A bird repelling system and method based on wireless sensing technology

Abstract

The embodiment of the application discloses a bird repelling system and method based on wireless sensing, wherein the system comprises a wireless sensing initiation device, a wireless sensing response device, a sensing measurement processing device and a bird repelling device. The measurement result of a wireless channel is measured through the transmission and reception of sensing measurement signals between the wireless sensing initiation device and the wireless sensing response device. The sensing measurement processing device calculates the sensing result according to the sensing measurement result, so as to instruct the bird repelling device to perform the bird repelling operation. When the birds are in some non-line-of-sight visible positions, the existence and the position of the birds can be accurately detected, so that the birds can be accurately repelled.

Description

Technical Field

[0001] The present application relates to the field of bird-repelling technology, and in particular to a bird-repelling system and method based on wireless sensing technology. Background Art

[0002] Bird damage in substations has long plagued power systems. Birds breed and nest in substations, posing a threat to the safe operation of power equipment.

[0003] To combat bird infestations on power transmission lines, bird repellent devices are currently commonly installed in two different environments: transmission towers and power lines. However, prolonged operation of these devices can increase power consumption, reduce their efficiency, and reduce their lifespan. Therefore, these devices often incorporate image recognition technology to monitor and repel birds along transmission lines in real time. Existing methods for identifying birds on transmission lines, based on images captured by surveillance cameras, suffer from the problem of birds being partially obscured by the towers themselves or the repellent devices, resulting in inaccurate identification. Summary of the Invention

[0004] The embodiments of the present application provide a bird-repelling system and method based on wireless sensing technology. To address the above-mentioned problem of being unable to accurately identify birds, wireless sensing equipment is deployed on transmission towers to identify birds through changes in wireless channel conditions caused by birds. Due to the multipath propagation characteristics of wireless signals, even if the birds are in some non-line-of-sight positions, the presence and location of the birds can still be accurately detected, thereby achieving accurate bird repellence.

[0005] On the one hand, an embodiment of the present application provides a bird-repelling system based on wireless sensing technology, the system including a wireless sensing initiating device, a wireless sensing responding device, a sensing measurement processing device and a bird-repelling device, wherein:

[0006] A wireless sensing initiating device is configured to send a sensing measurement process establishment request message to a wireless sensing responding device, where the sensing measurement process establishment request message includes sensing measurement configuration parameters, where the sensing measurement configuration parameters include a sensing measurement process identifier, resource allocation information for sending a sensing measurement signal, wireless sensing responding device role information, and a first wireless sensing period;

[0007] The wireless sensing response device is configured to receive a sensing measurement process establishment request message and send a sensing measurement process establishment response message to the wireless sensing initiating device;

[0008] The wireless sensing initiating device and the wireless sensing responding device are further configured to, after the wireless sensing initiating device receives the sensing measurement process establishment response message, collaboratively execute the sensing measurement process according to the sensing measurement configuration parameters, and send the sensing measurement result to the sensing measurement processing device through the wireless sensing initiating device or the wireless sensing responding device;

[0009] A perception measurement processing device is used to calculate a perception result based on the perception measurement result, and send a bird-repelling instruction to the bird-repelling device based on the perception result;

[0010] The bird-repelling device is used to receive the bird-repelling instruction sent by the perception measurement processing device and perform the bird-repelling operation according to the bird-repelling instruction.

[0011] On the other hand, an embodiment of the present application proposes a bird-repelling method based on wireless sensing technology applied to the above system, the method comprising:

[0012] The wireless sensing initiating device sends a sensing measurement process establishment request message to the wireless sensing responding device, where the sensing measurement process establishment request message includes sensing measurement configuration parameters, where the sensing measurement configuration parameters include a sensing measurement process identifier, resource allocation information for sending a sensing measurement signal, wireless sensing responding device role information, and a first wireless sensing cycle;

[0013] The wireless sensing response device receives the sensing measurement process establishment request message and sends a sensing measurement process establishment response message to the wireless sensing initiator device;

[0014] The wireless sensing initiating device and the wireless sensing responding device, after the wireless sensing initiating device receives the sensing measurement process establishment response message, collaboratively execute the sensing measurement process according to the sensing measurement configuration parameters, and send the sensing measurement result to the sensing measurement processing device through the wireless sensing initiating device or the wireless sensing responding device;

[0015] The sensing measurement processing device calculates a sensing result according to the sensing measurement result, and sends a bird-repelling instruction to the bird-repelling device according to the sensing result;

[0016] The bird-repelling device receives the bird-repelling instruction sent by the perception measurement processing device, and performs the bird-repelling operation according to the bird-repelling instruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 FIG. 1 is a flowchart of a method for driving birds based on wireless sensing technology according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] An embodiment of the present application provides a system for driving birds based on wireless sensing technology, which includes a wireless sensing initiating device, a wireless sensing responding device, a sensing measurement processing device, and a bird driving device. The wireless sensing initiating device and the wireless sensing responding device are devices with wireless communication capability, for example, terminal devices in a 5G network.

[0020] The wireless sensing initiating device is configured to send a sensing measurement process establishment request message to the wireless sensing responding device. The sensing measurement process establishment request message includes the following parameter: sensing measurement configuration parameters, wherein the sensing measurement configuration parameters include the following sub-parameters:

[0021] A sensing measurement process identifier, used to identify the established sensing measurement process;

[0022] Resource allocation information for sending sensing measurement signals, used to inform the wireless sensing responding device of frequency bands, channels, subcarrier numbers, or frequency resource block numbers, etc. that can be used to send the sensing measurement signals;

[0023] Wireless sensing responding device role information, used to inform the wireless sensing responding device whether to act as a sender of sensing measurement signals or a receiver of sensing measurement signals in the sensing measurement process;

[0024] A wireless sensing period, used to indicate the period of sending the sensing measurement signals.

[0025] The wireless sensing responding device is configured to receive the sensing measurement process establishment request message, and send a sensing measurement process establishment response message to the wireless sensing initiating device. The sensing measurement process establishment response message also includes a sensing measurement process identifier, indicating the response to the sensing measurement process requested by the wireless sensing initiating device.

[0026] The wireless sensing initiating device and the wireless sensing responding device are further configured to, after the wireless sensing initiating device receives the sensing measurement process establishment response message, perform the sensing measurement process according to the sensing measurement configuration parameters, and send the sensing measurement results to the sensing measurement processing device through the wireless sensing initiating device or the wireless sensing responding device.

[0027] In one feasible implementation, after the wireless sensing initiator receives the sensing measurement process establishment response message, a sensing measurement process is successfully established between the wireless sensing initiator and the wireless sensing responder. This process is uniquely identified by a sensing measurement process identifier. After the sensing measurement process is successfully established, the wireless sensing initiator and the wireless sensing responder can collaboratively execute the sensing measurement process based on the mutually agreed sensing measurement configuration parameters.

[0028] As a feasible implementation method, when the role information of the wireless perception response device indicates that the wireless perception response device acts as the sender of the perception measurement signal, the wireless perception response device is specifically used to: send an NDPA (Null Data Packet Announcement) message to the wireless perception initiating device, where the NDPA message includes resource allocation information and signal transmission power; after waiting for a preset system time, periodically send a perception measurement signal to the wireless perception initiating device according to the first wireless perception period in the perception measurement configuration parameter.

[0029] The resource allocation information indicates the resources used for sending the perception measurement signal and is set according to the resource allocation information for sending the perception measurement signal in the perception measurement configuration parameters. A feasible setting method may be to set the same resources as the resources indicated by the resource allocation information for sending the perception measurement signal, or to set the resources to a subset of the resources indicated by the resource allocation information for sending the perception measurement signal. The signal transmit power indicates the power used for transmitting the perception measurement signal.

[0030] After sending the NDPA message, the wireless sensing responder waits for the SIFS duration (i.e., the preset system time) and then periodically sends a sensing measurement signal to the wireless sensing initiator according to the wireless sensing period (i.e., the first wireless sensing period in the sensing measurement configuration parameters). SIFS refers to the system-preset short interframe space duration.

[0031] The wireless sensing initiating device is specifically used to:

[0032] After receiving an NDPA message from a wireless sensing response device, wait for a preset system time. After waiting for the preset system time, periodically receive a sensing measurement signal from the wireless sensing response device on the resources indicated by the resource allocation information in the NDPA message according to the first wireless sensing period in the sensing measurement configuration parameter. Further, obtain a measurement result based on the received sensing measurement signal, calculate a normalized power factor based on the signal transmission power in the received NDPA message, use the sensing measurement process identifier, the measurement result, the normalized power factor, and the location information of the wireless sensing initiating device as the sensing measurement result, and send the sensing measurement result to the sensing measurement processing device via the wireless communication network.

[0033] Among them, the measurement result is the channel frequency response of the wireless channel between the wireless sensing initiating device and the wireless sensing responding device; the location information of the wireless sensing initiating device can be a three-dimensional coordinate relative to a certain origin, or a distance and azimuth relative to a certain origin, or longitude, latitude and altitude, etc., and the embodiments of the present application do not make specific limitations on this.

[0034] As a feasible approach, the wireless sensing initiating device may calculate the normalized power factor based on the signal transmission power in the received NDPA message using the following method:

[0035] Ipower=TXpower / MXpower;

[0036] Among them, Ipower refers to the normalized power factor, TXpower refers to the signal transmission power in the message, and MXpower refers to the maximum transmission power of the device. The application embodiment assumes that the maximum transmission power of the wireless sensing initiator device and the wireless sensing responder device are the same.

[0037] As another feasible implementation, when the wireless sensing response device role information indicates that the wireless sensing response device is the sender of the sensing measurement signal, the wireless sensing initiating device is further configured to send a first trigger message to the wireless sensing response device. The first trigger message indicates that the message type is a polling message; the first trigger message includes a message type: the type of the trigger message, which is set to a polling message.

[0038] The wireless sensing response device is further specifically configured to, upon receiving a first trigger message, send a response message to the wireless sensing initiating device if the message type of the first trigger message is a polling message and the wireless sensing response device is currently in an idle state, wherein the response information indicates that sensing measurements can currently be performed. If the message type of the first trigger message is a polling message and the wireless sensing response device is currently receiving or sending data, wait for the data transmission and reception to complete and then enter an idle state before sending a response message to the wireless sensing initiating device.

[0039] The wireless sensing initiating device is further specifically configured to, after receiving a response message from the wireless sensing responding device, wait for a preset system time and then send a second trigger message to the wireless sensing responding device; the second trigger message indicates that the message type is a sensing measurement message, and the second trigger message also includes resource allocation information and signal transmission power. The resource allocation information is used to indicate the resources used to send the sensing measurement signal, and can be set according to the resource allocation information for sending the sensing measurement signal in the sensing measurement configuration parameter, specifically by setting it to the same resources as the resources indicated by the resource allocation information for sending the sensing measurement signal, or setting it to a subset of the resources indicated by the resource allocation information for sending the sensing measurement signal. The signal transmission power is used to indicate the power used to transmit the sensing measurement signal.

[0040] The wireless perception response device is also specifically used to, after receiving the second trigger message, if the message type of the second trigger message is a perception measurement message, wait for a preset system time, and then periodically send a perception measurement signal to the wireless perception initiating device according to the first wireless perception period in the perception measurement configuration parameters.

[0041] The wireless sensing initiating device is further specifically configured to wait for a preset system time after sending a second trigger message. After waiting for the preset system time, the device periodically receives a sensing measurement signal based on the first wireless sensing period in the sensing measurement configuration parameters on the resources indicated by the resource allocation information in the second trigger message; and obtains a measurement result based on the received sensing measurement signal. Furthermore, the device calculates a normalized power factor based on the signal transmit power in the second trigger message, uses the sensing measurement process identifier, the measurement result, the normalized power factor, and the location information of the wireless sensing initiating device as the sensing measurement result, and transmits the sensing measurement result to the sensing measurement processing device via a wireless communication network.

[0042] As another feasible implementation, when the wireless sensing response device role information indicates that the wireless sensing response device is the receiver of the sensing measurement signal, the wireless sensing initiating device is specifically used to send a trigger message to the wireless sensing response device, and the trigger message indicates that the message type is a polling message.

[0043] The wireless perception response device is specifically configured to: after receiving a trigger message, if the message type of the trigger message is a polling message and the wireless perception response device is currently in an idle state, send a response message to the wireless perception initiating device; if the message type of the trigger message is a polling message and the wireless perception response device is currently receiving or sending data, wait for the data to be sent or received and then enter the idle state before sending a response message to the wireless perception initiating device, wherein the response message is used to indicate that perception measurement can be performed currently;

[0044] The wireless perception initiating device is further specifically configured to: wait for a preset system time after receiving the response message, and send an NDPA message to the wireless perception responding device after waiting for the preset system time; the NDPA message includes resource allocation information and signal transmission power; wait for a preset system time after sending the NDPA message, and after waiting for the preset system time, periodically send a perception measurement signal to the wireless perception responding device according to the first wireless perception period in the perception measurement configuration parameter;

[0045] The wireless perception response device is further specifically used to: wait for a preset system time after receiving an NDPA message; after waiting for the preset system time, periodically receive a perception measurement signal on the resources indicated by the resource allocation information in the trigger message according to the first wireless perception period in the perception measurement configuration parameter; obtain a measurement result based on the received perception measurement signal; calculate a normalized power factor based on the signal transmission power in the received trigger message, and use the perception measurement process identifier, measurement result, normalized power factor and location information of the wireless perception response device as the perception measurement result; and send the perception measurement result to the perception measurement processing device via a wireless communication network.

[0046] As a feasible implementation method, the above-mentioned perception measurement results include a normalized power factor, an amplitude value and a phase value of a channel frequency response. After receiving the perception measurement results, the perception measurement processing device is also used to calculate the normalized channel frequency response amplitude based on the amplitude value and the normalized power factor of the channel frequency response in the perception measurement results; and to obtain a perception result by performing calculation based on the normalized channel frequency response amplitude and the phase value of the channel frequency response in the perception measurement results; the perception result includes indication information on whether birds are detected.

[0047] Specifically, the perception measurement processing device calculates the normalized channel frequency response amplitude based on the amplitude value and normalized power factor of the channel frequency response in the perception measurement results. It then performs denoising, feature extraction, and classification and identification calculations based on the normalized channel frequency response amplitude and the phase value of the channel frequency response in the measurement results to obtain a perception result, which is used to determine whether a bird has been detected. The detection principle is that when signals are sent between two devices, the amplitude and phase differences of the multipath signals received on different subcarriers differ when a bird enters and when no bird enters. The calculation results are then classified and identified using pre-set samples or machine learning methods to obtain a perception result indicating whether a bird has been detected.

[0048] After the perception measurement processing device calculates and obtains the perception result based on the perception measurement result, the perception measurement processing device is further configured to send a first event notification message to the wireless perception initiator device when the perception result indicates that a bird is detected. The first event notification message includes:

[0049] Perception measurement process identifier: used to identify the perception measurement process established between the wireless perception initiator device and the wireless perception responder device;

[0050] Event information: used to indicate bird sightings.

[0051] The wireless sensing initiating device is further configured to, upon receiving the first event notification message, send a first sensing measurement process update request message to the wireless sensing responding device if the first event notification message includes event information indicating that a bird has been discovered. The first sensing measurement process update request message includes a first period control factor, where the first period control factor is set to a value greater than 0 and less than 1. The first period control factor is used to control the wireless sensing initiating device and the wireless sensing responding device to increase the frequency of sensing measurements, that is, to shorten the sensing period, after discovering a bird. For example, if the first period control factor is set to 0.5, the sensing period is shortened by half.

[0052] The wireless sensing response device is also used to send a first sensing measurement process update response message to the wireless sensing initiating device after receiving the first sensing measurement process update request message, to confirm that the sensing period has been changed according to the first period control factor; thereafter, the wireless sensing initiating device and the wireless sensing response device calculate the second wireless sensing period according to the first period control factor, and collaboratively execute the sensing measurement process according to the second wireless sensing period, and send the sensing measurement result to the sensing measurement processing device through the wireless sensing initiating device or the wireless sensing response device; wherein, the second wireless sensing period is less than the first wireless sensing period.

[0053] The sensing measurement processing device is further configured to calculate the distance d0 and azimuth α0 between the bird and the wireless sensing initiator or responder based on the sensing measurement results. The detection principle is that signals are sent between the two devices. When the bird is located at different positions, the signal reflection path changes. The amplitude and phase differences of the multipath signals received on different subcarriers vary. By combining the calculated results with pre-set samples or machine learning methods, the distance d0 and azimuth α0 between the bird and the wireless sensing initiator or responder can be determined.

[0054] When the bird-repelling start conditions are met, the sensing state is set to a bird-present state; the position of the bird is calculated based on the location information of the wireless sensing initiating device or the wireless sensing responding device and the distance d0 and the azimuth angle α0, and a bird-repelling instruction is sent to the bird-repelling device. The bird-repelling instruction includes an instruction to start bird-repelling and the position of the bird.

[0055] Wherein, the bird repelling start condition is: after obtaining d0 and a0, then according to the subsequent N continuous measurement results, the distance dN between the bird and the wireless perception initiation device or the wireless perception response device is calculated, and the difference between dN and d0 is less than or equal to the threshold value Th-D, and the difference between the subsequent N continuous calculated azimuth angle aN and a0 is less than or equal to the threshold value Th-a; wherein, N is a natural number greater than 2; the bird repelling start condition is used to judge whether the bird is in a state of staying, only when the bird stays, we need to repel the bird, so as to achieve good effect, and when the bird is not flying, the repelling has no significant effect;

[0056] The bird repelling device is used to adjust the emission of the target medium of the bird repelling device according to the position of the bird after receiving the bird repelling instruction, if the bird repelling instruction contains the indication of starting bird repelling, the target medium contains one or more of the following media: ultrasonic wave, sound (sound that can scare birds, such as the sound of natural enemy) and strong light.

[0057] In a specific implementation, after the bird repelling device receives the bird repelling instruction, if the bird repelling instruction contains the indication of starting bird repelling, the bird repelling device emits ultrasonic wave of special frequency band to drive the bird according to the position of the bird, or emits sound that can scare the bird, such as the sound of natural enemy, or scares the bird through strong light to achieve the effect of driving, one of these methods can be used, or various combinations can be configured to achieve better repelling effect.

[0058] As a feasible implementation, the above system can further include a plurality of infrared thermal imaging devices for further identifying and confirming the existence of the bird, each infrared thermal imaging device is equipped with a gimbal device, which can rotate 360° and adjust the up-down pitch angle.

[0059] The perception measurement processing device is further used to: after calculating the position of the bird according to the position information of the wireless perception initiation device or the wireless perception response device and the distance d0 and the azimuth angle a0, find the target infrared thermal imaging device monitoring the position of the bird according to the position of the bird, and send a bird repelling confirmation request message to the target infrared thermal imaging device; the bird repelling confirmation request message contains the position of the bird; the target infrared thermal imaging device is one or device of the plurality of infrared thermal imaging devices.

[0060] In the specific implementation, after the target infrared thermal imaging device receives the bird-repelling confirmation request message, it can adjust the monitoring range according to the position of the bird through the drive of the pan-tilt head, and collect infrared thermal imaging data after the adjustment. The infrared thermal imaging data can obtain the outline of the object based on the temperature of the object. The temperature of the bird is different from the ambient temperature and the temperature of the power line tower. Therefore, it can be identified after obtaining the outline, so as to determine whether it is the outline of a bird, and thus determine whether there is a bird. After confirming whether there is a bird in the monitoring range, a bird-repelling confirmation response message is sent to the perception measurement and processing device. The bird-repelling confirmation response message contains an indication of whether there is a bird.

[0061] The perception measurement processing device is also used to send a bird-repelling instruction to the bird-repelling device after receiving the bird-repelling confirmation response message, if the bird-repelling confirmation response message contains an indication of the presence of birds; the bird-repelling instruction contains an indication to start bird-repelling and the location of the birds.

[0062] If the bird-repelling confirmation response message includes an indication that no birds exist, the sensing state is set to a bird-free state, and a second event notification message is sent to the wireless sensing initiator device; the second event notification message includes a sensing measurement process identifier and event information indicating that no birds were found.

[0063] The wireless sensing initiating device is further configured to, after receiving the second event notification message, send a second sensing measurement process update request message to the wireless sensing responding device if the second event notification message includes event information indicating that no bird was found; the second sensing measurement process update request message includes a period control factor, and the period control factor is set to 0;

[0064] The wireless sensing response device is further configured to send a second sensing measurement process update response message to the wireless sensing initiating device after receiving the second sensing measurement process update request message;

[0065] The wireless sensing initiating device and the wireless sensing responding device are further configured to, after the wireless sensing initiating device receives the second sensing measurement process update response message, collaboratively execute the sensing measurement process according to the first wireless sensing cycle, and transmit the sensing measurement results to the sensing measurement processing device via the wireless sensing initiating device or the wireless sensing responding device. In a specific implementation, after the wireless sensing responding device receives the second sensing measurement process update request message, if it recognizes that the cycle control factor is set to 0, then the cycle factor is not used, and the initial first wireless sensing cycle is continued to be used to perform the senseless sensing measurement.

[0066] As a feasible implementation manner, the above-mentioned perception measurement processing device is further used to:

[0067] When the perception state is a bird-present state, if the bird-repelling exit condition is met, the perception state is set to a bird-free state, and a second event notification message is sent to the wireless perception initiator device; the second event notification message includes a perception measurement process identifier and event information indicating that no birds were found.

[0068] Among them, the bird-repelling exit condition is that the difference between at least P values ​​of the distance dM between the bird and the wireless sensing initiating device or the wireless sensing responding device calculated based on the perception measurement results and d0 is greater than the threshold value Th-D, or the difference between at least P values ​​of the azimuth angle αM between the bird and the wireless sensing initiating device or the wireless sensing responding device calculated based on the measurement results and α0 is greater than the threshold value Th-α, where M and P are natural numbers greater than 2, and M is greater than P.

[0069] It is understandable that the bird-repelling exit condition is aimed at birds frequently flying out of their previous fixed locations. It can be considered that the repelling has been effective, the birds have the intention to leave and will not stay, so there is no need to continue to repel them.

[0070] See also Figure 1 The embodiment of the present application proposes a bird-repelling method based on wireless sensing technology, which can be applied to the above-mentioned bird-repelling system based on wireless sensing technology. The method includes:

[0071] S10: The wireless sensing initiating device sends a sensing measurement process establishment request message to the wireless sensing responding device, where the sensing measurement process establishment request message includes sensing measurement configuration parameters, including a sensing measurement process identifier, resource allocation information for sending sensing measurement signals, wireless sensing responding device role information, and a first wireless sensing cycle.

[0072] S11: The wireless sensing responding device receives the sensing measurement process establishment request message and sends a sensing measurement process establishment response message to the wireless sensing initiating device.

[0073] S12: After the wireless perception initiating device receives the perception measurement process establishment response message, the wireless perception initiating device and the wireless perception responding device jointly execute the perception measurement process according to the perception measurement configuration parameters, and send the perception measurement results to the perception measurement processing device through the wireless perception initiating device or the wireless perception responding device.

[0074] S13: The perception measurement processing device calculates a perception result based on the perception measurement result, and sends a bird-repelling instruction to the bird-repelling device based on the perception result.

[0075] S14: The bird-repelling device receives the bird-repelling instruction sent by the sensing, measuring and processing device, and performs a bird-repelling operation according to the bird-repelling instruction.

[0076] The specific implementation of the above steps S10 to S14 can refer to the relevant descriptions of the wireless sensing initiating device, the wireless sensing responding device, the sensing measurement processing device and the bird-repelling device in the above embodiments, which will not be repeated here.

[0077] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0078] The above disclosure is only part of the embodiments of the present application, and it is certainly not intended to limit the scope of the rights of the present application. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made in accordance with the claims of the present application are still within the scope of the invention.

Claims

1. A bird-repelling system based on wireless sensing technology, characterized in that: The system includes a wireless sensing initiating device, a wireless sensing responding device, a sensing measurement processing device and a bird-repelling device, wherein: A wireless sensing initiating device is configured to send a sensing measurement process establishment request message to a wireless sensing responding device, where the sensing measurement process establishment request message includes sensing measurement configuration parameters, where the sensing measurement configuration parameters include a sensing measurement process identifier, resource allocation information for sending a sensing measurement signal, wireless sensing responding device role information, and a first wireless sensing period; The wireless sensing response device is configured to receive a sensing measurement process establishment request message and send a sensing measurement process establishment response message to the wireless sensing initiating device; The wireless sensing initiating device and the wireless sensing responding device are further configured to, after the wireless sensing initiating device receives the sensing measurement process establishment response message, collaboratively execute the sensing measurement process according to the sensing measurement configuration parameters, and send the sensing measurement result to the sensing measurement processing device through the wireless sensing initiating device or the wireless sensing responding device; A perception measurement processing device is used to calculate a perception result based on the perception measurement result, and send a bird-repelling instruction to the bird-repelling device based on the perception result; A bird-repelling device, configured to receive a bird-repelling instruction sent by the sensing, measuring, and processing device, and perform a bird-repelling operation according to the bird-repelling instruction; The wireless perception response device role information indicates that the wireless perception response device serves as a sender of the perception measurement signal. The wireless perception response device is specifically configured to: Sending an NDPA message to the wireless sensing initiating device, wherein the NDPA message includes resource allocation information and signal transmission power; after waiting for a preset system time, periodically sending a sensing measurement signal to the wireless sensing initiating device according to the first wireless sensing period in the sensing measurement configuration parameter; The wireless sensing initiating device is specifically used to: After receiving the NDPA message from the wireless sensing response device, wait for the preset system time, and after waiting for the preset system time, periodically receive the sensing measurement signal from the wireless sensing response device on the resources indicated by the resource allocation information in the NDPA message according to the first wireless sensing period in the sensing measurement configuration parameter; Obtaining a measurement result based on the received perception measurement signal; Calculate the normalized power factor based on the signal transmission power in the received NDPA message, and use the perception measurement process identifier, measurement result, normalized power factor, and location information of the wireless perception initiating device as the perception measurement result; The perception measurement result is sent to a perception measurement processing device through a wireless communication network.

2. The system according to claim 1, wherein The wireless sensing response device role information indicates that the wireless sensing response device acts as a sender of the sensing measurement signal. The wireless perception initiating device is specifically configured to: send a first trigger message to the wireless perception responding device, wherein the first trigger message indicates that the message type is a polling message; The wireless perception response device is specifically configured to: after receiving a first trigger message, if the message type of the first trigger message is a polling message and the wireless perception response device is currently in an idle state, send a response message to the wireless perception initiating device, where the response message is used to indicate that perception measurement can be performed currently; If the message type of the first trigger message is a polling message, and the wireless perception response device is currently receiving or sending data, then wait for the data transmission and reception to be completed and enter the idle state before sending a response message to the wireless perception initiating device; The wireless sensing initiating device is further specifically configured to: after receiving a response message from the wireless sensing responding device, wait for a preset system time and then send a second trigger message to the wireless sensing responding device; the second trigger message indicates that the message type is a sensing measurement message, and the second trigger message also includes resource allocation information and signal transmission power; The wireless sensing response device is further specifically configured to: after receiving the second trigger message, if the message type of the second trigger message is a perception measurement message, wait for a preset system time, and then periodically send a perception measurement signal to the wireless perception initiating device according to the first wireless perception period in the perception measurement configuration parameter; The wireless sensing initiating device is further specifically configured to: wait for a preset system time after sending the second trigger message, and after waiting for the preset system time, periodically receive a sensing measurement signal according to a first wireless sensing period in the sensing measurement configuration parameter on the resources indicated by the resource allocation information in the second trigger message; and obtain a measurement result based on the received sensing measurement signal; Calculating a normalized power factor according to the signal transmission power in the second trigger message, and using the perception measurement process identifier, the measurement result, the normalized power factor, and the location information of the wireless perception initiating device as the perception measurement result; The perception measurement result is sent to a perception measurement processing device through a wireless communication network.

3. The system according to claim 1, wherein: The wireless sensing response device role information indicates that the wireless sensing response device serves as a receiver of the sensing measurement signal. The wireless perception initiating device is specifically configured to: send a trigger message to the wireless perception responding device, wherein the trigger message indicates that the message type is a polling message; The wireless perception response device is specifically configured to: after receiving a trigger message, if the message type of the trigger message is a polling message and the wireless perception response device is currently in an idle state, send a response message to the wireless perception initiating device; If the message type of the trigger message is a polling message, and the wireless sensing responding device is currently receiving or sending data, it waits for the data transmission and reception to end and then enters the idle state to send a response message to the wireless sensing initiating device, where the response message is used to indicate that the sensing measurement can be performed currently; The wireless perception initiating device is further specifically configured to: wait for a preset system time after receiving the response message, and send an NDPA message to the wireless perception responding device after waiting for the preset system time; the NDPA message includes resource allocation information and signal transmission power; wait for a preset system time after sending the NDPA message, and after waiting for the preset system time, periodically send a perception measurement signal to the wireless perception responding device according to the first wireless perception period in the perception measurement configuration parameter; The wireless sensing response device is further specifically configured to: wait for a preset system time after receiving the NDPA message; after waiting for the preset system time, periodically receive a sensing measurement signal according to a first wireless sensing period in the sensing measurement configuration parameter on the resources indicated by the resource allocation information in the trigger message; and obtain a measurement result based on the received sensing measurement signal; Calculate a normalized power factor based on the signal transmission power in the received trigger message, and use the perception measurement process identifier, the measurement result, the normalized power factor, and the location information of the wireless perception response device as the perception measurement result; The perception measurement result is sent to a perception measurement processing device through a wireless communication network.

4. The system according to claim 1, wherein: The perception measurement processing device is specifically used to: calculate the normalized channel frequency response amplitude based on the amplitude value and normalized power factor of the channel frequency response in the perception measurement result; perform calculation based on the normalized channel frequency response amplitude and the phase value of the channel frequency response in the perception measurement result to obtain a perception result; the perception result includes indication information on whether a bird is detected.

5. The system according to claim 4, wherein: After the perception measurement processing device calculates and obtains a perception result based on the perception measurement result, the perception measurement processing device is further configured to: when the perception result indicates that a bird is detected, send a first event notification message to the wireless perception initiator device; the first event notification message includes a perception measurement process identifier and event information indicating that a bird is detected; The wireless sensing initiating device is further configured to, upon receiving the first event notification message, send a first sensing measurement process update request message to the wireless sensing responding device if the first event notification message includes event information indicating that a bird has been discovered; the first sensing measurement process update request message includes a first period control factor, and the first period control factor is set to a value greater than 0 and less than 1; The wireless sensing response device is further configured to send a first sensing measurement process update response message to the wireless sensing initiating device after receiving the first sensing measurement process update request message; The wireless sensing initiating device and the wireless sensing responding device are further configured to, after the wireless sensing initiating device receives the first sensing measurement process update response message, calculate a second wireless sensing period according to the first period control factor, collaboratively execute the sensing measurement process according to the second wireless sensing period, and send the sensing measurement result to the sensing measurement processing device through the wireless sensing initiating device or the wireless sensing responding device; wherein the second wireless sensing period is less than the first wireless sensing period; The sensing measurement processing device is further used to: calculate the distance d0 and azimuth angle α0 between the bird and the wireless sensing initiating device or the wireless sensing responding device based on the sensing measurement results; When the bird-repelling start condition is met, the sensing state is set to a bird-present state; the position of the bird is calculated based on the position information of the wireless sensing initiating device or the wireless sensing responding device and the distance d0 and the azimuth angle α0, and a bird-repelling instruction is sent to the bird-repelling device, where the bird-repelling instruction includes an instruction to start bird-repelling and the position of the bird; The bird-repelling start condition is as follows: the difference between the distances dN and d0 between the bird and the wireless sensing initiating device or the wireless sensing responding device calculated based on the perception measurement results for N consecutive times is less than or equal to the threshold value Th-D, and the difference between the azimuth angles αN and α0 between the bird and the wireless sensing initiating device or the wireless sensing responding device calculated based on the perception measurement results for N consecutive times is less than or equal to the threshold value Th-α, where N is a natural number greater than 2; The bird-repelling device is used to adjust the bird-repelling device to emit a target medium to repel the bird after receiving a bird-repelling instruction, if the bird-repelling instruction includes an instruction to start bird repelling, according to the location of the bird. The target medium includes one or more of the following media: ultrasound, sound, and strong light.

6. The system according to claim 5, wherein: The system also includes multiple infrared thermal imaging devices and a sensing measurement processing device, and is further configured to: after calculating the position of the bird based on the position information of the wireless sensing initiating device or the wireless sensing responding device and the distance d0 and the azimuth angle α0, search for a target infrared thermal imaging device that monitors the position of the bird based on the position of the bird, and send a bird-repelling confirmation request message to the target infrared thermal imaging device; the bird-repelling confirmation request message includes the position of the bird; the target infrared thermal imaging device is one or more of the multiple infrared thermal imaging devices; The target infrared thermal imaging device is configured to, after receiving the bird-repelling confirmation request message, adjust the monitoring range according to the location of the bird and collect infrared thermal imaging data; confirm whether there are birds within the monitoring range based on the collected infrared thermal imaging data, and send a bird-repelling confirmation response message to the perception measurement processing device; the bird-repelling confirmation response message includes an indication of whether there are birds; The sensing measurement processing device is further configured to, upon receiving the bird-repelling confirmation response message, send a bird-repelling instruction to the bird-repelling device if the bird-repelling confirmation response message includes an indication of the presence of birds; the bird-repelling instruction includes an indication of starting bird-repelling and the location of the birds; If the bird-repelling confirmation response message includes an indication that no birds exist, the sensing state is set to a bird-free state, and a second event notification message is sent to the wireless sensing initiator device; the second event notification message includes a sensing measurement process identifier and event information indicating that no birds were found.

7. The system according to claim 5, wherein: The perception measurement processing device is further used to: When the sensing state is a bird-present state, if the bird-repelling exit condition is met, the sensing state is set to a bird-free state, and a second event notification message is sent to the wireless sensing initiator device; the second event notification message includes a sensing measurement process identifier and event information indicating that no birds were found; Among them, the bird-repelling exit condition is that the difference between at least P values ​​of the distance dM between the bird and the wireless sensing initiating device or the wireless sensing responding device calculated based on the perception measurement results and d0 is greater than the threshold value Th-D, or the difference between at least P values ​​of the azimuth angle αM between the bird and the wireless sensing initiating device or the wireless sensing responding device calculated based on the measurement results and α0 is greater than the threshold value Th-α, where M and P are natural numbers greater than 2, and M is greater than P.

8. The system according to claim 6 or 7, characterized in that The wireless sensing initiating device is further configured to, after receiving the second event notification message, send a second sensing measurement process update request message to the wireless sensing responding device if the second event notification message includes event information indicating that no bird was found; the second sensing measurement process update request message includes a period control factor, and the period control factor is set to 0; The wireless sensing response device is further configured to send a second sensing measurement process update response message to the wireless sensing initiating device after receiving the second sensing measurement process update request message; The wireless perception initiating device and the wireless perception responding device are also used to collaboratively execute the perception measurement process according to the first wireless perception cycle after the wireless perception initiating device receives the second perception measurement process update response message, and send the perception measurement results to the perception measurement processing device through the wireless perception initiating device or the wireless perception responding device.

9. A bird-repelling method based on wireless sensing technology, characterized in that: The method is applied to the system according to any one of claims 1 to 8, and the method comprises: The wireless sensing initiating device sends a sensing measurement process establishment request message to the wireless sensing responding device, where the sensing measurement process establishment request message includes sensing measurement configuration parameters, where the sensing measurement configuration parameters include a sensing measurement process identifier, resource allocation information for sending a sensing measurement signal, wireless sensing responding device role information, and a first wireless sensing cycle; The wireless sensing response device receives the sensing measurement process establishment request message and sends a sensing measurement process establishment response message to the wireless sensing initiator device; The wireless sensing initiating device and the wireless sensing responding device, after the wireless sensing initiating device receives the sensing measurement process establishment response message, collaboratively execute the sensing measurement process according to the sensing measurement configuration parameters, and send the sensing measurement result to the sensing measurement processing device through the wireless sensing initiating device or the wireless sensing responding device; The sensing measurement processing device calculates a sensing result according to the sensing measurement result, and sends a bird-repelling instruction to the bird-repelling device according to the sensing result; The bird-repelling device receives the bird-repelling instruction sent by the perception measurement processing device, and performs the bird-repelling operation according to the bird-repelling instruction.

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