhibition coefficient, judge the resistance inhibition coefficient, and update the four-dimensional expulsion strategy library.

[0040] The strategy selection module includes an upper control limit update unit, a deportation threshold calculation unit, and a strategy selection unit; The upper control limit update unit is used to optimize the average value and standard deviation of the resistance index during the initial operation when the resistance index is less than the upper control limit. The deportation threshold calculation unit is used to calculate the deportation threshold using the optimized mean plus standard deviation for each bird size deportation strategy. The strategy selection unit is used to determine the real-time resistance index using three removal thresholds when birds are being driven away in real time, and to dynamically change the real-time removal strategy.

[0041] The random mechanism transmission module includes an unpredictable timing modulation mechanism and an acousto-optic frequency random walk mechanism; The unpredictable timing modulation mechanism is used to randomly calculate and generate the acousto-optic emission time interval; The aforementioned random walk mechanism for acoustic and optical frequencies is used to randomly calculate acoustic and optical frequencies.

[0042] Example: Deployment of an acoustic and optical directional denial system at an international airport; Scenario setting: An international airport needs to protect a runway and a key surrounding area, which is roughly a rectangle 2000m long and 1000m wide.

[0043] Equipment parameters: Selected effective radius of sound wave transmitter r_sound=300m, effective radius of laser transmitter r_laser=400m; Calculate the installation spacing and quantity: Take the minimum effective radius: r = min(r_sound, r_laser) = 300m.

[0044] According to the formula D=√3×r, the spacing between the acoustic and optical transmission towers is calculated as: D=1.732*300m≈519.6m. To cover a length of 2000m, the number of towers needed per row is: N_length=2000 / 519.6≈3.85, rounded up to 4 towers. To cover a width of 1000m, the number of rows needed is: N_width=1000 / (519.6*√3 / 2)≈2.22, rounded up to 3 rows.

[0045] Total number of towers: 4 × 3 = 12. Arranged in a honeycomb grid pattern, they achieve comprehensive coverage of the target airspace, forming the basic framework of an "airspace wall".

[0046] Extracting historical effective removal frequencies, a four-dimensional strategy library is constructed as follows: | Bird size | Sound wave frequency range (Hz) | Laser frequency range (Hz) | Hazard level | |Small birds (sparrows)|[8000,16000]|[5,10]|Class1|; |Large birds (seagulls)|[2000,8000]|[10,20]|Class2|; |Migrating flock (goose flock)|[500,2000]|[20,50]|Class3|; One day, radar detected an intrusion by a flock of seagulls (large birds).

[0047] The monitoring radar measured the escape acceleration as a = 8.5 m / s².

[0048] The infrared thermal imager measured a body temperature change of ΔT = 1.2°C.

[0049] The microphone array measured a chirping frequency offset Δf = 350 Hz.

[0050] Assume the initial escape acceleration baseline for seagulls in this system is a_0 = 5.0 m / s². The real-time resistance index is calculated to be 1.56; the upper control limit is calculated to be 1.478. In this calculation, R = 1.56 > UCL (1.478), and the system immediately determines that the birds have developed resistance. The threshold for driving away large birds is In2 ​​= μ_0 + σ_0 = 1.25 + 0.114 = 1.364; Since R(1.56) > In2(1.364), the system automatically upgrades the expulsion policy from the current Class2 to the higher-strength Class3 (migration group) policy.

[0051] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A method for acoustic and optical directional denial strategy in airport security, characterized in that: The method includes the following steps: S100. Sound wave emitters and laser emitters are set up at the airport to form an acoustic-optical coordinated directional denial system. Different types of sensors are installed in the system to collect data on the status of birds when the system drives them away. S200: Collect bird size data from historical bird removal records at the airport, classify bird sizes, extract sound and light frequencies from the removal records, set different sound and light frequency ranges for different bird sizes, mark the danger level, and build a four-dimensional bird removal strategy library. S300: Standardize the bird state data collected in real time by the sensor during bird removal, assign different weights to different state data, and fuse the different bird state data according to the weights to obtain the bird stress resistance index. S400. Calculate the expulsion threshold based on different safety levels in the four-dimensional expulsion strategy library, use the expulsion threshold to judge the stress resistance index of birds, and select different expulsion strategies. S500: Within the selected drive-away strategy frequency range, an unpredictable timing modulation mechanism is set to dynamically adjust the acoustic and optical emission timing and acoustic wave frequency. S600: Statistically calculate the bird removal failure rate, measure the bird escape time during each removal, calculate the resistance inhibition coefficient, judge the resistance inhibition coefficient, and update the four-dimensional removal strategy library.

2. The acoustic-optical directional denial strategy method for airport security according to claim 1, characterized in that: The specific steps in S100 for the acquisition system to collect bird status data during bird removal are as follows: S101. An audio-visual transmission tower is set up in the airport. The audio-visual transmission tower is equipped with a sound wave transmitter and a laser transmitter. An additional monitoring radar is installed. The monitoring radar detects birds in the airport. When a bird is detected, a response signal and the bird's location information are sent to the sound wave transmitter and the laser transmitter. After receiving the response signal, the sound wave transmitter and the laser transmitter emit sound waves and lasers respectively according to the bird's location information. Infrared thermal imagers and microphone arrays are installed in the sound and light transmission tower. The infrared thermal imagers are used to detect bird body temperature data, and the microphone arrays are used to detect bird call frequency data. All sensors and radars are spatiotemporally calibrated to output different types of data collected at the same time and space. S102. Extract the effective radius of the acoustic wave emitter and laser emitter in each acoustic-optical transmission tower, and set the spacing between the acoustic-optical transmission towers using the formula: D=3 1 / 2 ×r, where D represents the spacing between the acoustic and optical transmission towers, and r represents the effective radius of the acoustic wave transmitter and the laser transmitter. The effective radius is the minimum of the two transmission radii of the acoustic wave transmitter and the laser transmitter. Acoustic and optical transmission towers are set up in the airport according to the spacing. A honeycomb grid coverage model is used to regard the effective coverage area of ​​each acoustic and optical transmission tower as a hexagon. All acoustic and optical transmission towers are used to construct an airspace wall in the airport.

3. The acoustic-optical directional denial strategy method for airport security according to claim 2, characterized in that: The specific steps for constructing the four-dimensional expulsion strategy library in S200 are as follows: S201. Collect bird size data from historical bird removal records at the airport and classify the bird sizes. Collect the body size data of all birds in the removal records, calculate the average body size of all birds, classify birds larger than the average body size as large birds, and classify birds smaller than the average body size as small birds. For the number of birds during migration, extract the minimum number of birds during migration as the migration group threshold. When the number of birds appearing at the airport at the same time is greater than the migration group threshold, it is judged as a migration group. Finally, classify the bird sizes in the airport into large birds, small birds, and migration groups. S202. Extract the sound wave frequencies and laser frequencies emitted by the acoustic and laser emitters from the deterrence records for different bird sizes, and extract the maximum and minimum values ​​to form frequency ranges [p]. min p max The system sets danger levels for different bird sizes: small birds are class 1, large birds are class 2, and migratory flocks are class 3. A four-dimensional repulsion strategy is constructed based on {bird size, frequency range, danger level}. The repulsion strategies for the three bird sizes are integrated to obtain a four-dimensional repulsion strategy library.

4. The acoustic-optical directional denial strategy method for airport security according to claim 3, characterized in that: The specific steps in S300 to fuse different bird state data according to weights to obtain the bird stress resistance index are as follows: S301. Use monitoring radar to track the movement data of birds when they are driven away to obtain the birds' escape acceleration a. Use an infrared thermal imager to detect the change in the birds' body temperature ΔT when they escape. Use a microphone array to detect the frequency shift of the birds' calls Δf. Set weights w1, w2, and w3 for the three types of bird status data respectively. The weights are set by airport staff based on experience. The detected bird state data for the three species were standardized, and the standardized bird state data were then fused using weights, as shown in the formula: ； In the formula, R represents the bird stress resistance index, and a0 represents the initial escape acceleration of the bird before being driven away.

5. The acoustic-optical directional denial strategy method for airport security according to claim 4, characterized in that: The specific steps for selecting different expulsion strategies in S400 are as follows: S401. During the initial operation of the acoustic-optical coordinated directional rejection system, calculate the resistance index for each rejection attempt at three bird species. Calculate the average and standard deviation of the resistance index. Use the average plus the standard deviation to obtain the upper control limit (UCL). During subsequent operation of the acoustic-optical coordinated directional rejection system, calculate the rejection resistance index. When the resistance index is less than the upper control limit, optimize the average and standard deviation of the resistance index from the initial operation using the resistance index. The formula is: ； In the formula, μ(t) represents the average resistance index at the t-th expulsion, and R... t Let μ(t-1) represent the resistance index at the t-th eviction, and μ(t-1) represent the average resistance index at the (t-1)-th eviction. This represents the variance of the resistance index at the t-th eviction. This represents the standard deviation at the t-th eviction. Let represent the variance of the resistance index at the (t-1)th expulsion, and λ represent the smoothing factor; the optimized standard deviation is obtained by taking the arithmetic square root of the optimized resistance index variance. S402. For each bird size, the deportation strategy is calculated using the optimized mean plus standard deviation. Let In1 be the deportation threshold for small birds, In2 be the deportation threshold for large birds, and In3 be the deportation threshold for migratory flocks. When birds are deported in real time, the real-time resistance index is judged using the three deportation thresholds, and the real-time deportation strategy is dynamically changed. Specifically, when the real-time resistance index is less than In1, the danger level class1 strategy is selected; when the real-time resistance index is less than In2 but greater than In1, the danger level class2 strategy is selected; and when the real-time resistance index is less than In3 but greater than In2, the danger level class3 strategy is selected.

6. The acoustic-optical directional denial strategy method for airport security according to claim 5, characterized in that: The specific steps for dynamically adjusting the acoustic-optical emission timing and acoustic wave frequency in S500 are as follows: S501. After selecting the removal strategy, an unpredictable timing modulation mechanism is set within the acousto-optic frequency range of the removal strategy, specifically as follows: ； In the formula, g n+1 G represents the time interval between the (n+1)th acousto-optic emission. n This represents the time interval between the nth acousto-optic emission; The acoustic-optical frequency random walk mechanism is constructed using the following formula: ； In the formula, f s (g) is the acoustic-optical frequency at time interval g, and rand(g) represents a pseudo-random number based on the time interval; according to the above-mentioned unpredictable timing modulation mechanism and acoustic-optical frequency random walk mechanism, sound waves and lasers are emitted according to random emission time intervals and random acoustic-optical frequencies within the frequency range of the selected repulsion strategy to drive away birds.

7. The acoustic-optical directional denial strategy method for airport security according to claim 6, characterized in that: The specific steps for updating the four-dimensional expulsion strategy library in S600 are as follows: S601, the acoustic-optical coordinated directional denial system records each expulsion attempt and calculates the expulsion failure rate using the formula: pf=N fail / N total Where pf represents the removal failure rate, N fail N represents the number of failed expulsion records. total This represents the total number of times birds were driven away; the escape time tr of birds during each drive was measured, and the resistance inhibition coefficient was calculated using the following formula: ； In the formula, represents the resistance inhibition coefficient, α represents the decay coefficient, tr0 represents the initial escape time, and pf0 represents the initial expulsion failure rate; S602, when When the value is less than 0.9, it is determined that the four-dimensional expulsion strategy library needs to be updated, and the deep learning algorithm is started to update the four-dimensional expulsion strategy library.

8. An acoustic-optical directional denial strategy system for airport security, characterized in that: The acoustic-optical directional denial strategy system includes an acoustic-optical coordinated directional denial module, a four-dimensional expulsion strategy library module, a resistance index calculation module, a strategy selection module, a random mechanism emission module, and a strategy update module; The acoustic-optical coordinated directional denial module is used to set up acoustic wave emitters and laser emitters at the airport to form an acoustic-optical coordinated directional denial system. Different types of sensors are installed in the system to collect the status data of birds when the system drives them away. The four-dimensional repulsion strategy library module is used to set different sound and light frequency ranges for different bird sizes and mark the danger level to build a four-dimensional repulsion strategy library. The resistance index calculation module is used to assign different weights to different state data, and to fuse different bird state data according to the weights to obtain the bird stress resistance index. The strategy selection module is used to calculate the expulsion threshold based on different safety levels in the four-dimensional expulsion strategy library, use the expulsion threshold to judge the stress resistance index of birds, and select different expulsion strategies. The random mechanism emission module is used to set an unpredictable timing modulation mechanism within the selected drive-away strategy frequency range to dynamically adjust the acousto-optic emission timing and acoustic frequency. The strategy update module is used to measure the escape time of birds during each expulsion, calculate the resistance inhibition coefficient, judge the resistance inhibition coefficient, and update the four-dimensional expulsion strategy library.

9. A sound and light directional denial strategy system for airport security according to claim 8, characterized in that: The strategy selection module includes an upper control limit update unit, a deportation threshold calculation unit, and a strategy selection unit; The upper control limit update unit is used to optimize the average value and standard deviation of the resistance index during the initial operation when the resistance index is less than the upper control limit. The deportation threshold calculation unit is used to calculate the deportation threshold using the optimized mean plus standard deviation for each bird size deportation strategy. The strategy selection unit is used to determine the real-time resistance index using three removal thresholds when birds are being driven away in real time, and to dynamically change the real-time removal strategy.

10. The acoustic-optical directional denial strategy system for airport security according to claim 8, characterized in that: The random mechanism transmission module includes an unpredictable timing modulation mechanism and an acoustic-optical frequency random walk mechanism; The unpredictable timing modulation mechanism is used to randomly calculate and generate the acousto-optic emission time interval; The aforementioned random walk mechanism for acoustic and optical frequencies is used to randomly calculate acoustic and optical frequencies.

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