A bird dispersing system and method of double light intelligent detection

Abstract

This invention belongs to the fields of mechanical and electronic engineering and power grid technology, specifically a bird dispersal system and method based on dual-light intelligent detection. It includes: a main controller and connected to it a visible light camera assembly, a guide rail, and a sonic bird deterrent assembly. The sonic bird deterrent assembly is mounted on the guide rail, which is arranged in a square around a power device, with the guide rail on either side of the power device being equidistant from the device. The four corners of the square guide rail are rounded to allow the sonic bird deterrent assembly to turn. The visible light camera assembly is located at each of the four corners of the square guide rail. The main controller is connected to the sonic bird deterrent assembly. This invention returns the identified bird locations to the guide rail system, which then moves the bird deterrent to a designated position and uses a high-explosive sonic bird deterrent to disperse the birds. This mobile, rather than fixed, sonic approach expands the bird dispersal range.

Description

Technical Field

[0001] This invention belongs to the fields of mechanical and electronic engineering and power grid technology, specifically a bird dispersal system and method based on inspection-type dual-light intelligent detection. Background Technology

[0002] Substations, as locations within the power system that transform voltage and current, encompass equipment for producing, transmitting, distributing, and utilizing electrical energy. These primarily include transformers, high-voltage circuit breakers, disconnect switches, busbars, surge arresters, capacitors, and reactors. Most of this primary equipment is open-type. Substations are typically located in suburban or mountainous areas, far from city centers, because favorable natural conditions attract birds. During the breeding season, birds like to nest on the iron frames within substations. Bird nests can shorten the insulation safety distance of primary equipment, or bird droppings on insulating porcelain insulators can reduce the insulation strength of the insulator strings, potentially causing grounding faults and tripping accidents in special circumstances. Therefore, substations must regularly remove bird nests. In recent years, due to improvements in the natural environment, tripping caused by bird damage has been on the rise, resulting in increasingly greater losses. Therefore, bird damage prevention measures for power lines are urgently needed.

[0003] Statistics show that bird-related line faults, along with lightning strikes and external damage, are among the factors leading to serious harm to power grid systems. Over the past decade, bird-related line trips occurred 35 times on 220kV and above power lines in Central China, accounting for 68.63% of all trips caused by various faults during a given period. Similar to the air transport industry, birds can sometimes threaten the safety of power facilities, causing extremely serious consequences.

[0004] To address bird damage at substations and ensure the stable operation of power equipment, power companies currently employ various bird control measures, such as painting with red paint, installing wind chimes, using rotating windmills, installing bird shields or spikes, and manual bird deterrence. However, these methods are prone to aging, have limited coverage, or require significant manpower and resources, resulting in ineffective bird control. Furthermore, birds easily adapt, and the effectiveness diminishes after a period of time. Therefore, addressing bird damage at substations is urgent. Currently, traditional bird control devices used in substations are technically and economically inefficient, severely impacting their effectiveness.

[0005] With advancements in robotics technology and industrial progress, the concept of intelligent and advanced operation of power grids and systems has gained widespread acceptance. Developing a technologically advanced, high-performance, intelligent, and widely applicable bird-repelling device for substations has become a pressing challenge in the construction of smart grids. Facing the demand for intelligent upgrades in power systems, the industrialization prospects of inspection-type substation bird-repelling robots are promising. Summary of the Invention

[0006] To address the aforementioned problems, the present invention aims to provide a bird deterrence system and method based on inspection-type dual-light intelligent detection. This device has a wide recognition range, fast working speed, convenient installation, and good bird deterrence effect.

[0007] The technical solution adopted by the present invention to achieve the above objectives is: a patrol-type dual-light intelligent detection bird dispersal system, comprising: a main controller and a visible light camera assembly, a guide rail and an acoustic bird deterrent cannon assembly connected thereto.

[0008] The sonic bird deterrent cannon assembly is mounted on a guide rail, which is arranged in a square around the power equipment. The guide rail on any side of the power equipment is equidistant from the power equipment, and the four corners of the square guide rail are rounded to allow the sonic bird deterrent cannon assembly to turn.

[0009] The visible light camera assembly consists of four units, positioned at the four corners of a square guide rail; these units are used to send the location information of bird targets in the captured images to the main controller.

[0010] The main controller is connected to the sonic bird deterrent assembly and is used to receive the bird target location information in the image captured by the visible light camera assembly and send it to the sonic bird deterrent assembly to drive the sonic bird deterrent assembly on the guide rail to reach the corner of the visible light camera assembly that has detected the bird target, so that the sonic bird deterrent assembly can perform an alignment action.

[0011] The sonic bird deterrent cannon assembly includes: a bird deterrent cannon base, a two-dimensional electric turntable, a bird deterrent cannon base mounting plate, a control igniter, an interface air pipe, a cannon barrel, a cannon barrel dual-light camera, and guide rail rollers.

[0012] The bird deterrent cannon base is provided with multiple guide rail rollers so that the sonic bird deterrent cannon assembly can move along the guide rails; the base of the two-dimensional electric turntable is mounted on the bird deterrent cannon base by a support column, and the two-dimensional electric turntable is provided with a bird deterrent cannon base mounting plate; the bird deterrent cannon base mounting plate is connected to the armature on the outer wall of the cannon barrel by a connector, so that the two-dimensional electric turntable can drive the cannon barrel to rotate in the circumferential and pitch directions.

[0013] The interface gas pipe is installed on the barrel and is used to inject gas into the barrel.

[0014] The control igniter is connected to the cannon barrel and is used to ignite and detonate the gas inside the cannon barrel to emit sound waves to scare away birds.

[0015] The dual-light camera is mounted on the cannon barrel and is used to make the aiming direction of the dual-light camera coincide with the direction of the visible light camera assembly capturing bird targets, so as to achieve binocular visual positioning.

[0016] The dual-light camera is an infrared and visible light camera.

[0017] The visible light camera assembly includes: a camera base, a pose adjuster, and a visible light camera; the pose adjuster is fixed to the camera base by a support column, the camera base is fixed to the ground by multiple screws, and the pose adjuster is fixed to the outer wall of the visible light camera, controlling the visible light camera to rotate circumferentially and in pitch to capture bird images.

[0018] The interface gas pipe is connected to the gas input source, and a gas solenoid valve is installed on the interface gas pipe. The gas solenoid valve is electrically connected to the main controller. The main controller controls the gas solenoid valve to open, allowing gas to enter the cannon barrel of the bird deterrent gun.

[0019] A bird dispersal method based on intelligent detection using a dual-light camera includes the following steps:

[0020] 1) Install marker targets on the power equipment and the sonic bird deterrent assembly, calibrate the cameras on the visible light camera assembly and the sonic bird deterrent assembly, and determine the relative positional relationship between the dual-light camera on the cannon barrel of the sonic bird deterrent assembly and the sonic bird deterrent assembly.

[0021] 2) When a bird target enters the field of view of the visible light camera component, the visible light camera component locks onto the bird target and obtains the ray direction OB of the visible light camera component relative to the bird target;

[0022] 3) The sonic bird deterrent component determines whether the device has moved to a specific visible light camera component;

[0023] 4) The sonic bird deterrent cannon assembly moves on the guide rail, so that the optical axis of the cannon barrel dual-light camera fixed on the sonic bird deterrent cannon assembly is parallel to OB, and the cannon barrel dual-light camera re-determines the updated bird direction.

[0024] 5) The dual-light camera in the cannon barrel feeds back the current direction information of the bird target to the main controller in real time. At the same time, the main controller adjusts the position and orientation of the sonic bird deterrent cannon component according to the current direction information of the bird target.

[0025] 6) When the aiming action is completed, the main controller sends a command to the sonic bird deterrent cannon assembly to adjust the two-dimensional electric turntable and aim at the bird target according to the direction of the bird target. At the same time, the gas solenoid valve opens and triggers the control igniter of the sonic bird deterrent cannon to ignite the gas in the cannon barrel and emit sound waves to deter birds.

[0026] Step 2) Obtain the ray direction OB of the visible light camera component relative to the bird target, specifically:

[0027] Its observation coordinate system is o3-x3y3z3, and the corresponding ray direction OB in the visible light camera component is:

[0028]

[0029] In the above formula (x b ,y b ,z b Let f be the ray OB direction vector formed by the bird target and the origin of the three-dimensional coordinate axis of the visible light camera component. x f y c x c y The intrinsic parameters of the camera are obtained from the camera calibration, and (u,v) are the coordinates of the bird target point in the image formed by the camera, respectively.

[0030] Step 3) specifically refers to:

[0031] When only one visible light camera module captures a bird target, the main controller drives the sonic bird deterrent module to that visible light camera module.

[0032] When multiple fixed cameras simultaneously capture the same bird target during operation, the main controller determines that the data from the camera closest to the bird target is valid data.

[0033] If multiple bird targets appear simultaneously during operation, the main controller determines the distance between the bird targets and the device, and drives the bird targets away one by one from the farthest to the closest.

[0034] In step 4), the dual-light camera in the cannon barrel determines the direction of the bird again, specifically as follows:

[0035] The dual-light camera mounted on the bird deterrent cannon re-determines the updated direction of the bird targets, namely:

[0036]

[0037] Where λ is the scaling factor.

[0038] The present invention has the following beneficial effects and advantages:

[0039] 1. This invention employs a mobile dual-light camera for identification. It boasts a large identification range, fast processing speed, automatic identification, and high accuracy. This method uses infrared information to confirm animal targets, especially large birds among the main bird-prone groups, such as Oriental White Storks, Black Storks, Eagles, and Vultures, with a high identification rate.

[0040] 2. The present invention returns the identified bird location to the guide rail system, which moves the bird deterrent cannon to the designated position and uses high-explosive sonic cannon to disperse the birds in a directional manner. By using this mobile rather than fixed sonic wave, the bird deterrence range is expanded.

[0041] 3. This invention adopts a multi-unit modular design. The all-around intelligent bird-repelling robot works through the cooperation of multiple units, greatly enhancing the system's applicability to different substations. The positions of each unit can be adjusted according to actual needs. Furthermore, each unit has a simple structure, facilitating installation and adjustment.

[0042] 4. This invention uses high-explosive sonic waves for bird deterrence, which can not only effectively drive away bird pests, but also will not cause any damage to the birds, thus protecting the balance of the natural ecological environment. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the structure of the present invention;

[0044] Figure 2 This invention relates to a visible light dual-light camera;

[0045] Figure 3 The high-explosive sonic bird deterrent cannon in this invention is equipped with a dual-light camera;

[0046] Figure 4 This is a schematic diagram of the bird deterrent device of the present invention in operation.

[0047] Figure 5 This is a schematic diagram illustrating the working principle of the visible light camera assembly in this invention;

[0048] Figure 6 This describes the process of identifying and dispersing birds in this invention.

[0049] Among them: 100 is the sonic bird deterrent cannon assembly; 200 is the substation converter equipment or other equipment that is prone to causing bird problems; 300, 400, 500, and 600 are visible light camera assemblies; 700 is the guide rail; 101 is the bird deterrent cannon base; 102 is the two-dimensional electric turntable; 103 is the bird deterrent cannon base mounting plate; 104 is the control igniter; 105 is the interface air pipe; 106 is the cannon barrel; 107 is the cannon barrel dual-light camera; 108 is the guide rail roller; 301 is the camera base; 302 is the posture adjuster; 303 is the visible light camera; 800 is the birds entering the monitoring area; 801 is the bird target. Detailed Implementation

[0050] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0051] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0053] like Figure 1 As shown in the diagram, this invention provides a system structure schematic, including multiple visible light camera assemblies 300 and a sonic bird deterrent assembly 100. The visible light camera assemblies 300 are evenly distributed according to the size of the equipment 200 to be protected, ensuring their field of view covers the entire equipment area. The sonic bird deterrent assembly 100 is mounted on a guide rail 700 and moves along the rail. After installation, the following effects are achieved: 1. The dual-light camera's field of view can cover the entire equipment area and a 50m safety protection zone above; 2. By moving the bird deterrent cannon on the guide rail and adjusting the orientation of the sonic bird deterrent assembly, the bird deterrent cannon can be directed towards the equipment protection area.

[0054] like Figure 2 As shown, the visible light camera assembly 300 consists of a camera base 301, an attitude adjuster 302, and a visible light camera 303. The camera base 301 has a counterweight function, which can fix the entire visible light camera assembly 300 to the ground. The base also has four mounting holes for fastening with pre-drilled bolts in the ground for long-term fixation. The attitude adjuster 302, as the connector between the camera base 301 and the visible light camera 303, can adjust the viewing angle of the visible light camera by controlling the pitch and yaw motors, thereby enabling effective monitoring of critical equipment.

[0055] like Figure 3As shown, the sonic bird repeller assembly 100 comprises a bird repeller base 101, a two-dimensional electric turntable 102, a bird repeller base mounting plate 103, an ignition controller 104, an interface air pipe 105, a cannon barrel 106, a dual-light camera 107 fixed on the cannon barrel, and guide rail rollers 108. The bird repeller base 101 has multiple mounting holes for fastening to the guide rail rollers 108 with pre-drilled bolts. It also functions as a counterweight to secure the entire assembly to the guide rail, allowing the sonic bird repeller assembly 100 to move along the guide rail 700. 102 is a two-dimensional electric turntable, which can quickly adjust the pitch and yaw angles, thereby adjusting the pointing of the bird deterrent cannon's barrel 106 to quickly align it with the target. 103 is a mounting plate for the bird deterrent cannon's base, used to connect the barrel 106 to the two-dimensional electric turntable 102. 104 is an ignition controller; when gas enters the bird deterrent cannon's barrel 106 through the interface gas pipe 105, the ignition controller 104 is activated, detonating the gas inside the barrel and emitting a high-explosive sonic wave to deter birds. 107 is a dual-light camera fixed on the bird deterrent cannon, achieving binocular visual positioning together with a dual-light camera fixed on the ground. 108 is a guide rail roller, allowing the bird deterrent cannon to move on the guide rail 700.

[0056] according to Figure 4 As shown, in actual implementation, the dual-light camera assembly 300 is evenly distributed on both sides of the monitored device. When a bird target 800 enters the fixed field of view of the dual-light camera 300, the camera quickly locks onto the target and calculates the bird's range, i.e., the direction of the OB ray. Its observation coordinate system is o3-x3y3z3, corresponding to the camera:

[0057]

[0058] In the above formula (x b ,y b ,z b Let OB be the ray direction vector formed by the bird target 800 and the origin of the visible light camera component 300, as shown below. Figure 5 As shown, f x f y c x c y The intrinsic parameters of the visible light camera are obtained from the camera calibration, and (u,v) are the coordinates of the bird target point in the image formed by the camera, respectively.

[0059] At this time, the sonic bird deterrent assembly 100 moves on the guide rail 700, causing the optical axis of the dual-light camera 107 fixed to the sonic bird deterrent to coincide with or be parallel to the OB ray direction. The dual-light camera 107 fixed to the bird deterrent then re-determines the direction of the birds, as expressed as:

[0060]

[0061] In the above formula, λ is the scaling factor.

[0062] like Figure 6 As shown, the entire system's operation process is as follows: The system is installed around the electrical equipment to be tested, ensuring that the camera's field of view covers the core area of ​​the critical equipment and the flight area of ​​birds above the equipment. Then, marker targets are installed on the electrical equipment and the sonic bird deterrent assembly 100. The visible light camera assembly 300 and the dual-beam camera 107 on the bird deterrent cannon are calibrated to determine the relative positional relationship between the dual-beam camera 107 and the bird deterrent cannon. During operation, if only one fixed camera captures a dynamic bird target, assuming that when the visible light camera assembly 300 obtains the bird's ray direction, the bird deterrent cannon assembly 100 moves the dual-beam camera 107, causing the optical axis of the dual-beam camera 107 fixed on the bird deterrent cannon to coincide with or be parallel to the OB ray direction formed by the bird target 800 in the visible light camera assembly 300 fixed on the ground. At this time, the dual-light camera 107 fixed on the bird deterrent cannon re-determines the bird's direction 800 and continuously feeds back the bird's current direction information to the main controller. Simultaneously, the main controller acquires the bird's pose information relative to the bird deterrent cannon through homogeneous transformation and adjusts the two-dimensional pan-tilt unit of the sonic bird deterrent cannon assembly 100 to point it at the bird target. When the alignment is completed, the bird is at position 801, and the cannon barrel ignites to produce a high-explosive sound, achieving directional bird deterrence. If multiple fixed cameras simultaneously capture the same dynamic bird target during operation, the main controller determines that the data from the camera closest to the bird target is valid data. If multiple dynamic bird targets appear simultaneously during operation, the main controller determines the distance of the dynamic bird targets from the equipment and drives the birds away one by one from the farthest to the nearest.

[0063] This invention employs a multi-unit modular design. The all-around intelligent bird-repelling robot works through the coordinated operation of multiple units, greatly enhancing the system's applicability to different substations. The positions of each unit can be adjusted according to actual needs. Furthermore, each unit has a simple structure, facilitating installation and adjustment. This invention uses high-explosive sonic waves for bird repelling, effectively eliminating bird damage without harming the birds, thus protecting the balance of the natural ecological environment.

[0064] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A bird dispersal system based on patrol-type dual-light intelligent detection, characterized in that, include: The main controller and the visible light camera assembly (300), guide rail (700) and sonic bird deterrent assembly (100) connected thereto. The sonic bird deterrent assembly (100) is mounted on a guide rail (700). The guide rail (700) is arranged in a square around the power equipment (200). The distance between the guide rail (700) on any side of the power equipment (200) and the power equipment (200) is equal. The four corners of the square guide rail (700) are rounded to allow the sonic bird deterrent assembly (100) to turn. The sonic bird deterrent cannon assembly (100) includes: a bird deterrent cannon base (101), a two-dimensional electric turntable (102), a bird deterrent cannon base mounting plate (103), a control igniter (104), an interface air pipe (105), a cannon barrel (106), a cannon barrel dual-light camera (107), and a guide rail roller (108). The bird deterrent cannon base (101) is provided with multiple guide rail rollers (108) so that the sonic bird deterrent cannon assembly (100) can move along the guide rails; the base of the two-dimensional electric turntable (102) is mounted on the bird deterrent cannon base (101) by a support column, and the two-dimensional electric turntable (102) is provided with a bird deterrent cannon base mounting plate (103); the bird deterrent cannon base mounting plate (103) is connected to the armature on the outer wall of the cannon barrel (106) by a connector, so that the two-dimensional electric turntable (102) can drive the cannon barrel (106) to rotate circumferentially and in pitch. The interface gas pipe (105) is installed on the barrel (106) and is used to inject coal gas into the barrel (106); The control igniter (104) is connected to the cannon barrel (106) and is used to ignite and detonate the gas inside the cannon barrel (106) to emit sound waves to scare away birds. The dual-light camera (107) is mounted on the barrel (106), and the aiming direction of the dual-light camera (107) coincides with the direction of the visible light camera assembly (300) capturing bird targets, so as to achieve binocular visual positioning. The visible light camera assembly (300) consists of four units, which are located at the four corners of the square guide rail (700); used to send the location information of bird targets in the captured images to the main controller. The main controller is connected to the sonic bird deterrent assembly (100) and is used to receive the location information of the bird target in the image captured by the visible light camera assembly (300) and send it to the sonic bird deterrent assembly (100) to drive the sonic bird deterrent assembly (100) on the guide rail (700) to reach the corner of the visible light camera assembly (300) where the bird target is found, so that the sonic bird deterrent assembly (100) performs an alignment action.

2. The bird dispersal system based on patrol-type dual-light intelligent detection according to claim 1, characterized in that, The dual-light camera (107) is an infrared and visible light camera.

3. The bird dispersal system based on patrol-type dual-light intelligent detection according to claim 1, characterized in that, The visible light camera assembly (300) includes: a camera base (301), a pose adjuster (302), and a visible light camera (303); the pose adjuster (302) is fixed to the camera base (301) by a support column, the camera base (301) is fixed to the ground by a plurality of screws, the pose adjuster (302) is fixed to the outer wall of the visible light camera (303), and controls the visible light camera (303) to perform circumferential and pitch rotation and capture bird images.

4. The bird dispersal system based on patrol-type dual-light intelligent detection according to claim 1, characterized in that, The interface gas pipe (105) is connected to the gas input source. A gas solenoid valve is provided on the interface gas pipe (105). The gas solenoid valve is electrically connected to the main controller. The main controller controls the gas solenoid valve to open, so that gas enters the barrel of the sonic bird deterrent cannon assembly (100).

5. The bird dispersal method of the patrol-type dual-light intelligent detection bird dispersal system according to claim 4, characterized in that, Includes the following steps: 1) Install target points on the power equipment and the sonic bird deterrent assembly (100), calibrate the camera on the visible light camera assembly (300) and the sonic bird deterrent assembly (100), and determine the relative positional relationship between the dual-light camera (107) on the cannon barrel of the sonic bird deterrent assembly (100) and the sonic bird deterrent assembly (100). 2) When a bird target enters the field of view of the visible light camera assembly (300), the visible light camera assembly (300) locks onto the bird target and obtains the ray direction OB of the visible light camera assembly (300) relative to the bird target; Step 2) Obtain the ray direction OB of the visible light camera assembly (300) relative to the bird target, specifically: Its observation coordinate system is o3-x3y3z3, and the corresponding ray direction OB in the visible light camera component is: ； In the above formula Let OB be the ray direction vector formed by the bird target and the origin of the three-dimensional coordinate axis of the visible light camera component (300). The camera's intrinsic parameters are obtained from the camera calibration. These are the coordinates of the bird target point in the image formed by the camera; 3) The sonic bird deterrent assembly (100) determines that it has moved to a certain visible light camera assembly (300). 4) The sonic bird deterrent assembly (100) moves on the guide rail (700) so that the optical axis of the cannon barrel dual-light camera (107) fixed on the sonic bird deterrent assembly (100) is parallel to OB, and the cannon barrel dual-light camera (107) re-determines the updated bird direction. The dual-light camera (107) in the cannon barrel further determines the direction of the birds, specifically: The dual-light camera (107) fixed to the cannon barrel (106) re-determines the updated bird target orientation, namely: ； in, It is a scaling factor; 5) The dual-light camera (107) of the cannon barrel feeds back the current direction information of the bird target to the main controller in real time. At the same time, the main controller adjusts the position of the sonic bird deterrent cannon assembly (100) according to the current direction information of the bird target. 6) When the aiming action is completed, the main controller sends a command to the sonic bird deterrent cannon assembly (100) to adjust the two-dimensional electric turntable (102) and aim at the bird target according to the direction of the bird target. At the same time, the gas solenoid valve opens and triggers the control igniter (104) of the sonic bird deterrent cannon assembly (100) to ignite the gas in the cannon barrel (106) and emit sound waves to deter birds.

6. The bird dispersal method of the bird dispersal system based on inspection-type dual-light intelligent detection according to claim 5, characterized in that, Step 3) specifically involves: When only one visible light camera assembly (300) captures a bird target, the main controller drives the sonic bird deterrent assembly (100) to move to the visible light camera assembly (300); When multiple visible light camera components (300) simultaneously capture the same bird target during operation, the main controller determines that the camera data of the visible light camera component (300) closest to the bird target is valid data; If multiple bird targets appear simultaneously during operation, the main controller determines the distance between the bird targets and the power equipment (200) and drives the bird targets away one by one from far to near.

Images