Bird repelling method and device based on bird repelling vehicle, electronic equipment and medium

Abstract

The application provides a bird repelling method and device based on a bird repelling vehicle, electronic equipment and a medium, and relates to the technical field of airport bird repelling. The bird repelling method comprises the following steps: determining a bird repelling route of the bird repelling vehicle according to attribute data of a target airport, so as to control at least one bird repelling vehicle to move on the bird repelling route; determining a bird repelling parking position of at least one bird repelling vehicle on the bird repelling route according to operation data and historical bird situation data of the target airport; determining image acquisition parameters of an optical camera component according to the bird repelling parking position; controlling the bird repelling vehicle to perform image acquisition on a target region based on the image acquisition parameters through the optical camera component at the bird repelling parking position, so as to generate bird situation image data; determining whether there is bird situation information in the bird situation image data through a preset algorithm; if there is bird situation information, generating a bird repelling control signal according to the bird situation information, and controlling a sound wave bird repelling component to emit a sound wave bird repelling signal to a first position, and controlling a detonation bird repelling component to emit a detonation bird repelling bomb to a second position.

Description

Technical Field

[0001] This invention relates to the field of airport bird control technology, and more specifically, to a bird control method, device, electronic equipment, and medium based on a bird control vehicle. Background Technology

[0002] During aircraft takeoff and landing, the unpredictable movements of birds can lead to collisions, potentially damaging aircraft engines, structural integrity, and even endangering the lives of pilots and passengers. To reduce these incidents, airport management and / or aviation-related agencies conduct bird control operations. Current technologies require personnel to conduct these operations. Furthermore, due to differences in location and operational strategies, a uniform bird control approach cannot meet the diverse needs of different airports and bird species, resulting in inefficient and incomplete bird control efforts. Summary of the Invention

[0003] In view of this, the present invention provides a bird control method, device, electronic device and medium based on a bird control vehicle, which can provide more accurate bird control operations for different airports and effectively improve bird control efficiency.

[0004] One aspect of the present invention provides a bird-repelling method based on a bird-repelling vehicle, the bird-repelling vehicle integrating an optical camera component, an acoustic bird-repelling component, and an blast bird-repelling component. The bird-repelling method includes: determining a bird-repelling route for the bird-repelling vehicle based on attribute data of a target airport, and controlling at least one bird-repelling vehicle to move along the bird-repelling route; determining a bird-repelling stopping position for at least one bird-repelling vehicle on the bird-repelling route based on operational data and historical bird activity data of the target airport; determining image acquisition parameters of the optical camera component based on the bird-repelling stopping position; and controlling the bird-repelling vehicle to pass through the optical camera at the bird-repelling stopping position. The component acquires images of the target area based on the image acquisition parameters, generating bird situation image data; it determines whether bird situation information exists in the bird situation image data through a preset algorithm. If bird situation information exists, it generates a bird deterrent control signal based on the bird situation information, and controls the sonic bird deterrent component to emit a sonic bird deterrent signal to a first position, and controls the blast bird deterrent component to emit a blast bird deterrent projectile to a second position. The first position is located in the flight area or non-flying area of ​​the target airport, the second position is located in the non-flying area of ​​the target airport, and the effective bird deterrent range of the blast bird deterrent projectile at the second position covers the first position.

[0005] In some embodiments of the present invention, the attribute data includes airport coordinates, airport dimensions, airport road information, and airport road accessibility information of the target airport.

[0006] In some embodiments of the present invention, the operational data includes aircraft takeoff data and aircraft landing data, and the historical bird activity data includes historical bird activity data and historical bird strike data; determining the bird deterrence stopping position of at least one of the bird deterrence vehicles on the bird deterrence route based on the operational data and historical bird activity data of the target airport includes: determining at least one takeoff bird deterrence stopping position based on the aircraft takeoff data, historical bird activity data, and historical bird strike data of the target airport; determining at least one landing bird deterrence stopping position based on the aircraft landing data, historical bird activity data, and historical bird strike data of the target airport; and determining at least one intermediate bird deterrence stopping position based on the historical bird activity data, historical bird strike data, and the aircraft takeoff data and / or aircraft landing data.

[0007] In some embodiments of the present invention, the image acquisition parameters of the optical camera component are determined according to the bird deterrent stopping position, including: determining the acquisition focal length, acquisition field of view, acquisition step distance, and acquisition frame number of the optical camera component according to the bird deterrent stopping position.

[0008] In some embodiments of the present invention, determining whether bird information exists in the bird image data by means of a preset algorithm includes: acquiring multiple image data of the same location in the target area at different times; analyzing the pixels in the multiple image data by means of a preset algorithm, and determining that bird information exists if the pixels meet the set conditions.

[0009] In some embodiments of the present invention, generating a bird-repelling control signal based on bird information and controlling the acoustic bird-repelling component to emit an acoustic bird-repelling signal to a first position, and controlling the blast bird-repelling component to emit a blast bird-repelling projectile to a second position, includes: determining the bird location of the bird information in the plurality of image data in the target area; controlling the acoustic bird-repelling component to point to the first position according to the bird location, wherein the first position is consistent with the bird location; controlling the blast bird-repelling component to point to the second position according to the bird location, controlling the acoustic bird-repelling component to emit an acoustic bird-repelling signal to the first position, and controlling the blast bird-repelling component to emit a blast bird-repelling projectile to the second position.

[0010] In some embodiments of the present invention, the bird-repelling method further includes: if bird information exists, adjusting the image acquisition parameters of the optical camera component according to the bird information before generating a bird-repelling control signal; and acquiring images of the bird location according to the adjusted image acquisition parameters to generate archived bird information.

[0011] In another aspect, this invention provides a bird-repelling device based on a bird-repelling vehicle, comprising: a first determining module configured to determine a bird-repelling route of the bird-repelling vehicle based on attribute data of a target airport, so as to control at least one bird-repelling vehicle to move along the bird-repelling route; a second determining module configured to determine a bird-repelling stopping position of at least one bird-repelling vehicle on the bird-repelling route based on operational data and historical bird activity data of the target airport; a third determining module configured to determine image acquisition parameters of an optical camera component on the bird-repelling vehicle based on the bird-repelling stopping position; and a control module configured to control the bird-repelling vehicle to pass through the optical camera component at the bird-repelling stopping position. The system acquires images of the target area using the image acquisition parameters to generate bird situation image data. The judgment module is configured to determine whether bird situation information exists in the bird situation image data using a preset algorithm. If bird situation information exists, it generates a bird deterrent control signal based on the bird situation information and controls the sonic bird deterrent component on the bird deterrent vehicle to emit a sonic bird deterrent signal to a first position, and controls the blast bird deterrent component on the bird deterrent vehicle to emit a blast bird deterrent projectile to a second position. The first position is located in the flight zone or non-flight zone of the target airport, the second position is located in the non-flight zone of the target airport, and the effective bird deterrent range of the blast bird deterrent projectile covers the first position.

[0012] In some embodiments of the present invention, the second determining module includes a bird deterrent stopping position determining module, configured to: determine at least one takeoff bird deterrent stopping position based on aircraft takeoff data, historical bird activity data, and historical bird strike data of the target airport; determine at least one landing bird deterrent stopping position based on aircraft landing data, historical bird activity data, and historical bird strike data of the target airport; and determine at least one intermediate bird deterrent stopping position based on the historical bird activity data, historical bird strike data, and the aircraft takeoff data and / or aircraft landing data.

[0013] In some embodiments of the present invention, the third determining module includes an image acquisition parameter determining module, configured to: determine the acquisition focal length, acquisition field of view, acquisition step distance, and acquisition frame number of the optical imaging component based on the bird deterrent stopping position.

[0014] In some embodiments of the present invention, the determination module includes a determination submodule, configured to: acquire multiple image data of the same location in the target area and at different times from the bird situation image data; analyze the pixels in the multiple image data through a preset algorithm, and if the pixels meet the set conditions, determine that bird situation information exists.

[0015] In some embodiments of the present invention, the determination module includes a control submodule configured to: determine the bird location of the bird information in the plurality of image data in the target area; control the acoustic bird deterrent component to point to a first position according to the bird location, the first position being consistent with the bird location; control the blast bird deterrent component to point to a second position according to the bird location, control the acoustic bird deterrent component to emit an acoustic bird deterrent signal to the first position, and control the blast bird deterrent component to emit a blast bird deterrent projectile to the second position.

[0016] In some embodiments of the present invention, the bird deterrence device further includes an archived bird information generation module, configured to: if bird information exists, adjust the image acquisition parameters of the optical camera component according to the bird information before generating a bird deterrence control signal based on the bird information; and perform image acquisition on the bird location according to the adjusted image acquisition parameters to generate archived bird information.

[0017] Another aspect of the present invention provides an electronic device including one or more processors and a storage device, wherein the storage device is used to store executable instructions that, when executed by the processor, implement the method described above.

[0018] Another aspect of the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the method described above.

[0019] According to the above embodiments of the present invention, the bird-repelling route of the bird-repelling vehicle is first determined based on the attribute data of the target airport, and the route can be adjusted according to the airport's attribute information. Further, the bird-repelling stopping position of the bird-repelling vehicle on the route is determined based on the target airport's operational data and historical bird activity data, thereby ensuring that the bird-repelling vehicle can more efficiently detect and repel birds appearing at the airport. Finally, the bird activity image data is judged by a preset algorithm to quickly and accurately obtain bird activity information. When bird activity information is present, the acoustic bird-repelling component and the blast bird-repelling component are controlled to perform bird-repelling actions at different positions, enabling rapid identification and repelling of birds. Furthermore, since the effective bird-repelling range of the blast bird-repelling projectile at the second position covers the first position, it can more effectively repel the acquired birds, avoiding situations where birds are driven away but not removed, thus improving the overall efficiency of bird repelling.

[0020] It should be understood that the above general description and the following specific embodiments are merely exemplary and illustrative, and do not limit the scope of the invention. Attached Figure Description

[0021] The accompanying drawings, which are part of the specification of this invention, illustrate exemplary embodiments of the invention. The drawings, together with the description in the specification, serve to illustrate the principles of the invention.

[0022] Figure 1 A three-dimensional structural schematic diagram of a bird-repelling vehicle provided for an exemplary embodiment of the present invention;

[0023] Figure 2 A schematic flowchart of a bird-repelling method based on a bird-repelling vehicle provided for an exemplary embodiment of the present invention;

[0024] Figure 3 A block diagram of a bird-repelling device based on a bird-repelling vehicle provided for an exemplary embodiment of the present invention;

[0025] Figure 4 A block diagram of an electronic device provided for an exemplary embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the spirit of the contents disclosed in the present invention will be clearly explained below with reference to the accompanying drawings and detailed description. After understanding the embodiments of the present invention, any person skilled in the art can make changes and modifications based on the technology taught in the present invention without departing from the spirit and scope of the present invention.

[0027] The illustrative embodiments and descriptions of the present invention are used to explain the invention, but are not intended to limit the invention. Furthermore, elements / components using the same or similar reference numerals in the drawings and embodiments are used to represent the same or similar parts.

[0028] The terms "first," "second," etc., used in this document are not intended to specifically refer to order or sequence, nor are they intended to limit the invention. They are merely used to distinguish elements or operations described using the same technical terms.

[0029] The directional terms used in this article, such as up, down, left, right, front, or back, are for reference only when referring to the accompanying drawings. Therefore, the use of directional terms is for illustrative purposes and not to limit this work.

[0030] The terms “include,” “including,” “have,” “contain,” etc., used in this article are all open-ended terms, meaning that they include but are not limited to.

[0031] The term "and / or" as used herein includes any or all of the things mentioned.

[0032] The term "multiple" in this article includes "two" and "more than two"; the term "multiple groups" in this article includes "two groups" and "more than two groups".

[0033] The terms "approximately," "about," etc., used herein are intended to modify any quantity or error that may vary slightly, but these slight variations or errors do not change the essence of the quantity or error. Generally, the range of slight variations or errors modified by such terms may be 20% in some embodiments, 10% in others, 5% in still others, or other values. Those skilled in the art should understand that the aforementioned values ​​can be adjusted according to actual needs and are not limited thereto.

[0034] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0035] When using expressions such as "at least one of A, B, and C," it should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B, and C, etc.). A person skilled in the art should also understand that any conjunction and / or phrase that substantially arbitrarily represents two or more alternative items, whether in the specification, claims, or drawings, should be understood to give the possibility of including one of these items, any one of these items, or both items. For example, the phrase "A or B" should be understood to include the possibility of including "A" or "B," or "A and B."

[0036] In this article, the term "target airport" refers to the airport where the bird control vehicle will conduct bird control operations. Since different airports have different airport sizes, airport road information, and airport road opening information, when conducting bird control operations for different airports, it is necessary to adjust the bird control route according to the specific attribute data of the airport, so as to maximize the bird control efficiency of the bird control vehicle, reduce the number of bird control vehicles to be deployed, and reduce the deployment cost of bird control vehicles.

[0037] In this article, the term "bird image data" refers to images captured by the optical camera components on a bird deterrent vehicle in a designated area. These images may contain images of birds, and the presence of birds can provide a basis for subsequent bird deterrent operations.

[0038] In this article, the term "bird information" refers to the presence of birds at an airport, posing a risk of bird strikes to aircraft. Bird information is generated when birds are captured in images by optical camera components, necessitating bird control measures to ensure the safety of aircraft takeoffs and landings.

[0039] In this article, the term "stun bird deterrent" refers to a projectile that is launched to a designated location by a stun bird deterrent component and explodes to generate a sound wave. There are many types of stun bird deterrents, and the effective bird deterrent range of a stun bird deterrent varies depending on the type of stun bird deterrent launched.

[0040] In this article, the term "effective bird deterrence range" refers to the range within which the sound wave intensity is higher than a set value (e.g., sound wave intensity greater than or equal to 98 dB) with the explosion center of the stun bird deterrence projectile as the center of the sphere. In other words, within the effective bird deterrence range, birds can be effectively driven away.

[0041] In existing technologies, the unpredictable nature of bird activity at airports can lead to bird-aircraft collisions, increasing safety risks for pilots and passengers. Current bird control methods rely on personnel operating equipment. However, due to differences in geographical location, bird habits, and operational strategies (such as aircraft takeoffs and landings) among airports, a uniform approach cannot effectively address the varying operational strategies and geographical locations of different airports. This results in low efficiency in airport bird control and an increased probability of bird-aircraft collisions.

[0042] To address the problems in the prior art, embodiments of the present invention provide a bird control method, device, electronic equipment, and medium based on a bird-repelling vehicle, which can meet the bird control needs of different airports and improve the accuracy and efficiency of bird control. The bird-repelling vehicle of the present invention integrates an optical camera component, an acoustic bird-repelling component, and a detonation bird-repelling component. The bird control method based on the bird-repelling vehicle of the present invention includes, but is not limited to: determining the bird-repelling route of the bird-repelling vehicle based on the attribute data of the target airport, so as to control at least one bird-repelling vehicle to move along the bird-repelling route; determining the bird-repelling stopping position of at least one bird-repelling vehicle on the bird-repelling route based on the operational data and historical bird situation data of the target airport; determining the image acquisition parameters of the optical camera component based on the bird-repelling stopping position; and controlling the bird-repelling vehicle to move at the bird-repelling stopping position using the optical camera component based on the image... The acquisition parameters are used to acquire images of the target area and generate bird situation image data. A preset algorithm is used to determine whether bird situation information exists in the bird situation image data. If bird situation information exists, a bird deterrence control signal is generated based on the bird situation information. The sound bird deterrence component is controlled to emit a sound bird deterrence signal to a first position, and the blast bird deterrence component is controlled to emit a blast bird deterrence projectile to a second position. The first position is located in the flight area or non-flight area of ​​the target airport, and the second position is located in the non-flight area of ​​the target airport. The effective bird deterrence range of the blast bird deterrence projectile at the second position covers the first position.

[0043] According to an embodiment of the present invention, the bird-repelling route of the bird-repelling vehicle is first determined based on the attribute data of the target airport, and the route can be adjusted according to the airport's attribute information. Further, the bird-repelling stopping position of the bird-repelling vehicle on the route is determined based on the target airport's operational data and historical bird activity data, thereby ensuring that the bird-repelling vehicle can more efficiently detect and repel birds appearing at the airport. Finally, the bird activity image data is judged by a preset algorithm to quickly and accurately obtain bird activity information. When bird activity information is present, the acoustic bird-repelling component and the blast bird-repelling component are controlled to perform bird-repelling actions at different positions, enabling rapid identification and repelling of birds. Furthermore, since the effective bird-repelling range of the blast bird-repelling projectile at the second position covers the first position, it can more effectively repel the acquired birds, avoiding situations where birds are driven away but not removed, thus improving the overall efficiency of bird repelling.

[0044] The following is combined Figures 1 to 4 The bird-repelling method based on a bird-repelling vehicle of the present invention will be described in detail.

[0045] Figure 1 A three-dimensional structural diagram of a bird deterrent vehicle provided for an exemplary embodiment of the present invention.

[0046] like Figure 1 As shown, the bird deterrent vehicle 100 includes a bird deterrent vehicle body 10, on which an optical camera component 20, an acoustic bird deterrent component 30, and an explosive bird deterrent component 40 are provided.

[0047] The optical camera component 20 and the acoustic bird-repelling component 30 are mounted on the bird-repelling vehicle via a gimbal 50. By controlling the rotation of the gimbal 50, the attitude angles of the optical camera component 20 and the acoustic bird-repelling component 30 can be controlled, including controlling the rotation and pitch angles of the optical camera component 20, so that the optical camera component 20 is pointed at a designated area to acquire images. Similarly, the rotation and pitch angles of the acoustic bird-repelling component 30 can also be adjusted via the gimbal 50, so that the acoustic bird-repelling component 30 can emit acoustic bird-repelling signals to a designated location to achieve a bird-repelling effect. In the embodiments of the present invention, the attitude angles of the optical camera component 20 and the acoustic bird-repelling component 30 change in unison. Therefore, when bird information is obtained from the image acquired by the optical camera component 20, the acoustic bird-repelling component 30 can be quickly activated to emit acoustic bird-repelling signals at the location of the bird infestation, saving bird-repelling time and improving bird-repelling efficiency.

[0048] For example, the optical imaging component 20 includes a visible light imaging device and an infrared imaging device, respectively meeting the image acquisition needs at different times. For instance, the visible light imaging device can meet the image acquisition needs during the day, while the infrared imaging device can meet the image acquisition needs at night, enabling the bird-repelling method based on the bird-repelling vehicle to work continuously 24 hours a day, meeting the airport's all-weather operation requirements.

[0049] In an embodiment of the present invention, the stun bird deterrent component 40 is mounted on a bird deterrent vehicle via an attitude adjustment component 60. The attitude adjustment component 60 is used to adjust the pitch angle of the stun bird deterrent component 40 so that the stun bird deterrent component 40 can fire stun bird deterrent projectiles at a designated location to achieve the effect of deterring birds from detected bird activity.

[0050] For example, the attitude adjustment component 60 can point the stun bird deterrent component 40 to both sides of the length of the bird deterrent vehicle, thereby firing stun bird deterrent projectiles toward both sides of the bird deterrent vehicle.

[0051] In embodiments of the present invention, by integrating optical camera components, acoustic bird deterrent components, and detonation bird deterrent components into the bird deterrent vehicle, the manufacturing cost of the bird deterrent vehicle can be reduced.

[0052] Figure 2 A schematic flowchart of a bird-repelling method based on a bird-repelling vehicle provided for an exemplary embodiment of the present invention.

[0053] In exemplary embodiments of the present invention, the bird deterrence method may be executed, for example, by electronic devices on a bird deterrence vehicle, or by remotely controlling the bird deterrence vehicle, to acquire bird information at the target airport and perform bird deterrence operations. The bird deterrence method of the present invention can automatically collect bird information and automatically deter birds based on the collected information, improving bird deterrence efficiency and reducing labor costs.

[0054] The following is combined Figure 2 The process of the bird-repelling method based on a bird-repelling vehicle according to an embodiment of the present invention will be described in detail.

[0055] like Figure 2 As shown, the bird deterrence method process 200 includes operations S210 to S240.

[0056] In operation S210, the bird-repelling route of the bird-repelling vehicle is determined based on the attribute data of the target airport, so as to control at least one bird-repelling vehicle to move along the bird-repelling route.

[0057] In embodiments of the present invention, the attribute data includes airport coordinates, airport dimensions, airport road information, and airport road accessibility information of the target airport.

[0058] Airport coordinate information includes, for example, the airport's location coordinates, including longitude, latitude, and altitude. Airport size information includes, for example, the airport's length, width, and other size-related information. Airport road information includes, for example, the length and number of runways, and other access roads; runways are used for aircraft takeoff and landing, while other access roads are used for the movement of other support vehicles or personnel commuter vehicles. Airport road accessibility information includes, for example, which roads within the airport are open to traffic and which are closed.

[0059] In embodiments of the present invention, due to differences in the coordinates of the target airport, the types and probabilities of birds that may appear in its vicinity may vary. Furthermore, the airport size, airport road information, and airport road accessibility information of the target airport will be adjusted. To ensure effective bird deterrence under different circumstances, suitable bird deterrence routes need to be determined to facilitate the movement of bird deterrence vehicles along these routes, thereby acquiring bird information and performing bird deterrence operations.

[0060] The embodiments of the present invention, by executing operation S210, can meet the bird control needs of different target airports. Based on the target airport's attribute information, the optimal bird control route is determined, improving bird control efficiency. For example, based on the target airport's attribute information, multiple bird control routes can be planned. These routes are then evaluated to determine the optimal route that achieves the bird control effect at the target airport with the fewest bird control attempts and the shortest route. This reduces bird control time and improves bird control efficiency.

[0061] In S220 operations, based on the target airport's operational data and historical bird activity data, at least one bird control vehicle is identified as having a designated stop along the bird control route.

[0062] In embodiments of the present invention, the operational data of the target airport includes aircraft takeoff and landing data. Each airport has different operational data; for example, larger airports have higher takeoff and landing frequencies, while smaller or more remote airports have lower frequencies. Therefore, different airports have different requirements for the accuracy and frequency of bird control measures. When conducting bird control, the operational data of the target airport needs to be considered to accurately collect bird information and perform bird control operations in the aircraft's flight area before takeoff or landing, thereby reducing the probability of collisions between aircraft and birds.

[0063] Furthermore, due to differences in attribute data (such as airport coordinates) for each airport, bird activity data also varies. Therefore, to meet the bird control needs of different target airports, historical bird activity data is acquired to determine the stopping locations for bird control vehicles along the designated routes. At these stopping locations, the vehicles collect images of the target area to determine the presence of bird activity. Choosing appropriate stopping locations facilitates bird activity data collection and bird control operations. If the stopping locations are well-selected, the time required for bird activity data collection and bird control can be significantly reduced, effectively improving bird control efficiency.

[0064] In some embodiments of the present invention, historical bird activity data includes historical bird activity data and historical bird strike data. Historical bird activity data, for example, refers to information on bird activity around the target airport, such as which areas have a high probability of bird activity and which areas have a low probability of bird activity. Historical bird strike data, for example, refers to information on aircraft-bird collisions that occurred at the target airport, including the number of collisions and the location of the collisions.

[0065] By determining the parking locations of bird control vehicles based on the operational data and historical bird activity data of the target airport, the bird control requirements of different airports can be met. Furthermore, the parking locations determined through this operation can cover areas with high bird strike rates, enabling the collection of bird activity information and the execution of bird control operations in a shorter time, thus improving bird control efficiency.

[0066] In a specific embodiment of the present invention, operation S220 includes operation S221 referring to operation S223.

[0067] In operation S221, at least one bird deterrent stop location is determined based on aircraft takeoff data, historical bird activity data, and historical bird strike data from the target airport.

[0068] For example, at the aircraft's taxiing or takeoff position, it's crucial to avoid bird strikes. Aircraft takeoff data indicates the time and route of takeoff. To effectively prevent bird strikes during takeoff, bird activity data and bird deterrence operations can be conducted around the aircraft's takeoff route before takeoff, thereby reducing the occurrence of bird strikes. Furthermore, historical bird activity and bird strike data can accurately determine which locations have a higher probability of bird strikes during takeoff. By identifying bird deterrence stopping points at the takeoff location, bird activity data can be collected and bird deterrence operations can be carried out in the takeoff area, significantly reducing bird strikes and improving bird deterrence efficiency and accuracy.

[0069] In operation S222, at least one bird deterrent stop location is determined based on aircraft landing data, historical bird activity data, and historical bird strike data at the target airport.

[0070] In embodiments of the present invention, aircraft landing data can indicate the time, location, and flight path of the aircraft landing. By determining the bird deterrent stop position at the landing site based on aircraft landing data, historical bird activity data, and historical bird strike data, the occurrence of bird strikes during aircraft landing or taxiing can be effectively reduced, improving the accuracy of bird situation collection and the efficiency of bird deterrence.

[0071] In operation S223, at least one intermediate bird deterrent stop location is determined based on historical bird activity data, historical bird strike data, and aircraft takeoff and / or landing data.

[0072] In embodiments of the present invention, bird strikes between aircraft and landing runways, such as the taxiing area, also need to be prevented. Therefore, bird deterrent positions can be determined based on aircraft takeoff and / or landing data, historical bird activity data, and historical bird strike data. This allows for the collection of bird information and the execution of bird deterrence operations targeting the area between the takeoff and landing runways. This ensures coverage of bird deterrence across the entire airport and avoids any omissions in bird information collection.

[0073] In operation S230, the image acquisition parameters of the optical camera component are determined based on the bird deterrent's stopping position.

[0074] In the embodiments of the present invention, after the bird deterrent stopping position is determined, the range of the optical imaging component is also different due to the different bird deterrent stopping positions. For example, the attitude angle range of the image to be acquired and the focal length of the image to be acquired need to be adjusted according to the specific bird deterrent stopping position, so that the image can be accurately and comprehensively acquired for the target area at the bird deterrent stopping position.

[0075] In embodiments of the present invention, the image acquisition parameters of the optical camera component include acquisition focal length, acquisition field of view, acquisition step distance, and acquisition frame number.

[0076] The focal length for acquisition refers to the focal length of the optical camera component when acquiring images. The focal length of the optical camera component is adjustable. At the bird-driving stop position, the focal length is adjusted to a suitable value according to the bird-driving stop position to acquire images. This ensures that bird information is accurately obtained and that image acquisition is fast and effective.

[0077] The field of view (FAV) refers to the size of the view area during image acquisition. A larger focal length results in a smaller FAV, leading to more accurate images. However, a smaller FAV means a longer acquisition time for a given target area. Adjusting image acquisition parameters, such as the FAV, based on bird perching positions ensures both accurate bird information acquisition and efficient image acquisition, thus improving bird deterrence.

[0078] The acquisition step size refers to the distance between adjacent images. A small acquisition step size will result in a large overlap between adjacent images, leading to invalid acquisitions and low bird deterrence efficiency. An excessively large acquisition step size will result in no overlap between images, causing the omission of bird information during the image acquisition process. To ensure the accuracy and efficiency of image acquisition, a reasonable acquisition step size is set to ensure that bird information is not missed while achieving fast and effective image acquisition.

[0079] The number of frames acquired indicates, for example, the number of times the same image is captured. The number of frames acquired includes multiple frames, which facilitates the processing and analysis of the captured images to determine whether bird activity information is present.

[0080] According to embodiments of the present invention, by determining the acquisition focal length, acquisition field of view, acquisition step distance, and acquisition frame number of the optical imaging component based on the bird-driving stop position, the efficiency and accuracy of the image acquisition process are ensured, the problem of missing bird information is effectively avoided, and the efficiency of bird deterrence is improved.

[0081] In operation S240, the bird deterrent vehicle is controlled to capture images of the target area based on image acquisition parameters using an optical camera component at the bird deterrent stopping position, generating bird situation image data.

[0082] In an embodiment of the present invention, when the bird deterrent vehicle stops at a bird deterrent stopping position, the target area to be captured by the optical camera component varies depending on the stopping position. By capturing images of the target area at different stopping positions, bird situation image data is generated. The bird situation image data may or may not contain bird situation information. When bird situation information is present, bird deterrent operation needs to be performed; if bird situation information is not present, no operation is required.

[0083] In operation S250, a preset algorithm is used to determine whether bird information exists in the bird image data.

[0084] In an embodiment of the present invention, operation S250 includes operations S251 to S252.

[0085] In operation S251, multiple images of birds located at the same location in the target area at different times are acquired from the bird image data.

[0086] For example, the bird situation image data includes multiple image data located at the same location in the target area. The multiple image data are acquired at different times. For example, the first image data is acquired for sub-region A of the target area at the first time, and the second image data is acquired for sub-region A of the target area at the second time. The first image data and the second image data are used to determine the bird situation information in the following text.

[0087] In operation S252, pixels in multiple image data are analyzed using a preset algorithm. If a pixel meets the set conditions, it is determined that bird information exists.

[0088] For example, the default algorithm is the optical flow algorithm, which determines the movement of an object by analyzing the changes in pixels in images at adjacent time points.

[0089] For example, if there is pixel movement in the first image data and the second image data, and the pixel movement is consistent with bird flight, then the pixels in the first image data and the second image data are identified as bird information. The bird information includes bird location, which refers to the specific location of the bird.

[0090] In embodiments of the present invention, bird information is determined by a preset algorithm, eliminating the need to detect the distance of the birds. The detected birds are driven away by controlling the sonic bird deterrent component and the detonation bird deterrent component. This reduces the manufacturing cost of the bird deterrent vehicle and improves bird deterrence efficiency by enabling bird deterrence operations without detecting the distance of the birds.

[0091] In operation S260, if bird information is available, a bird deterrence control signal is generated based on the bird information, and the acoustic bird deterrence component is controlled to emit an acoustic bird deterrence signal to a first position, and the stun bird deterrence component is controlled to emit a stun bird deterrence projectile to a second position. The first position is located in the flight area or non-flying area of ​​the target airport, and the second position is located in the non-flying area of ​​the target airport. The effective bird deterrence range of the stun bird deterrence projectile at the second position covers the first position.

[0092] In embodiments of the present invention, if there is no bird information, no bird deterrence operation is required; if there is bird information, bird deterrence operation is required to ensure the safety of aircraft flight and reduce the occurrence of bird strikes.

[0093] In an embodiment of the present invention, operation S260 includes operation S261, which refers to operation S264.

[0094] In operation S261, the location of bird activity information in the target area is determined from multiple image data.

[0095] For example, by analyzing bird information from multiple image datasets, the location of birds in the target area can be determined. Bird location refers to the direction in which birds appear, which facilitates the removal of birds that appear.

[0096] In operation S262, the sound wave bird deterrent component is controlled to point to the first position according to the bird's location, and the first position is consistent with the bird's location.

[0097] After determining the location of the birds, the acoustic bird-repelling component is controlled to point towards that location, thereby driving away the birds in that direction. In an embodiment of the invention, the attitude angles of the acoustic bird-repelling component and the optical camera component change in unison, so that when the optical camera component determines the bird information, it can quickly and accurately emit acoustic bird-repelling signals in the direction of the birds.

[0098] In operation S263, the stun bird deterrent component is directed to a second position based on the bird location. In embodiments of the invention, the stun bird deterrent component must be pointed towards the non-flying zone of the airport to avoid collisions with aircraft caused by the launched stun bird deterrent. By setting the second position to be located in the non-flying zone of the target airport, the impact of the stun bird deterrent on the aircraft can be effectively avoided. Simultaneously, the effective bird deterrent range of the stun bird deterrent at the second position covers the first position, thereby enabling the stun bird deterrent to effectively drive away birds at the first position and improving bird deterrence efficiency.

[0099] In operation S264, the sonic bird deterrent component is controlled to emit a sonic bird deterrent signal to the first position, and the blast bird deterrent component is controlled to emit a blast bird deterrent projectile to the second position.

[0100] By emitting a sonic bird-repelling signal to the first location and firing a blast bird-repelling projectile to the second location, a larger bird-repelling range can be achieved, thereby effectively driving away the detected birds and improving bird-repelling efficiency.

[0101] In an embodiment of the present invention, the bird-repelling method further includes: if bird information exists, adjusting the image acquisition parameters of the optical camera component according to the bird information before generating a bird-repelling control signal; and acquiring images of the bird location according to the adjusted image acquisition parameters to generate archived bird information.

[0102] If bird activity is detected, it indicates a risk of bird collision, necessitating photographic documentation. However, image acquisition parameters determined by the bird deterrent landing location are designed for rapid acquisition of bird information and are not suitable for archiving (e.g., a short focal length prevents capturing detailed bird information). To obtain accurate bird information, the image acquisition parameters of the optical camera are adjusted based on the bird activity (e.g., the bird's location). This adjustment involves capturing bird information at the bird's location using the adjusted parameters, generating archived bird information for later review and retrieval.

[0103] Figure 3 A block diagram of a bird deterrent device based on a bird deterrent vehicle, provided for an exemplary embodiment of the present invention.

[0104] like Figure 3 As shown, another aspect of the present invention provides a bird deterrence device 300 based on a bird deterrence vehicle, including a first determining module 301, a second determining module 302, a third determining module 303, a control module 304, and a judgment module 305.

[0105] The first determining module 301 is configured to determine the bird-repelling route of the bird-repelling vehicle based on the attribute data of the target airport, so as to control at least one bird-repelling vehicle to move along the bird-repelling route. In one embodiment, the first determining module 301 can be used to perform the operation S210 described above, which will not be repeated here.

[0106] The second determining module 302 is configured to determine the bird-repelling stopping position of at least one bird-repelling vehicle on the bird-repelling route based on the target airport's operational data and historical bird activity data. In one embodiment, the second determining module 302 can be used to perform the operation S220 described above, which will not be repeated here.

[0107] The third determining module 303 is configured to determine the image acquisition parameters of the optical camera component on the bird deterrent vehicle based on the bird deterrent vehicle's parking position. In one embodiment, the third determining module 303 can be used to perform the operation S230 described above, which will not be repeated here.

[0108] The control module 304 is configured to control the bird deterrent vehicle to capture images of the target area based on image acquisition parameters using an optical camera component at the bird deterrent stopping position, generating bird situation image data. In one embodiment, the control module 304 can be used to perform the operation S240 described above, which will not be repeated here.

[0109] The judgment module 305 is configured to determine whether bird information exists in the bird situation image data using a preset algorithm. If bird information exists, it generates a bird deterrent control signal based on the bird information and controls the sonic bird deterrent component on the bird deterrent vehicle to emit a sonic bird deterrent signal to a first position, and controls the blast bird deterrent component on the bird deterrent vehicle to emit a blast bird deterrent projectile to a second position. The first position is located in the flight area or non-flying area of ​​the target airport, the second position is located in the non-flying area of ​​the target airport, and the effective bird deterrent range of the blast bird deterrent projectile covers the first position. In one embodiment, the judgment module 305 can be used to execute the operations S250 and S260 described above, which will not be repeated here.

[0110] In some embodiments of the present invention, the second determining module includes a bird deterrent stopping position determining module, configured to: determine at least one takeoff bird deterrent stopping position based on aircraft takeoff data, historical bird activity data, and historical bird strike data of the target airport; determine at least one landing bird deterrent stopping position based on aircraft landing data, historical bird activity data, and historical bird strike data of the target airport; and determine at least one intermediate bird deterrent stopping position based on historical bird activity data, historical bird strike data, and aircraft takeoff data and / or aircraft landing data.

[0111] In some embodiments of the present invention, the third determining module includes an image acquisition parameter determining module, configured to: determine the acquisition focal length, acquisition field of view, acquisition step distance, and acquisition frame number of the optical imaging component based on the bird deterrent's stopping position.

[0112] In some embodiments of the present invention, the judgment module includes a determination submodule, configured to: acquire multiple image data of birds located at the same position in the target area at different times; analyze the pixels in the multiple image data through a preset algorithm, and if the pixels meet the set conditions, determine that bird information exists.

[0113] In some embodiments of the present invention, the judgment module includes a control submodule configured to: determine the bird location of bird information in a target area from multiple image data; control the sound wave bird deterrent component to point to a first position according to the bird location, the first position being consistent with the bird location; control the detonation bird deterrent component to point to a second position according to the bird location; control the sound wave bird deterrent component to emit a sound wave bird deterrent signal to the first position; and control the detonation bird deterrent component to emit a detonation bird deterrent projectile to the second position.

[0114] In some embodiments of the present invention, the bird deterrence device further includes an archived bird information generation module, configured to: if bird information exists, adjust the image acquisition parameters of the optical camera component according to the bird information before generating a bird deterrence control signal based on the bird information; and perform image acquisition on the bird location according to the adjusted image acquisition parameters to generate archived bird information.

[0115] According to embodiments of the present invention, any plurality of modules among the first determining module 301, the second determining module 302, the third determining module 303, the control module 304, and the judgment module 305 can be combined into one module, or any one of these modules can be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules can be combined with at least part of the functionality of other modules and implemented in one module. According to embodiments of the present invention, at least one of the first determining module 301, the second determining module 302, the third determining module 303, the control module 304, and the judgment module 305 can be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or implemented in hardware or firmware by any other reasonable means of integrating or packaging the circuitry, or implemented in any one of the three implementation methods of software, hardware, and firmware, or in a suitable combination of any of these. Alternatively, at least one of the first determining module 301, the second determining module 302, the third determining module 303, the control module 304, and the judgment module 305 can be at least partially implemented as a computer program module, which can perform corresponding functions when the computer program module is run.

[0116] Figure 4 A block diagram of an electronic device provided for an exemplary embodiment of the present invention.

[0117] Figure 4 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention.

[0118] like Figure 4 As shown, an electronic device 400 according to an embodiment of the present invention includes a processor 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage portion 408 into a random access memory (RAM) 403. The processor 401 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 401 may also include onboard memory for caching purposes. The processor 401 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0119] RAM 403 stores various programs and data required for the operation of electronic device 400. Processor 401, ROM 402, and RAM 403 are interconnected via bus 404. Processor 401 executes various operations of the method flow according to embodiments of the present invention by executing programs in ROM 402 and / or RAM 403. It should be noted that the programs may also be stored in one or more memories other than ROM 402 and RAM 403. Processor 401 may also execute various operations of the method flow according to embodiments of the present invention by executing programs stored in said one or more memories.

[0120] According to an embodiment of the present invention, the electronic device 400 may further include an input / output (I / O) interface 405, which is also connected to a bus 404. The electronic device 400 may also include one or more of the following components connected to the I / O interface 405: an input section 406 including a keyboard, mouse, etc.; an output section 407 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 410 as needed so that computer programs read from it can be installed into the storage section 408 as needed.

[0121] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of the present invention.

[0122] According to embodiments of the present invention, a computer-readable storage medium may be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of the present invention, a computer-readable storage medium may include ROM 402 and / or RAM 403 and / or one or more memories other than ROM 402 and RAM 403 described above.

[0123] Embodiments of the present invention also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code is used to cause the computer system to implement the methods provided in the embodiments of the present invention.

[0124] When the computer program is executed by the processor 401, it performs the functions defined in the system / apparatus of this embodiment of the invention. According to embodiments of the invention, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0125] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and downloaded and installed via communication section 409, and / or installed from removable medium 411. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0126] In such an embodiment, the computer program can be downloaded and installed from a network via communication section 409, and / or installed from removable medium 411. When the computer program is executed by processor 401, it performs the functions defined in the system of this embodiment of the invention. According to embodiments of the invention, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0127] According to embodiments of the present invention, program code for executing the computer programs provided in the embodiments of the present invention can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0128] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0129] Those skilled in the art will understand that the features described in the various embodiments and / or claims of the present invention can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments and / or claims of the present invention can be combined or combined in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or combinations fall within the scope of the present invention.

[0130] The embodiments of the present invention have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of the invention. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of the invention is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the invention, and all such substitutions and modifications should fall within the scope of the invention.

[0131] Those skilled in the art will understand that the features described in the various embodiments and / or claims of the present invention can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments and / or claims of the present invention can be combined or combined in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or combinations fall within the scope of the present invention.

[0132] The embodiments of the present invention have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of the invention. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of the invention is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the invention, and all such substitutions and modifications should fall within the scope of the invention.

Claims

1. A bird-repelling method based on a bird-repelling vehicle, wherein the bird-repelling vehicle integrates an optical camera component, an acoustic bird-repelling component, and a detonation bird-repelling component, characterized in that, The bird-repelling methods include: Based on the attribute data of the target airport, multiple bird control routes are planned. The planned bird control routes are evaluated to determine the optimal bird control route that achieves the bird control effect of the target airport with the fewest bird control attempts and the shortest route. At least one bird control vehicle is then controlled to move along the bird control route. The target airport refers to the airport where the bird control vehicle will carry out bird control. Different target airports have different attribute data, including airport coordinate information, airport size information, airport road information, and airport road openness information. Based on the operational data and historical bird activity data of the target airport, determine the bird-repelling stopping position of at least one of the bird-repelling vehicles on the bird-repelling route; Based on the bird-repelling perch location, determine the image acquisition parameters of the optical camera component; The bird deterrence vehicle is controlled to capture images of the target area at the bird deterrence stopping position using the optical camera component based on the image acquisition parameters, thereby generating bird situation image data. The presence of bird information in the bird image data is determined by a preset algorithm. If bird activity information is available, a bird deterrent control signal is generated based on the bird activity information, and the sonic bird deterrent component is controlled to emit a sonic bird deterrent signal to a first position, and the blast bird deterrent component is controlled to emit a blast bird deterrent projectile to a second position. Wherein, the first position is located in the flight area or the non-flying area of ​​the target airport, the second position is located in the non-flying area of ​​the target airport, and the effective bird-repelling range of the stun bird repellent at the second position covers the first position; The operational data includes aircraft takeoff data and aircraft landing data, and the historical bird activity data includes historical bird activity data and historical bird strike data. Based on the operational data and historical bird activity data of the target airport, determine the bird-repelling stopping position of at least one of the bird-repelling vehicles on the bird-repelling route, including: Based on the aircraft takeoff data, historical bird activity data, and historical bird strike data of the target airport, determine at least one bird deterrent stopping position at the takeoff point; Based on aircraft landing data, historical bird activity data, and historical bird strike data from the target airport, determine at least one bird deterrent stop location at the landing site; and Based on the historical bird activity data, historical bird strike data, and the aircraft takeoff and / or landing data, at least one intermediate bird deterrent stopping location is determined.

2. The method according to claim 1, characterized in that, Based on the bird-repelling perch location, the image acquisition parameters of the optical camera component are determined, including: Based on the bird-repelling landing position, determine the acquisition focal length, acquisition field of view, acquisition step distance, and acquisition frame number of the optical imaging component.

3. The method according to claim 1, characterized in that, Determining whether bird information exists in the bird image data using a preset algorithm includes: Acquire multiple image data points located at the same position in the target area and at different times from the bird situation image data; The pixels in the multiple image data are analyzed by a preset algorithm. If the pixels meet the set conditions, it is determined that there is bird information.

4. The bird-repelling method according to claim 3, characterized in that, Based on bird activity information, generating a bird deterrent control signal and controlling the sonic bird deterrent component to emit a sonic bird deterrent signal to a first position, and controlling the blast bird deterrent component to emit a blast bird deterrent projectile to a second position, includes: Determine the location of birds in the target area from the multiple image data; The sound wave bird deterrent component is controlled to point to a first position according to the bird situation location, and the first position is consistent with the bird situation location; The detonation bird deterrent component is controlled to point to the second position based on the location of the birds. The system controls the sonic bird deterrent component to emit a sonic bird deterrent signal to a first position and controls the blast bird deterrent component to emit a blast bird deterrent projectile to a second position.

5. The bird-repelling method according to claim 4, characterized in that, Also includes: If bird activity information is available, before generating a bird deterrence control signal based on the bird activity information... Based on the bird situation information, adjust the image acquisition parameters of the optical camera component; as well as Based on the adjusted image acquisition parameters, images are acquired for the bird situation location, and archived bird situation information is generated.

6. A bird-repelling device based on a bird-repelling vehicle, characterized in that, include: The first determining module is configured to plan multiple bird control routes based on the attribute data of the target airport, evaluate the multiple planned bird control routes, and determine the optimal bird control route that can achieve the bird control effect of the target airport with the fewest bird control times and the shortest bird control route as the selected bird control route, so as to control at least one bird control vehicle to move on the bird control route. The target airport refers to the airport where the bird control vehicle will carry out bird control. Different target airports have different attribute data, including airport coordinate information, airport size information, airport road information, and airport road openness information of the target airport. The second determining module is configured to determine the bird-repelling stopping position of at least one of the bird-repelling vehicles on the bird-repelling route based on the operational data and historical bird activity data of the target airport; wherein the operational data includes aircraft takeoff data and aircraft landing data, and the historical bird activity data includes historical bird activity data and historical bird strike data; determining the bird-repelling stopping position of at least one of the bird-repelling vehicles on the bird-repelling route based on the operational data and historical bird activity data of the target airport includes: determining at least one takeoff point bird-repelling stopping position based on the aircraft takeoff data, historical bird activity data, and historical bird strike data of the target airport; determining at least one landing point bird-repelling stopping position based on the aircraft landing data, historical bird activity data, and historical bird strike data of the target airport; and determining at least one intermediate bird-repelling stopping position based on the historical bird activity data, historical bird strike data, and the aircraft takeoff data and / or aircraft landing data; The third determining module is configured to determine the image acquisition parameters of the optical camera component on the bird deterrent vehicle based on the bird deterrent stopping position; The control module is configured to control the bird deterrent vehicle to capture images of the target area at the bird deterrent stopping position using the optical camera component based on the image acquisition parameters, and generate bird situation image data. The judgment module is configured to determine whether bird information exists in the bird situation image data through a preset algorithm. If bird information exists, it generates a bird deterrence control signal based on the bird information and controls the sonic bird deterrence component on the bird deterrence vehicle to emit a sonic bird deterrence signal to a first position, and controls the blast bird deterrence component on the bird deterrence vehicle to emit a blast bird deterrence projectile to a second position. The first position is located in the flight area or non-flight area of ​​the target airport, the second position is located in the non-flight area of ​​the target airport, and the effective bird deterrence range of the blast bird deterrence projectile covers the first position.

7. An electronic device, comprising: One or more processors; A storage device for storing executable instructions, which, when executed by the processor, implement the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, implement the method according to any one of claims 1 to 5.

Images