Bird repelling system and bird repelling method based on position tracking algorithm

Abstract

The invention relates to the technical field of power grid safety, and discloses a bird repelling system and method based on a position tracking algorithm, and the system comprises a real-time monitoring module and a position tracking module. According to the bird repelling system and method based on the position tracking algorithm, monitoring pictures of all areas are collected through a real-time monitoring module, bird varieties, the number of birds and flight areas are recognized, then operation data at all time points are collected and classified to form a data set, the position tracking module sets a monitoring period with a fixed time length, the monitoring period is analyzed, and the bird repelling efficiency is improved. The position tracking module analyzes the flight speed of each bird and accurately judges the life habits of the birds, the position tracking module analyzes the frequency data set and the intensity data set of each bird repelling device, and the bird repelling direction is determined according to the frequency data set and the intensity data set of each bird repelling device. The life habits of the birds are judged, the expelling effect is evaluated, and the strategy is adjusted in time to achieve better expelling effect.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid safety, and in particular to a bird-repelling system and a bird-repelling method based on a position tracking algorithm. Background Art

[0002] As the ecological environment gradually improves, the number of birds in my country has increased significantly, and the areas where they inhabit and live have continued to expand. Along with this comes the problem of bird control. For a long time, bird damage accidents have frequently occurred on transmission lines, posing a serious threat to the normal operation of the lines and power grids. The main reasons are as follows: First, it is becoming more and more common for birds to build nests on transmission towers. When building nests, birds will hold branches, wires, firewood and other objects in their mouths and shuttle back and forth over the transmission lines. If objects such as wires fall between the crossarms and the conductors, or if there is windy weather, the bird's nest on the tower will be blown away by the wind and fall or hang on the live wires or hanging bottles, which can easily cause a short circuit in the line. Secondly, larger birds or when birds fight, flying between transmission lines may cause phase-to-phase short circuits or single-phase grounding faults. Finally, bird excrement will contaminate the insulator string, which can easily cause flashover when the air is humid or foggy.

[0003] At present, traditional bird-repelling systems lack in-depth analysis capabilities and find it difficult to accurately judge the living habits of birds. Blindly emitting shock waves to designated areas can only solve short-term bird problems and cannot achieve a more lasting expulsion effect. In the process of bird repelling, traditional methods often lack the ability to evaluate the repelling effect in real time, making it difficult to adjust the repelling strategy in a timely manner. The effectiveness and reliability need to be improved. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a bird-repelling system and a bird-repelling method based on a position tracking algorithm, which have the advantages of accurately judging the living habits of birds and adjusting strategies in time for better expulsion effects. It solves the problem that traditional bird-repelling systems are difficult to accurately judge the living habits of birds and traditional methods are difficult to adjust expulsion strategies in time.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a bird-repelling system based on a position tracking algorithm, comprising a real-time monitoring module and a position tracking module;

[0006] The real-time monitoring module is composed of a video data unit, a bird data unit and an equipment data unit. The video data unit is connected to the monitoring device through a network to collect a video data set in real time. The video data set includes monitoring images of all areas and is transmitted to the bird data unit through the network. The bird data unit identifies the bird species, bird numbers and flight areas in the video data set through image processing technology and forms a bird data set. The equipment data unit is connected to the bird repellent device through the network to collect the equipment data set. The equipment data set includes the operating data of all bird repellent devices. The real-time monitoring module transmits the video data set, the bird data set and the equipment data set to the position tracking module through the network;

[0007] The position tracking module is composed of a group analysis unit, a target analysis unit and a bird-repelling management unit. The position tracking module is provided with a monitoring period ZQ of a fixed duration. The group analysis unit analyzes the changing trend of the number of birds of a single species according to the bird data set, generates a corresponding fluctuation index BZS, and then calculates the distribution density FBM of birds of a single species in different areas, and transmits it to the bird-repelling management unit through the network. The target analysis unit analyzes the flight speed FSD of each flying bird according to the video data set and the bird data set, and transmits it to the bird-repelling management unit through the network. The bird-repelling management unit analyzes the frequency data group Plsj and the intensity data group Qdsj of each bird-repelling device according to the equipment data set. The bird-repelling management unit judges the living habits of birds according to the fluctuation index BZS, the distribution density FBM and the flight speed FSD. During the monitoring period ZQ, if the fluctuation index BZS and the distribution density FBM remain unchanged, the flight speed FSD decreases, indicating that the birds are wandering for a long time, and laser emission is selected to expel them.

[0008] Preferably, the expression of the video data set is {S1 m 、S2 m 、S3 m ,...,Sp m},S1 m To Sp m They are the monitoring pictures of the first to the pth area respectively, and m represents the time point of obtaining the monitoring picture.

[0009] Preferably, the expression of the bird data set is to They are the data of the first to the lth species of birds, q represents the flying area of ​​a single species of birds, and s represents the number of a single species of birds.

[0010] Preferably, the expression of the device data set is {Q1 d 、Q2 d 、Q3 d , ..., Qpd}, Q1 d To Qp d They are the operating data of the first to p-th bird-repelling devices, respectively. The operating data include shock wave sound pressure and laser intensity. d represents the time point of obtaining the operating data.

[0011] Preferably, the calculation process of the volatility index BZS is as follows:

[0012] According to the bird data set, the data of the i-th bird species during the monitoring period ZQ are extracted, and the number of the i-th bird species is marked as {s1, s2, s3, ..., s x}, s1 to s x are the number of birds from the first time point to the xth time point, respectively;

[0013]

[0014]

[0015] In the formula, BZS represents the volatility index, Indicates that according to the average calculation formula, the average number of the i-th species of birds is obtained s a represents the number of birds at the ath time point, It means that according to the variance formula, the variance value obtained is the fluctuation index of the i-th bird species.

[0016] Preferably, the distribution density FBM calculation process is as follows:

[0017] According to the data of the i-th bird species during the monitoring period ZQ, the number of birds in each area is counted according to the flight area and marked as {q1, q2, q3, ..., q p}, q1 to q p are the number of birds in the first to pth areas respectively;

[0018]

[0019] In the formula, FBM represents the distribution density, q y represents the number of birds in the yth region, MJ y represents the area of ​​the yth region, represents the number of birds per unit area in the y-th region, that is, the distribution density of the i-th bird species in the y-th region. It means calculating the number of birds per unit area in all regions at the same time, that is, the distribution density of the i-th bird species in p regions.

[0020] Preferably, the flight speed FSD calculation process is as follows:

[0021] According to the video dataset and the bird dataset, mark any flying bird as z;

[0022]

[0023] In the formula, FSD represents the flight speed, GJ z represents the total length of the flight trajectory of bird z, and Δm represents the total time that bird z appears in the monitoring range.

[0024] Preferably, the calculation process of the frequency data set Plsj is as follows:

[0025] According to the equipment data set, the operation data of the yth bird-repelling device during the monitoring period ZQ is extracted, and the shock wave sound pressure emitted by the bird-repelling device is marked as {SY1, SY2, SY3, ..., SY u}, SY1 to SY u are the shock wave sound pressures emitted from the first time point to the uth time point, respectively. Then, the laser intensity emitted by the bird-repelling device is marked as {JG1, JG2, JG3, ..., JG w}, JG1 to JG w are the laser intensities emitted from the first time point to the wth time point respectively;

[0026]

[0027] In the formula, Plsj represents the frequency data group, represents the frequency of the shock wave emitted by the yth bird-repelling device, Indicates the frequency at which the y-th bird-repellent device emits laser.

[0028] Preferably, the calculation process of the intensity data set Qdsj is as follows:

[0029]

[0030] In the formula, Qdsj represents the intensity data group, It means that according to the average calculation formula, the average sound pressure when the y-th bird-repellent device emits a shock wave is obtained. It means that the average intensity of the laser emitted by the y-th bird-repellent device is obtained according to the average calculation formula.

[0031] A bird-repelling method based on a position tracking algorithm comprises the following steps:

[0032] Step 1: Collect surveillance images of all areas in real time through network connection surveillance devices, and then use image processing technology to identify bird species, bird numbers and flight areas in the surveillance images, and classify them into video data sets and bird data sets;

[0033] Step 2: Each area corresponds to a group of bird-repellent devices, and the operation data of all time points are collected through the network connection of the bird-repellent devices to form a device data set;

[0034] Step 3: Set a fixed-length monitoring period ZQ, analyze the changing trend of the number of individual bird species during the monitoring period ZQ according to the bird data set, generate the corresponding fluctuation index BZS, and then calculate the distribution density FBM of individual bird species in different areas;

[0035] Step 4: Analyze the flight speed FSD of each flying bird based on the video dataset and the bird dataset;

[0036] Step 5: Analyze the frequency data group Plsj and intensity data group Qdsj of each bird repellent device according to the equipment data set;

[0037] Step 6: According to the fluctuation index BZS, distribution density FBM and flight speed FSD, judge the living habits of birds and choose the corresponding method to expel them;

[0038] Step 7: After the bird repellent device completes the launch, the distribution density FBM of the current monitoring period ZQ is compared with the distribution density FBM of the previous monitoring period ZQ. If the current distribution density FBM has not decreased, it means that the repelling effect is not good. According to the frequency data group Plsj and intensity data group Qdsj of the previous monitoring period ZQ, the launch frequency is increased and the shock wave sound pressure and laser intensity are enhanced.

[0039] Beneficial effects:

[0040] 1. The present invention collects monitoring images of all areas in real time by connecting the monitoring device to the network through the real-time monitoring module, and then identifies the bird species, bird quantity and flight area in the monitoring image through image processing technology, and classifies them into video data sets and bird data sets. Each area corresponds to a group of bird-repelling devices. The real-time monitoring module connects the bird-repelling device to collect the operation data of all time points through the network, and forms an equipment data set. The position tracking module sets a fixed-duration monitoring cycle ZQ, analyzes the change trend of the number of birds of a single species during the monitoring cycle ZQ according to the bird data set, generates the corresponding fluctuation index BZS, and then calculates the distribution density FBM of a single species of birds in different areas to determine the expulsion direction. The position tracking module analyzes the flight speed FSD of each flying bird according to the video data set and the bird data set, accurately judges the living habits of the birds, ensures the safety of the birds, and achieves the purpose of expulsion.

[0041] 2. The present invention analyzes the frequency data group Plsj and the intensity data group Qdsj of each bird-repelling device through a position tracking module. The lower the frequency, the milder the expulsion method. Then, according to the fluctuation index BZS, the distribution density FBM and the flight speed FSD, the living habits of the birds are judged, and the corresponding method is selected for expulsion. After the bird-repelling device completes the launch, the distribution density FBM of the current monitoring period ZQ is compared with the distribution density FBM of the previous monitoring period ZQ. If the current distribution density FBM does not decrease, it indicates that the expulsion effect is not good. According to the frequency data group Plsj and the intensity data group Qdsj of the previous monitoring period ZQ, the launch frequency is increased and the shock wave sound pressure and the laser intensity are enhanced. The strategy is adjusted in time for a better expulsion effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the system flow of the present invention;

[0043] Figure 2 It is a step diagram of the method of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Because traditional bird-repelling systems lack in-depth analysis capabilities, it is difficult to accurately judge the living habits of birds. Blindly emitting shock waves to designated areas can only solve short-term bird problems and cannot achieve a more lasting expulsion effect. In the process of bird expulsion, traditional methods often lack the ability to evaluate the expulsion effect in real time, making it difficult to adjust the expulsion strategy in time. The effectiveness and reliability need to be improved. Therefore, a bird-repelling system and method based on a position tracking algorithm are provided. Please refer to Figure 1-Figure 2 ,A bird repelling system based on a position tracking algorithm includes a real-time monitoring module and a position tracking module;

[0046] The real-time monitoring module consists of a video data unit, a bird data unit, and an equipment data unit. The video data unit collects video data sets in real time through a network connection to a monitoring device. The video data sets include monitoring images of all areas and are transmitted to the bird data unit through the network. The expression of the video data set is {S1 m 、S2 m 、S3 m ,...,Sp m},S1 m To Sp mThey are the monitoring images of the first to the pth area, respectively, and m represents the time point of obtaining the monitoring images. The monitoring images of each area are fully collected to facilitate the subsequent tracking of the dynamic flight trajectory of birds;

[0047] The bird data unit uses image processing technology to identify the bird species, bird numbers and flight areas in the video data set, and forms a bird data set. Specifically, based on the video data set, high-definition images of monitored birds are captured, and then the key appearance features of birds, including shape, color, texture, etc., are identified through image processing technology, so as to realize automatic identification of bird species. The expression of the bird data set is: to They are the data of the first to the lth species of birds, q represents the flight area of ​​a single species of bird, and s represents the number of birds of a single species;

[0048] The equipment data unit collects equipment data sets through network connection to the bird-repelling device. The equipment data sets include the operation data of all bird-repelling devices. The expression of the equipment data set is {Q1 d 、Q2 d 、Q3 d , ..., Qp d}, Q1 d To Qp d are the operating data of the first to p-th bird-repelling devices, respectively. The operating data include shock wave sound pressure and laser intensity. d represents the time point of obtaining the operating data. Monitoring the operating data of each bird-repelling device is helpful for adjusting the expulsion strategy in a timely manner and avoiding unnecessary cost expenditure.

[0049] The real-time monitoring module transmits the video data set, the bird data set and the equipment data set to the location tracking module through the network;

[0050] The location tracking module consists of a group analysis unit, a target analysis unit and a bird-repelling management unit. The location tracking module is set with a fixed-duration monitoring cycle ZQ. The group analysis unit analyzes the changing trend of the number of birds of a single species based on the bird data set, generates the corresponding fluctuation index BZS, and then calculates the distribution density FBM of a single species of birds in different areas, and transmits it to the bird-repelling management unit through the network. The calculation process is as follows:

[0051] According to the bird data set, the data of the i-th bird species during the monitoring period ZQ are extracted, and the number of the i-th bird species is marked as {s1, s2, s3, ..., s x}, s1 to s x are the number of birds from the first time point to the xth time point, respectively;

[0052]

[0053]

[0054] In the formula, BZS represents the volatility index, Indicates that according to the average calculation formula, the average number of the i-th species of birds is obtained s a represents the number of birds at the ath time point, It means that according to the variance formula, the variance value obtained is the fluctuation index of the i-th bird species. The smaller the fluctuation index BZS is, the more stable the wandering frequency of the bird species is.

[0055] According to the data of the i-th bird species during the monitoring period ZQ, the number of birds in each area is counted according to the flight area and marked as {q1, q2, q3, ..., q p}, q1 to q p are the number of birds in the first to pth areas respectively;

[0056]

[0057] In the formula, FBM represents the distribution density, q y represents the number of birds in the yth region, MJ y represents the area of ​​the yth region, represents the number of birds per unit area in the y-th region, that is, the distribution density of the i-th bird species in the y-th region. It means that the number of birds per unit area of ​​all regions is calculated at the same time, that is, the distribution density of the i-th bird in p regions. In actual application, when monitoring a large target area, it can be divided into multiple regions, and then the expulsion direction is determined according to the distribution density FBM of each region;

[0058] The target analysis unit analyzes the flight speed FSD of each flying bird based on the video data set and the bird data set, and transmits it to the bird repelling management unit through the network. The calculation process is as follows:

[0059] According to the video dataset and the bird dataset, mark any flying bird as z;

[0060]

[0061] In the formula, FSD represents the flight speed, GJ zrepresents the total length of the flight track of bird z, and Δm represents the total duration of the appearance of bird z within the monitoring range. For birds with faster flying speeds, more rapid and direct means of expulsion are needed, such as sound expulsion or physical barriers. For birds with slower flying speeds, more gentle and persistent methods can be used, such as visual expulsion or odor expulsion, to accurately judge the living habits of birds, ensure the safety of birds, and achieve the purpose of expulsion.

[0062] The bird repellent management unit analyzes the frequency data group Plsj and intensity data group Qdsj of each bird repellent device according to the equipment data set. The calculation process is as follows:

[0063] According to the equipment data set, the operation data of the yth bird-repelling device during the monitoring period ZQ is extracted, and the shock wave sound pressure emitted by the bird-repelling device is marked as {SY1, SY2, SY3, ..., SY u}, SY1 to SY u are the shock wave sound pressures emitted from the first time point to the uth time point, respectively. Then, the laser intensity emitted by the bird-repelling device is marked as {JG1, JG2, JG3, ..., JG w}, JG1 to JG w are the laser intensities emitted from the first time point to the wth time point respectively;

[0064]

[0065] In the formula, Plsj represents the frequency data group, represents the frequency of the shock wave emitted by the yth bird-repelling device, It indicates the frequency of laser emission of the yth bird repellent device. The lower the frequency, the milder the repelling method.

[0066]

[0067] In the formula, Qdsj represents the intensity data group, It means that according to the average calculation formula, the average sound pressure when the y-th bird-repellent device emits a shock wave is obtained. It means that according to the average calculation formula, the average intensity of the laser emitted by the yth bird-repelling device is obtained. The lower the intensity, the milder the expulsion method;

[0068] The bird-repellent management unit determines the living habits of birds based on the fluctuation index BZS, distribution density FBM and flight speed FSD. During the monitoring period ZQ, if the fluctuation index BZS and distribution density FBM remain unchanged, but the flight speed FSD decreases, it means that the birds are wandering around for a long time. It is chosen to emit lasers to drive them away. Timely adjustment of the strategy will have a better effect.

[0069] A bird-repelling method based on a position tracking algorithm comprises the following steps:

[0070] Step 1: Collect surveillance images of all areas in real time through network connection surveillance devices, and then use image processing technology to identify bird species, bird numbers and flight areas in the surveillance images, and classify them into video data sets and bird data sets;

[0071] Step 2: Each area corresponds to a group of bird-repellent devices, and the operation data of all time points are collected through the network connection of the bird-repellent devices to form a device data set;

[0072] Step 3: Set a fixed-length monitoring period ZQ, analyze the changing trend of the number of individual bird species during the monitoring period ZQ according to the bird data set, generate the corresponding fluctuation index BZS, and then calculate the distribution density FBM of individual bird species in different areas;

[0073] Step 4: Analyze the flight speed FSD of each flying bird based on the video dataset and bird dataset to accurately determine the bird's living habits;

[0074] Step 5: Analyze the frequency data group Plsj and intensity data group Qdsj of each bird repellent device according to the equipment data set;

[0075] Step 6: According to the fluctuation index BZS, distribution density FBM and flight speed FSD, judge the living habits of birds and choose the corresponding method to expel them;

[0076] Step 7: After the bird repellent device completes the launch, the distribution density FBM of the current monitoring period ZQ is compared with the distribution density FBM of the previous monitoring period ZQ. If the current distribution density FBM has not decreased, it means that the repelling effect is not good. According to the frequency data group Plsj and intensity data group Qdsj of the previous monitoring period ZQ, increase the launch frequency and enhance the shock wave sound pressure and laser intensity. Timely adjustment of the strategy will achieve better repelling effect.

[0077] Example 1: In this experiment, rock pigeons were selected as experimental subjects. According to statistics, the number of birds of this species observed per hour in the airport area was 10, 6, 8, 15, 3 and 20, respectively. The fluctuation index BZS of this species of birds was calculated as follows:

[0078]

[0079]

[0080] In the formula, BZS represents the volatility index, Indicates the average number of rock pigeons obtained according to the average calculation formula It is about 10.3. According to the variance formula, the variance value of 31.7 is the fluctuation index of the number of rock pigeons.

[0081] Example 2: In this experiment, the rock swallow was selected as the experimental object, and the historical ancient building complex was divided into four areas: the east area, the south area, the west area and the north area. The area of ​​the east area is 20 mu, the area of ​​the west area is 15 mu, the area of ​​the south area is 18 mu, and the area of ​​the north area is 16 mu. According to statistics, the number of birds of this species observed in the east area is 35, the number of birds of this species observed in the south area is 4, the number of birds of this species observed in the west area is 12, and the number of birds of this species observed in the north area is 27. The distribution density FBM calculation formula of this species of birds in the four areas is as follows:

[0082]

[0083] In the formula, FBM represents the distribution density, In the eastern area, there are 1.75 rock swallows per acre. In the western area, there are 0.27 rock swallows per acre. In the southern area, there are 0.67 rock swallows per acre. This means that in the northern area, there are 1.69 rock martins per acre.

[0084] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bird-repelling system based on a position tracking algorithm, characterized in that: Including real-time monitoring module and location tracking module; The real-time monitoring module is composed of a video data unit, a bird data unit and an equipment data unit. The video data unit is connected to the monitoring device through a network to collect a video data set in real time. The video data set includes monitoring images of all areas and is transmitted to the bird data unit through the network. The bird data unit identifies the bird species, bird numbers and flight areas in the video data set through image processing technology and forms a bird data set. The equipment data unit is connected to the bird repellent device through the network to collect the equipment data set. The equipment data set includes the operating data of all bird repellent devices. The real-time monitoring module transmits the video data set, the bird data set and the equipment data set to the position tracking module through the network; The position tracking module is composed of a group analysis unit, a target analysis unit and a bird-repelling management unit. The position tracking module is provided with a monitoring period ZQ of a fixed duration. The group analysis unit analyzes the changing trend of the number of birds of a single species according to the bird data set, generates a corresponding fluctuation index BZS, and then calculates the distribution density FBM of birds of a single species in different areas, and transmits it to the bird-repelling management unit through the network. The target analysis unit analyzes the flight speed FSD of each flying bird according to the video data set and the bird data set, and transmits it to the bird-repelling management unit through the network. The bird-repelling management unit analyzes the frequency data group Plsj and the intensity data group Qdsj of each bird-repelling device according to the equipment data set. The bird-repelling management unit judges the living habits of birds according to the fluctuation index BZS, the distribution density FBM and the flight speed FSD. During the monitoring period ZQ, if the fluctuation index BZS and the distribution density FBM remain unchanged, the flight speed FSD decreases, indicating that the birds are wandering for a long time, and laser emission is selected to expel them.

2. A bird-repelling system based on a position tracking algorithm according to claim 1, characterized in that: The expression of the video dataset is {S1 m 、S2 m 、S3 m ,...,Sp m },S1 m To Sp m They are the monitoring pictures of the first to the pth area respectively, and m represents the time point of obtaining the monitoring picture.

3. A bird-repelling system based on position tracking algorithm according to claim 2, characterized in that: The expression of the bird data set is to They are the data of the first to the lth species of birds, q represents the flying area of ​​a single species of birds, and s represents the number of a single species of birds.

4. A bird-repelling system based on position tracking algorithm according to claim 3, characterized in that: The expression of the device data set is {Q1 d 、Q2 d 、Q3 d , ..., Qp d }, Q1 d To Qp d They are the operating data of the first to p-th bird-repelling devices, respectively. The operating data include shock wave sound pressure and laser intensity. d represents the time point of obtaining the operating data.

5. A bird-repelling system based on position tracking algorithm according to claim 4, characterized in that: The calculation process of the volatility index BZS is as follows: According to the bird data set, the data of the i-th bird species during the monitoring period ZQ are extracted, and the number of the i-th bird species is marked as {s1, s2, s3, ..., s x }, s1 to s x are the number of birds from the first time point to the xth time point, respectively; In the formula, BZS represents the volatility index, Indicates that according to the average calculation formula, the average number of the i-th species of birds is obtained s a represents the number of birds at the ath time point, It means that according to the variance formula, the variance value obtained is the fluctuation index of the i-th bird species.

6. A bird-repelling system based on position tracking algorithm according to claim 5, characterized in that: The distribution density FBM calculation process is as follows: According to the data of the i-th bird species during the monitoring period ZQ, the number of birds in each area is counted according to the flight area and marked as {q1, q2, q3, ..., q p }, q1 to q p are the number of birds in the first to pth areas respectively; In the formula, FBM represents the distribution density, q y represents the number of birds in the yth region, MJ y represents the area of ​​the yth region, represents the number of birds per unit area in the y-th region, that is, the distribution density of the i-th bird species in the y-th region. It means calculating the number of birds per unit area in all regions at the same time, that is, the distribution density of the i-th bird species in p regions.

7. A bird-repelling system based on position tracking algorithm according to claim 6, characterized in that: The flight speed FSD calculation process is as follows: According to the video dataset and the bird dataset, mark any flying bird as z; In the formula, FSD represents the flight speed, GJ z represents the total length of the flight trajectory of bird z, and Δm represents the total time that bird z appears in the monitoring range.

8. The bird-repelling system based on position tracking algorithm according to claim 7, characterized in that: The calculation process of the frequency data set Plsj is as follows: According to the equipment data set, the operation data of the yth bird-repelling device during the monitoring period ZQ is extracted, and the shock wave sound pressure emitted by the bird-repelling device is marked as {SY1, SY2, SY3, ..., SY u }, SY1 to SY u are the shock wave sound pressures emitted from the first time point to the uth time point, respectively. Then, the laser intensity emitted by the bird-repelling device is marked as {JG1, JG2, JG3, ..., JG w }, JG1 to JG w are the laser intensities emitted from the first time point to the wth time point respectively; In the formula, Plsj represents the frequency data group, represents the frequency of the shock wave emitted by the yth bird-repelling device, Indicates the frequency at which the y-th bird-repellent device emits laser.

9. A bird-repelling system based on position tracking algorithm according to claim 8, characterized in that: The calculation process of the intensity data set Qdsj is as follows: In the formula, Qdsj represents the intensity data group, It means that according to the average calculation formula, the average sound pressure when the y-th bird-repellent device emits a shock wave is obtained. It means that the average intensity of the laser emitted by the y-th bird-repellent device is obtained according to the average calculation formula.

10. A bird-repelling method based on a position tracking algorithm, applied to a bird-repelling system based on a position tracking algorithm as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Collect surveillance images of all areas in real time through network connection surveillance devices, and then use image processing technology to identify bird species, bird numbers and flight areas in the surveillance images, and classify them into video data sets and bird data sets; Step 2: Each area corresponds to a group of bird-repellent devices, and the operation data of all time points are collected through the network connection of the bird-repellent devices to form a device data set; Step 3: Set a fixed-length monitoring period ZQ, analyze the changing trend of the number of individual bird species during the monitoring period ZQ according to the bird data set, generate the corresponding fluctuation index BZS, and then calculate the distribution density FBM of individual bird species in different areas; Step 4: Analyze the flight speed FSD of each flying bird based on the video dataset and the bird dataset; Step 5: Analyze the frequency data group Plsj and intensity data group Qdsj of each bird repellent device according to the equipment data set; Step 6: According to the fluctuation index BZS, distribution density FBM and flight speed FSD, judge the living habits of birds and choose the corresponding method to expel them; Step 7: After the bird repellent device completes the launch, the distribution density FBM of the current monitoring period ZQ is compared with the distribution density FBM of the previous monitoring period ZQ. If the current distribution density FBM has not decreased, it means that the repelling effect is not good. According to the frequency data group Plsj and intensity data group Qdsj of the previous monitoring period ZQ, the launch frequency is increased and the shock wave sound pressure and laser intensity are enhanced.

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