Bird repelling method and system based on millimeter wave radar and predation action simulation

Abstract

The invention discloses a bird repelling method based on millimeter wave radar and predation action simulation, which comprises the following steps: sending millimeter waves into a detection area range, and receiving echo signals of the millimeter waves; whether birds exist in the detection area range or not is judged according to the echo signals, and if yes, behavior data and feature data of the birds are determined; a target position is determined based on the behavior data and the feature data, and a simulation bird is launched to the target position to execute a simulation predation expelling action or an interception expelling action; whether birds exist in the detection area or not is recognized through the echo signals of the millimeter waves, if the birds exist in the detection area, the simulated birds are emitted to execute the simulated predation repelling action, bird repelling is achieved, and the problems that the birds are high in adaptability and the bird repelling effect is worse and worse can be effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line bird-repelling equipment, and in particular to a bird-repelling method and system based on millimeter-wave radar and predation action simulation. Background Art

[0002] In recent years, with the rapid development of power grids and the improvement of the ecological environment, the number of birds around power system equipment has increased, and the number of faults caused by bird activities has increased significantly, which has had a certain impact on the safe operation of the power grid. The overall trend of bird-damaged fault tripping is on the rise, and it has become one of the main causes of line failures, affecting the safety and stability of the power grid. The work of preventing bird damage is severe.

[0003] At present, bird-proof covers, bird-proof spikes and other physical methods are used to prevent and control bird-related faults, which can achieve significant results in the short term. However, long-term use will inevitably fail due to the strong adaptability of birds, and the bird-repelling effect will become worse and worse, and bird-related faults will continue to occur; when using odor bird repellents for bird-related fault prevention, the bird repellent naturally evaporates to produce bird-repellent gas during use. On the one hand, its evaporation speed cannot be controlled, and the consumption of bird repellent is large. On the other hand, the concentration of bird repellent gas produced by natural evaporation of bird repellent is low (especially in windy environments), and it cannot exert a stable bird-repelling effect; when using simulated birds for bird-related fault prevention, birds may gradually adapt to the existence of simulated birds and find that these simulated birds do not pose a real threat to them, so they continue to stay or nest on the power lines. Moreover, different species of birds may react differently to simulated birds. Some birds may be sensitive to simulated birds, while others may not care at all, and may even be attacked by ferocious birds.

[0004] Therefore, it is necessary to propose a new type of bird repellent solution to solve the problem that birds are highly adaptable, the bird repellent effect is getting worse and worse, or even fails. Summary of the invention

[0005] The technical problem to be solved by the present invention is that birds have strong adaptability around power system equipment, and traditional bird-repelling methods are becoming less and less effective, and even fail. The purpose of the present invention is to provide a bird-repelling method and system based on millimeter-wave radar and predation action simulation, which can identify whether there are birds in the detection area through millimeter-wave echo signals. If there are birds, a simulated bird is emitted to perform a simulated predation and expulsion action to achieve bird repelling, which can effectively solve the problem of strong adaptability of birds and increasingly poor bird-repelling effects.

[0006] The present invention is achieved through the following technical solutions:

[0007] This solution provides a bird-repelling method based on millimeter-wave radar and predator action simulation, including:

[0008] Send out millimeter waves into the detection area and receive the echo signals of the millimeter waves;

[0009] Determine whether there is a bird within the detection area according to the echo signal, and if so, determine the behavior data and characteristic data of the bird;

[0010] The target position is determined based on the behavior data and the characteristic data, and a simulated bird is launched to the target position to perform a simulated predation and expulsion action or an interception and expulsion action.

[0011] A further optimization scheme is that the behavior data includes: the flight trajectory of the flying birds and the resting position of the resting birds;

[0012] The characteristic data include: the types of the birds that stay.

[0013] A further optimization scheme is that the target position is determined based on the behavior data and the feature data, and a simulated bird is launched to the target position to perform a simulated predation and expulsion action or an interception and expulsion action, including the following method:

[0014] Obtaining the flight trajectory of the flying bird, predicting whether the current flying bird will hit the power grid device based on the flight trajectory, and if so, calculating the predicted blocking position of the current flying bird, launching the simulated bird with the predicted blocking position as the target position to perform the interception and expulsion action;

[0015] The staying position and type of the staying bird are obtained, and the simulated bird is launched with the staying bird's position as the target position to perform a simulated predator-expelling action.

[0016] A further optimization scheme is that the simulated predator-expelling action includes: launching a simulated bird to the target location, and simulating the chirping sounds and predator action sounds of the corresponding natural enemy birds of the resident birds.

[0017] This solution also provides a bird-repelling system based on millimeter-wave radar and predator action simulation, which is used to implement the above-mentioned bird-repelling method based on millimeter-wave radar and predator action simulation; the system includes:

[0018] Millimeter wave radar, used to send millimeter waves into the detection area and receive the echo signal of the millimeter waves;

[0019] A bird identification module is used to determine whether there are birds within the detection area according to the echo signal, and if so, determine the behavior data and characteristic data of the birds;

[0020] A predator action simulation module is used to determine the target location based on the behavior data and feature data, and launch a simulated bird to the target location to perform a simulated predator expulsion action or an interception expulsion action;

[0021] The predation action simulation module includes: a simulated bird, a simulated bird launcher and a control unit; wherein the control unit controls the simulated bird launcher to launch the simulated bird toward a target position, controls the simulated bird launcher to release a connecting rope connected to the simulated bird, and controls the simulated bird launcher to retract the connecting rope after the released connecting rope reaches a set length.

[0022] A further optimization scheme is that the bird identification module includes:

[0023] A first identification unit is used to generate radar point cloud data of continuous time points according to the echo signal, and identify birds in a detection area according to the radar point cloud data, wherein the birds include resident birds and flying birds;

[0024] A second recognition unit is used to identify the location and type of the resting bird according to the posture features represented by the radar point cloud data; and to identify the flight track of the flying bird;

[0025] The third identification unit is used to predict whether the flying bird will collide with the power transmission equipment according to the flight trajectory of the flying bird.

[0026] A further optimized solution is that the simulated bird includes: a main control unit and a sound generating unit;

[0027] The control unit is also used to configure the launch command and the sound command of the simulated bird according to the location and type of the resident bird; the launch command includes the launch time and launch position, and the sound command includes the chirping sound and the sound time, and the simulated bird predation action sound and the sound time;

[0028] For the situation that the current flying bird will collide with the power transmission equipment, the control unit is also used to calculate the predicted blocking position according to the flight trajectory of the current flying bird and configure the launch command of the simulated bird;

[0029] The main control unit controls the sound unit according to the sound command.

[0030] A further optimization scheme is that the predation action simulation module includes a rotating mechanism, and the simulated bird launcher is arranged on the rotating mechanism; the control unit is used to control the vertical rotation or axial rotation of the rotating mechanism, and the pitch or tilt movement of the simulated bird launcher to achieve control of the flying direction of the simulated bird.

[0031] A further optimized solution is that the simulated bird includes simulated wings and a simulated wing driving unit; wherein the simulated wing driving unit is used to drive the simulated wings to unfold or fold;

[0032] The control unit also configures the time for the simulated wing driving unit to drive the simulated wings to unfold or fold according to the target position.

[0033] A further optimized solution is that the simulated bird launcher further includes a launch tube for storing the simulated bird, and a cavity connected to the rear end of the launch tube;

[0034] A drum part is arranged above the cavity, and a compressed gas driving part is arranged below the cavity;

[0035] The control unit is also used to control the forward or reverse rotation of the drum unit to achieve the release or recovery of the connecting rope;

[0036] The control unit is also used to control the compressed gas driving unit to release the compressed gas to realize the launching of the simulated bird.

[0037] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0038] 1. The bird-repelling method and system based on millimeter-wave radar and predation action simulation provided by the present invention utilizes the echo signal of the millimeter-wave radar to identify the birds staying in the detection area, and launches a simulated bird to the resting position of the bird through a simulated bird transmitter to simulate the predation action, thereby driving away the birds and preventing bird-related faults from occurring in the power transmission line; at the same time, there is a connecting rope between the simulated bird generator and the simulated bird, which can not only realize the recycling and reuse of the simulated bird, but also control the flight distance of the simulated bird to ensure safety and reliability during use. Therefore, the present invention can achieve bird repelling by simulating the predation action of the simulated bird, and can effectively solve the problem that the birds have strong adaptability and the bird-repelling effect is getting worse and worse.

[0039] 2. The bird-repelling method and system based on millimeter-wave radar and predation action simulation provided by the present invention utilize the echo signal of the millimeter-wave radar to generate radar point cloud data at continuous time points, thereby identifying and tracking the flight trajectory of birds; at the same time, when it is predicted that a flying bird will collide with a power transmission line, a simulated bird is launched to the predicted interception position through a simulated bird launcher to intercept the bird, thereby avoiding the bird from being injured by colliding with the power transmission line and preventing the power transmission line from malfunctioning due to the bird colliding with the power transmission line.

[0040] 3. The bird-repelling method and system based on millimeter-wave radar and predation action simulation provided by the present invention utilize the echo signal of the millimeter-wave radar to generate radar point cloud data at continuous time points, and identify the specific species of birds based on the posture characteristics represented by the radar point cloud data; in this way, the simulated bird designed by the present invention emits the chirping sounds and / or predation action sounds of simulated bird natural enemies after launch, thereby more effectively achieving the bird-repelling effect.

[0041] 4. The bird-repelling method and system based on millimeter-wave radar and predation action simulation provided by the present invention, the simulated bird includes simulated wings and simulated wing driving parts. By designing the simulated bird to be able to unfold or fold, the bird's predation action can be restored more realistically, thereby more effectively achieving the bird's repelling.

[0042] 5. The bird-repelling method and system based on millimeter-wave radar and predation action simulation provided by the present invention realizes charging and arrival detection of the simulated bird by designing the relevant matching structure of the simulated bird transmitter and the simulated bird, thereby ensuring the reliability of the operation of the simulated bird transmitter and the simulated bird. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0044] Figure 1 It is a flowchart of a bird-repelling method based on millimeter-wave radar and predator action simulation;

[0045] Figure 2 This is a schematic diagram of the installation location of the bird repellent system based on millimeter wave radar and predator action simulation;

[0046] Figure 3 This is a schematic diagram of the module connection of the bird-repelling system based on millimeter-wave radar and predator action simulation;

[0047] Figure 4 This is a schematic diagram of the structure of the predation action simulation module;

[0048] Figure 5 The internal structure of the simulated bird transmitter is shown;

[0049] Figure 6 This is the structural principle diagram of the simulated bird;

[0050] Figure 7 This is a bottom view of the simulated wings and corresponding parts;

[0051] Figure 8 This is a schematic diagram of the structure of the simulated bird's simulated wings when they are folded;

[0052] Fig. 9 This is a bottom view of the simulated wings and corresponding components.

[0053] Marks and corresponding parts names in the attached drawings:

[0054] 10-millimeter wave radar, 20-bird identification module, 30-bird identification module, 31-simulated bird, 311-sound unit, 312-left wing, 3121-first fin, 3122-first elastic connecting belt, 313-right wing, 3131-second fin, 3132-second elastic connecting belt, 314-first screw rod, 315-first motor, 316-nut, 317-first push rod, 318-second push rod, 319-battery, 32-drum wheel part, 33-compressed gas drive part, 331-gas tank, 332-gas pipe, 333-solenoid valve, 34-connecting rope, 35-rotating machine Structure, 351-gear ring, 352-first gear, 353-second motor, 354-base plate, 36-simulated bird launcher, 361-launching tube, 362-cavity, 363-arc rack, 364-second gear, 365-third motor, 366-neck, 367-charging contact, 37-protective cover, 371-bracket, 38-fourth motor, 381-first arc baffle, 3811-first arc tooth surface, 382-second arc baffle, 3821-second arc tooth surface, 383-third gear, 384-fourth gear, 3a-plunger, 3a1-charging ring, 3a2-sealing ring. DETAILED DESCRIPTION

[0055] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0056] Birds are highly adaptable around power system equipment, and traditional bird-repelling methods are becoming less and less effective, or even failing. In view of this, this solution provides the following embodiments to solve this technical problem:

[0057] Example 1

[0058] This embodiment provides a bird-repelling method based on millimeter-wave radar and predator action simulation, such as Figure 1 As shown, including:

[0059] Step 1: send millimeter waves into the detection area and receive the echo signal of the millimeter waves;

[0060] Step 2: judging whether there are birds in the detection area according to the echo signal, and if so, determining the behavior data and characteristic data of the birds; the behavior data includes: the flight trajectory of the flying birds and the resting position of the resting birds;

[0061] The characteristic data include: the types of the birds that stay.

[0062] This step specifically includes the following methods:

[0063] Obtaining the flight trajectory of the flying bird, predicting whether the current flying bird will hit the power grid device based on the flight trajectory, and if so, calculating the predicted blocking position of the current flying bird, launching the simulated bird with the predicted blocking position as the target position to perform the interception and expulsion action;

[0064] The staying position and type of the staying bird are obtained, and the simulated bird is launched with the staying bird's position as the target position to perform a simulated predator-expelling action.

[0065] Step 3: determining the target location based on the behavior data and feature data, and launching a simulated bird to the target location to perform a simulated predation and expulsion action or an interception and expulsion action;

[0066] The simulated predator-expelling action includes: launching a simulated bird to a target location, and simulating the chirping sounds and predator action sounds of the corresponding natural enemy birds of the resident birds.

[0067] Example 2

[0068] This embodiment provides a bird-repelling system based on millimeter-wave radar and predator action simulation, which is used to implement the bird-repelling method based on millimeter-wave radar and predator action simulation described in Example 1; Figure 2 and Figure 3 As shown, the system comprises:

[0069] The millimeter wave radar 10 is used to emit millimeter waves within the detection area and receive echo signals of the millimeter waves;

[0070] The bird identification module 20 is used to determine whether there are birds in the detection area according to the echo signal, and if so, determine the behavior data and characteristic data of the birds; the bird identification module includes:

[0071] A first identification unit is used to generate radar point cloud data of continuous time points according to the echo signal, and identify birds in a detection area according to the radar point cloud data, wherein the birds include resident birds and flying birds;

[0072] A second recognition unit is used to identify the location and type of the resting bird according to the posture features represented by the radar point cloud data; and to identify the flight track of the flying bird;

[0073] The third identification unit is used to predict whether the flying bird will collide with the power transmission equipment according to the flight trajectory of the flying bird.

[0074] A predator action simulation module 30 is used to determine the target position based on the behavior data and the feature data, and launch a simulated bird to the target position to perform a simulated predator expulsion action or an interception expulsion action;

[0075] like Figure 4As shown, the predation action simulation module 30 includes: a simulated bird 31, a simulated bird launcher 36 and a control unit; wherein the control unit controls the simulated bird launcher 36 to launch the simulated bird 31 toward the target position, and controls the simulated bird launcher to release the connecting rope 34 connected to the simulated bird, and controls the simulated bird launcher 36 to retract the connecting rope 34 after the released connecting rope reaches a set length.

[0076] During implementation, the antenna array and performance parameters of the millimeter-wave radar 10 can be determined according to the actual installation tower position and the size of the detection area; the millimeter-wave radar 10 and the bird identification module 20 are installed above the transmission line iron scaffolding, and the predation action simulation module 30 is installed in the middle of the transmission line tower; wherein, since a large amount of echo signal data is transmitted between the millimeter-wave radar 10 and the bird identification module, a wired communication connection is required, while the bird identification module 20 and the predation action simulation module 30 only transmit control instructions, and a wireless communication connection can meet the requirements. At the same time, there is also information interaction between the control unit in the predation action simulation module 30 and the simulated bird, and a wireless communication connection can meet the requirements.

[0077] The simulated bird 31 includes: a main control unit and a sound unit;

[0078] The control unit is also used to configure the launch command and the sound command of the simulated bird according to the location and type of the resident bird; the launch command includes the launch time and the launch position, and the sound command includes the chirping sound and the sound time, and the simulated bird predation action sound and the sound time;

[0079] In the case where the current flying bird will collide with the power transmission equipment, the control unit is also used to calculate the predicted blocking position according to the flight trajectory of the current flying bird and configure the launch command of the simulated bird; the main control unit controls the sound unit according to the sound command.

[0080] Specifically, according to the echo signal received by the millimeter wave radar 10, the flight trajectory of the bird is identified, and whether the flying bird will collide with the power line is predicted, and when it is predicted that the flying bird will collide with the power line, an emergency operation instruction is issued to the predation action simulation module 30;

[0081] The predatory action simulation module 30 executes an emergency operation according to the emergency operation instruction, that is, launching a simulated bird toward the predicted blocking position.

[0082] Since millimeter-wave radar is commonly used for object recognition, ranging and motion capture, this solution uses millimeter-wave radar. First, it can launch a simulated bird to the resting position of the bird through a simulated bird launcher to simulate the predation action, thereby driving away the bird and preventing bird-related failures in the power transmission line; second, when it is predicted that the flying bird will collide with the power transmission line, the simulated bird launcher can be used to launch a simulated bird to the predicted interception position to intercept the bird, thereby avoiding the bird from being injured by colliding with the power transmission line and preventing the power transmission line from being faulty due to the bird colliding with the power transmission line. Third, the specific type of the bird is identified based on the posture characteristics represented by the radar point cloud data; in this way, the simulated bird designed by the present invention emits the chirping sound and / or predation action sound of the simulated bird's natural enemy after launch, and the simulated bird can be designed to unfold or fold its simulated wings, which can more realistically restore the bird's predation action, thereby more effectively driving away the bird.

[0083] The predation action simulation module 30 includes a rotating mechanism 35, and a simulated bird launcher 36 is arranged on the rotating mechanism 35; the control unit is used to control the vertical rotation or axial rotation of the rotating mechanism, and the pitch or tilt movement of the simulated bird launcher to achieve control of the flying direction of the simulated bird.

[0084] The rotating mechanism 35 includes a ring gear 351, a first gear 352 and a second motor 353. A base plate 354 is arranged above the ring gear 351, and the simulated bird launcher 36 is fixedly installed above the base plate 354 through a bracket 371, and the simulated bird launcher 36 can rotate around a rotating shaft 372 horizontally arranged at the upper end of the bracket 371, and an arc-shaped rack 363 is arranged on the outer wall of one side of the simulated bird launcher 36; corresponding to the arc-shaped rack 363, a second gear 364 is also arranged above the base plate 354, and the second gear 364 is meshed with the arc-shaped rack 363, and the second gear 364 is driven to rotate by a third motor 365 installed above the base plate 354.

[0085] Thus, the control unit can drive the gear ring 351 and the simulated bird launcher 36 fixed on the base plate 354 to rotate left and right by controlling the forward and reverse rotation of the second motor 353, thereby adjusting the direction of the simulated bird launcher 36. The control unit can also drive the simulated bird launcher 36 to rotate around the rotating shaft 372 by controlling the forward and reverse rotation of the third motor 365, thereby adjusting the pitch angle of the simulated bird launcher 36. In this way, through the above structure, the control unit can control the slewing mechanism 35 and the simulated bird launcher 36 to launch the simulated bird 31 in a specified direction according to the bird resting position or bird interception position provided by the bird recognition module 20.

[0086] like Figure 4As shown, the simulated bird launcher 36 also includes a launch tube 361 for storing the simulated bird, and a cavity 362 connected to the rear end of the launch tube; a drum part 32 is arranged above the cavity 362, and a compressed gas driving part 33 is arranged below the cavity 362; the control part is also used to control the forward or reverse rotation of the drum part 32 to achieve the release or recovery of the connecting rope 34; the control part is also used to control the compressed gas driving part 33 to release the compressed gas to achieve the launch of the simulated bird 31.

[0087] The connecting rope 34 is wrapped around the drum part 32, and the rotation of the drum part 32 is driven by the fourth motor 38. The rotation of the fourth motor 38 can realize the release or recovery of the connecting rope 34 by the drum part 32. In this way, the control part can realize the release or recovery of the connecting rope 34 connected to the simulated bird 31 by controlling the forward or reverse rotation of the fourth motor 38 corresponding to the drum part 32;

[0088] The compressed gas driving unit 33 includes a gas tank 331 and a gas pipe 332. The gas tank 331 is fixed above the base plate 354 and can rotate with the simulated bird launcher 36. The gas tank 331 is introduced with compressed gas by a corresponding air compressor pump. One end of the gas pipe 332 is connected to the exhaust port of the gas tank 331, and the other end is connected to the cavity 362. Among them, a solenoid valve 333 is provided at the exhaust port of the gas tank 331.

[0089] When launching the simulated bird 31, the electromagnetic valve 333 is opened, and then the gas in the gas tank 331 will quickly enter the cavity 362, and then instantly form a huge impact force on the plunger 3a at the tail of the simulated bird 31, so that the simulated bird 31 can be launched. Among them, the magnitude of the impact force can be accurately controlled by combining the air pressure value in the gas tank 331 and controlling the opening, opening and closing time and other parameters of the electromagnetic valve 333, thereby controlling the launch speed and launch distance of the simulated bird 31. In this way, the control unit can realize the launch of the simulated bird by controlling the compressed gas released by the electromagnetic valve 333 in the compressed gas driving unit 33.

[0090] It should be pointed out that the bird identification module 20 provides the control unit with the bird's resting position or the bird interception position (target position). However, in order to avoid the simulated bird from impacting the power transmission line or the connecting rope from being entangled in the power transmission line, it is necessary to accurately control the launch direction and launch distance of the simulated bird. However, considering the influence of the high-altitude environment or strong wind, the flight distance of the simulated bird may deviate. Therefore, there is a connecting rope between the simulated bird generator and the simulated bird, which can not only realize the recovery and reuse of the simulated bird, but also control the flight distance of the simulated bird to ensure safety and reliability during use.

[0091] The simulated bird 31 includes simulated wings and a simulated wing driving unit; wherein the simulated wing driving unit is used to drive the simulated wings to unfold or fold. Figures 5 to 8The simulated wings include a left wing 312 and a right wing 313 which are symmetrically arranged.

[0092] The left wing 312 includes a plurality of first fins 3121, a plurality of feathers and a plurality of first elastic connecting bands 3122; the plurality of first fins 3121 are arranged in an overlapping manner and the front ends of each first fin 3121 are hinged to each other at the same point. At the same time, the front and rear ends of the first fin 3121 located at the bottom are fixedly connected to the shell of the simulated bird 31; a plurality of feathers are attached to each of the first fins 3121; the plurality of first elastic connecting bands 3122 are respectively connected to the middle parts of two adjacent first fins 3121, wherein an elastic rubber band can be selected as the first elastic connecting band 3122.

[0093] The right wing 313 includes a plurality of second fins 3131, a plurality of feathers and a plurality of second elastic connecting belts 3132; the plurality of second fins 3131 are arranged in an overlapping manner and the front ends of each second fin 3131 are hinged to each other at the same point. At the same time, the second fin 3131 located at the bottom has its front and rear ends fixedly connected to the shell of the simulated bird 31; a plurality of the feathers are attached to each of the first fins 3121; the plurality of second elastic connecting belts 3132 are respectively connected to the middle parts of two adjacent first fins 3121, wherein an elastic rubber band can be selected as the second elastic connecting belt 3132.

[0094] The simulated wing driving unit includes a first screw rod 314 , a first motor 315 , a nut 316 , a first push rod 317 and a second push rod 318 .

[0095] The first screw rod 314 is arranged along the symmetry axis of the left wing 312 and the right wing 313 .

[0096] The first motor 315 is in transmission connection with the first screw rod 314. The nut 316 is threadedly connected to the screw rod 314. One end of the first push rod 317 is hinged to the left side of the nut 316, and the other end is hinged to the front half of the first wing 3121 at the top of the left wing 312; one end of the second push rod 318 is hinged to the right side of the nut 316, and the other end is hinged to the front half of the second wing 3131 at the top of the right wing 313.

[0097] It can be seen that when the first motor 315 is working, it can drive the screw rod 314 to rotate, and the rotation of the screw rod 314 will drive the nut 316 to move along the screw rod 314, and the movement of the nut 316 will drive the first fin 3121 at the top of the left side and the second fin 3131 at the top of the right side to rotate around the hinge points at their respective front ends through the first push rod 317 and the second push rod 318, so that the first fin 3121 and the second fin 3131 are respectively unfolded to both sides, and since the adjacent first fins 3121 are connected by the first elastic belt 3122 are interconnected, and adjacent second fins 3131 are interconnected by second elastic connecting belts 3132. Therefore, when the top first fin 3121 and the second fin 3131 are respectively unfolded to both sides, the corresponding first elastic connecting belt 3122 or the second elastic connecting belt 3132 will drive the lower first fin 3121 or the second wing 3131 to unfold to both sides at the same time, thereby realizing the full unfolding of the left wing 312 and the right wing 313, thereby achieving the effect of simulating the spreading of birds' wings, so as to scare away the birds to be driven away.

[0098] Since the first elastic connecting belt 3122 and the second elastic connecting belt 3132 are elastic, when the first motor 315 drives the first fin 3121 at the top on the left and the second fin 3131 at the top on the right to retract toward the middle, the remaining first fins 3121 and second fins 3131 will also retract toward the middle under the pull of the first elastic connecting belt 3122 and the second elastic connecting belt 3132. The final effect after retraction is as follows: Figure 6 and Figure 7 As shown, at this time, each first wing 3121 is arranged in an overlapping manner, and each second wing 3131 is also arranged in an overlapping manner. As a result, the volume of the simulated bird 31 is shrunk, so that the simulated bird 31 can be recovered into the launching tube 361. In this way, the main control unit in the simulated bird 31 controls the forward or reverse rotation of the first motor 315 according to the time when the simulated wing driving unit configured by the control unit drives the simulated wings to unfold or fold, so as to realize the timing control of unfolding or folding the simulated wings on the simulated bird 31.

[0099] During implementation, in order to facilitate the cooperation between the simulated bird and the launch tube, a neck 366 is formed between the launch tube 361 and the cavity 362, and a plunger 3a matching the caliber of the neck 366 and capable of being tightly plugged in the neck 366 is formed at the tail of the simulated bird 31, wherein a sealing ring 3a2 is provided on the outer wall of the plunger 3a; the connecting rope 34 is connected to the end surface of the plunger 3a;

[0100] In order to supply power to the live parts such as the motor, main control unit and sound unit inside the simulated bird, a rechargeable battery is required to be provided inside the simulated bird; therefore, the inner wall of the neck 366 is provided with a charging contact 367; the simulated wing driving unit also includes a battery 319 and a charging ring 3a1; the battery 319 is arranged in the inner cavity of the simulated bird 31, and the battery 319 is connected to the main control unit, the first motor 315 and the sound unit 311 for supplying power thereto; the charging ring 3a1 is arranged on the peripheral surface of the plunger 3a at the tail of the simulated bird 31, and the charging ring 3a1 is connected to the charging port of the battery 319, and the charging ring 3a1 charges the battery 319 by contacting the charging contact 367 arranged on the neck 366. The power supply of the charging contact 367 comes from the power supply circuit of the device power supply.

[0101] Therefore, when the simulated bird 31 returns to the launching tube 361, once the plunger 3a at the tail of the simulated bird 31 is inserted into the neck 366, the charging contact 367 on the inner wall of the neck 366 will contact the charging ring 3a1 on the outer wall of the plunger 3a, so that the battery 319 inside the simulated bird 31 can be charged to keep the battery 319 continuously charged, ensuring that the simulated wings can be unfolded after the simulated bird 31 is launched, and at the same time, a specified sound can be emitted through the sound unit 311.

[0102] Furthermore, after the control unit obtains the bird's resting position or bird interception position provided by the bird recognition module, it generates a corresponding control signal to control the operation of the compressed gas drive unit and the drum unit respectively. At the same time, the control unit exchanges information with the main control unit according to the approximate flight time after the simulated bird is launched, and configures the main control unit to control the sound time of the sound unit and the time when the simulated wing drive unit drives the simulated wings to unfold. For example, when approaching a certain distance near the bird's resting position or bird interception position provided by the bird recognition module, the main control unit controls the sound unit to emit the chirping sound and / or predation action sound of the simulated bird's natural enemy, and controls the simulated wing drive unit to drive the simulated wings to unfold, thereby more effectively driving away the birds.

[0103] A position sensor is provided on the side of the neck 366 close to the launching tube 361 for detecting whether the plunger 3 a of the simulated bird 31 is completely inserted into the neck 366 .

[0104] In addition, in order to protect the simulated bird 31, the drum part 32, the compressed gas driving part 33, the connecting rope 34, the rotating mechanism 35 and the simulated bird launcher 36 from rain, dust or flying birds, the predator action simulation module 30 also includes a protective cover 37, such as Fig. 9As shown, the protective cover 37 covers all the above components, and an opening adapted to the launch angle of the simulated bird launcher 36 is opened on the protective cover 37 to protect the simulated bird 31 from being shot out of the protective cover 37. The inner wall of the protective cover 37 is provided with two arc-shaped baffles, namely a first arc-shaped baffle 381 and a second arc-shaped baffle 382. The inner wall of the first arc-shaped baffle 381 is provided with a first arc-shaped tooth surface 3811, and the first arc-shaped tooth surface 3811 is meshed with a third gear 383 fixedly arranged in the inner cavity of the protective cover 37, and the third gear 383 is driven by the fifth motor. The inner wall of the second arc-shaped baffle 382 is provided with a second arc-shaped tooth surface 3821, and the second arc-shaped tooth surface 3821 is meshed with a fourth gear 384 fixedly arranged in the inner cavity of the protective cover 37, and the fourth gear 384 is driven by the sixth motor.

[0105] When the simulated bird 31 needs to be launched, the control unit controls the fifth motor and the sixth motor to work simultaneously, so as to drive the first arc baffle 381 and the second arc baffle 382 to move backwards and open the opening of the protective cover 37. When the simulated bird 31 returns to the launch tube 361, the fifth motor and the sixth motor can be operated simultaneously to drive the first arc baffle 381 and the second arc baffle 382 to move toward each other and close the opening of the protective cover 37.

[0106] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A bird-repelling method based on millimeter-wave radar and predation action simulation, characterized in that: include: Send out millimeter waves into the detection area and receive the echo signals of the millimeter waves; Determine whether there is a bird within the detection area according to the echo signal, and if so, determine the behavior data and characteristic data of the bird; The target position is determined based on the behavior data and the characteristic data, and a simulated bird is launched to the target position to perform a simulated predation and expulsion action or an interception and expulsion action.

2. The bird-repelling method based on millimeter-wave radar and predation action simulation according to claim 1 is characterized in that: The behavior data includes: the flight path of the flying birds and the resting position of the resting birds; The characteristic data include: the types of the birds that stay.

3. The bird-repelling method based on millimeter-wave radar and predation action simulation according to claim 2 is characterized in that: The method of determining the target location based on the behavior data and the feature data, and launching a simulated bird to the target location to perform a simulated predation and expulsion action or an interception and expulsion action comprises the following steps: Obtaining the flight trajectory of the flying bird, predicting whether the current flying bird will hit the power grid device based on the flight trajectory, and if so, calculating the predicted blocking position of the current flying bird, launching the simulated bird with the predicted blocking position as the target position to perform the interception and expulsion action; The staying position and type of the staying bird are obtained, and the simulated bird is launched with the staying bird's position as the target position to perform a simulated predator-expelling action.

4. The bird-repelling method based on millimeter-wave radar and predation action simulation according to claim 3 is characterized in that: The simulated predator-expelling action includes: launching a simulated bird to a target location, and simulating the chirping sounds and predator action sounds of the corresponding natural enemy birds of the resident birds.

5. The bird-repelling system based on millimeter-wave radar and predator action simulation is characterized by: Used to implement the bird-repelling method based on millimeter-wave radar and predation action simulation as described in any one of claims 1 to 4; the system comprises: Millimeter wave radar, used to send millimeter waves into the detection area and receive the echo signal of the millimeter waves; A bird identification module is used to determine whether there are birds within the detection area according to the echo signal, and if so, determine the behavior data and characteristic data of the birds; A predator action simulation module is used to determine the target location based on the behavior data and feature data, and launch a simulated bird to the target location to perform a simulated predator expulsion action or an interception expulsion action; The predation action simulation module includes: a simulated bird, a simulated bird launcher and a control unit; wherein the control unit controls the simulated bird launcher to launch the simulated bird toward a target position, controls the simulated bird launcher to release a connecting rope connected to the simulated bird, and controls the simulated bird launcher to retract the connecting rope after the released connecting rope reaches a set length.

6. The bird-repelling system based on millimeter-wave radar and predator action simulation according to claim 5 is characterized in that: The bird identification module comprises: A first identification unit is used to generate radar point cloud data of continuous time points according to the echo signal, and identify birds in a detection area according to the radar point cloud data, wherein the birds include resident birds and flying birds; A second recognition unit is used to identify the location and type of the resting bird according to the posture features represented by the radar point cloud data; and to identify the flight track of the flying bird; The third identification unit is used to predict whether the flying bird will collide with the power transmission equipment according to the flight trajectory of the flying bird.

7. The bird-repelling system based on millimeter-wave radar and predator action simulation according to claim 6 is characterized in that: The simulated bird comprises: a main control unit and a sound generating unit; The control unit is also used to configure the launch command and the sound command of the simulated bird according to the location and type of the resident bird; the launch command includes the launch time and launch position, and the sound command includes the chirping sound and the sound time, and the simulated bird predation action sound and the sound time; For the situation that the current flying bird will collide with the power transmission equipment, the control unit is also used to calculate the predicted blocking position according to the flight trajectory of the current flying bird and configure the launch command of the simulated bird; The main control unit controls the sound unit according to the sound command.

8. The bird-repelling system based on millimeter-wave radar and predator action simulation according to claim 5 is characterized in that: The predation action simulation module includes a rotating mechanism, and the simulated bird launcher is arranged on the rotating mechanism; the control unit is used to control the vertical rotation or axial rotation of the rotating mechanism, and the pitching or tilting movement of the simulated bird launcher to achieve control of the flying direction of the simulated bird.

9. The bird-repelling system based on millimeter-wave radar and predator action simulation according to claim 7, characterized in that: The simulated bird comprises simulated wings and a simulated wing driving unit; wherein the simulated wing driving unit is used to drive the simulated wings to unfold or fold; The control unit also configures the time for the simulated wing driving unit to drive the simulated wings to unfold or fold according to the target position.

10. The bird-repelling system based on millimeter-wave radar and predator action simulation according to claim 5, characterized in that: The simulated bird launcher also includes a launch tube for storing the simulated bird, and a cavity connected to the rear end of the launch tube; A drum part is arranged above the cavity, and a compressed gas driving part is arranged below the cavity; The control unit is also used to control the forward or reverse rotation of the drum unit to achieve the release or recovery of the connecting rope; The control unit is also used to control the compressed gas driving unit to release the compressed gas to realize the launching of the simulated bird.

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