Transformer substation anti-bird method and system based on radar detection and visible light identification

Abstract

The invention discloses a transformer substation anti-bird method based on radar detection and visible light recognition, which is applied to a transformer substation anti-bird system comprising a radar detection unit and a visible light recognition unit, detects a target object in real time through the radar detection unit, and calculates the position and speed of the target object if the target object is detected. The target object is identified through the visible light identification unit closest to the position of the target object; if the recognition result of the target object is a bird, the bird repelling device can be fixed or an alarm can be given according to the speed of the target object, the inspection robot can be enabled to repel the bird, and the target object is continuously detected in real time through the radar detection unit until the target object cannot be detected or the recognition result of the target object is not the bird; and closing the fixed bird repelling device or releasing the alarm and recovering the inspection robot. According to the invention, bird activities in the transformer substation can be accurately identified, an intelligent start-stop strategy of the bird repelling device is formulated, the defect that a traditional bird repelling device is easily adapted by birds is overcome, and the bird repelling effect of the transformer substation is improved.

Description

Technical Field

[0001] The invention relates to a bird-proofing technology for a substation, and in particular to a bird-proofing method and system for a substation based on radar detection and visible light recognition. Background Art

[0002] At present, substations still use traditional bird-repellent devices represented by isolation type and expulsion type. The isolation type is to isolate the key positions of substation equipment from birds by installing bird-proof barbs, bird-proof covers, insulating partitions, etc. to reduce the impact of bird activities, but it has disadvantages such as difficult installation and maintenance, easy adaptation by small birds and entanglement by floating objects; the expulsion type is to drive away birds through interference such as rotating reflective lights, biological odors, ultrasound, electric shocks and bionic natural enemies. Although it has the advantages of low price and easy installation, it has the disadvantages of waste of resources caused by long-term operation of the bird-repellent device and poor long-term bird prevention effect due to the easy adaptation of birds. Summary of the invention

[0003] The technical problem to be solved by the present invention is as follows: In view of the above-mentioned problems in the prior art, a substation bird prevention method and system based on radar detection and visible light recognition is provided, which can accurately identify bird activities in the substation and formulate intelligent start and stop strategies for bird repellent devices, thereby overcoming the shortcomings of traditional expulsion-type bird repellent devices that are easily adapted by birds and improving the bird prevention effect of the substation.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A substation bird prevention method based on radar detection and visible light recognition is applied to a substation bird prevention system including a radar detection unit and a visible light recognition unit. The method includes the following steps:

[0006] The target object is detected in real time by the radar detection unit. If the target object is detected, the position and speed of the target object are calculated, and then the target object is identified by the visible light recognition unit closest to the position of the target object;

[0007] If the identification result of the target object is a bird, the fixed bird repellent device is enabled to drive away the bird, and the target object is continuously detected in real time through the radar detection unit until the target object cannot be detected or the identification result of the target object is not a bird;

[0008] If the target object is identified as a bird and the speed of the target object is zero, an alarm is triggered and the inspection robot is enabled to drive away the bird, and the target object is continuously detected in real time by the radar detection unit until the target object is not detected or the identification result of the target object is not a bird;

[0009] If the target object cannot be detected or the identification result of the target object is not a bird, the fixed bird repellent device is turned off or the alarm is released and the inspection robot is recovered.

[0010] Furthermore, the radar detection unit includes four radars respectively arranged at the four corners of the substation, and the two radars on the same diagonal line cooperate with each other to form a group of dual-base radars. One radar in the dual-base radar acts as a transmitter to transmit signals, and the other radar acts as a receiver to receive signals. When the target object is detected in real time by the radar detection unit, the signal transmitted by the transmitter in each group of dual-base radars and the signal received by the receiver are obtained in real time, and the change value of the received signal of each receiver is calculated. If the change value corresponding to at least one group of dual-base radars is greater than the preset value, the target object is detected.

[0011] Furthermore, the change value of the received signal of each receiver specifically refers to the signal strength change value of the received signal of the receiver compared with the transmitted signal of the corresponding transmitter, or the time difference between the received signal of the receiver and the transmitted signal of the corresponding transmitter, or the frequency change value of the received signal of the receiver compared with the transmitted signal of the corresponding transmitter.

[0012] Furthermore, when calculating the position and speed of the target object, it specifically includes:

[0013] Each set of bistatic radars calculates the three-dimensional coordinates of the target object based on the time difference between the received signal of the receiver and the transmitted signal of the transmitter. At the same time, each set of bistatic radars calculates the speed of the target object based on the frequency change value of the received signal of the receiver compared with the corresponding transmitted signal of the transmitter and the three-dimensional coordinates of the target object.

[0014] The three-dimensional coordinate points of the target object calculated by the two sets of bistatic radars are connected into a line segment, the middle coordinate point of the line segment is taken as the final coordinate point of the target object, and the average value of the velocity values ​​of the target object calculated by the two sets of bistatic radars is taken as the final velocity of the target object.

[0015] Furthermore, before the target is recognized by the visible light recognition unit closest to the position of the target, the method further includes: converting the three-dimensional coordinates of the position of the target to a two-dimensional image plane, as expressed as follows:

[0016]

[0017] Among them, u and v are the two-dimensional image coordinates, u0 and v0 are the offsets of the camera optical axis, and f x and f y are the image width and height transformation ratios, R 3×3 is the rotation matrix, T 3×1 is the translation matrix, I 1×1 is the identity matrix, 0 1×3 is a zero matrix, X r , Y r , Z rare the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object’s position respectively.

[0018] Furthermore, when the target object is identified by the visible light identification unit that is closest to the target object, it specifically includes:

[0019] Selecting a visible light recognition unit closest to the position of the target object, controlling the visible light recognition unit to face the position of the target object, and then taking images at specified time intervals;

[0020] The image captured by the visible light recognition unit is obtained and sharpened, and then the size of the sharpened image is unified and input into the detection network of the target detection model; the detection network performs predictions at different scales to obtain feature maps of different sizes to detect targets of different sizes; each feature map is divided into a corresponding number of grids according to different sizes, and each grid predicts a specified number of borders, each of which includes coordinate information of the border, border confidence, and the probability that the target in the border is a bird; the confidence value of the border is calculated, and invalid borders are filtered out through non-maximum suppression to obtain the border with the highest confidence, so as to obtain the recognition result.

[0021] Furthermore, the formula for sharpening is:

[0022]

[0023] Among them, x is the grayscale of the central pixel in the neighborhood of the image, y is the average grayscale of other pixels in the neighborhood of the image, the function f(x, y) is the Laplace operator, and the function g(x, y) is the Laplace formula after image enhancement.

[0024] Furthermore, before the target object is identified by the visible light identification unit that is closest to the target object, the method further includes:

[0025] Obtain images whose recognition results are birds with a probability greater than a preset threshold from among the images taken by all visible light recognition units within a specified time period, add data labels to the images and add them to a bird atlas database, and use the bird atlas database to train a target detection model.

[0026] The present invention also provides a substation bird protection system, comprising:

[0027] A radar detection unit is used to detect a target object in real time and, if a target object is detected, calculate the position and speed of the target object;

[0028] A visible light recognition unit is used to identify a target object according to its position, specifically, the position toward the target object, and then take images at a specified time interval, obtain the taken images and perform sharpening processing, and then unify the size of the sharpened images and input them into the detection network of the target detection model to obtain a recognition result;

[0029] The multi-dimensional bird-damage prevention and control unit of the substation is used to enable a fixed bird-repellent device to drive away the birds when the identification result of the target object is a bird. It is also used to alarm and enable a patrol robot to drive away the birds when the identification result of the target object is a bird and the speed of the target object is zero. It is also used to shut down the fixed bird-repellent device or cancel the alarm and recycle the patrol robot when the target object cannot be detected or the identification result of the target object is not a bird.

[0030] Furthermore, it also includes:

[0031] A radar detection and visible light recognition fusion unit is used to convert the three-dimensional coordinates of the target's position into a two-dimensional image plane;

[0032] A data storage unit is used to obtain images whose recognition results as birds are greater than a preset threshold value from among the images taken by all visible light recognition units within a specified time period, and add data labels to the images and then add them to the bird atlas database;

[0033] A data processing unit is used to train a target detection model using the bird atlas database.

[0034] Compared with the prior art, the advantages of the present invention are:

[0035] The present invention uses a combination of a radar detection unit and a visible light recognition unit. This integrated detection and recognition method can provide more accurate target detection and recognition, especially in a dynamic environment. The radar detection unit can detect the position and speed of the target in real time, while the visible light recognition unit can accurately identify the target after the radar determines its position.

[0036] The present invention can take immediate action after identifying birds, that is, activate the fixed bird-repelling device or alarm and enable the inspection robot to expel the birds. This instant response mechanism improves the efficiency of bird-repelling. At the same time, it has the ability of self-monitoring and alarm cancellation. Once the radar cannot detect the target or the identification result of the target is not a bird, the system will automatically turn off the fixed bird-repelling device or cancel the alarm and recycle the inspection robot. Such an adaptive mechanism reduces unnecessary bird-repelling actions and improves the intelligence level of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The figure is a schematic structural diagram of a substation bird protection system according to an embodiment of the present invention.

[0038] Figure 2 The figure is a flow chart of a method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention is further described below in conjunction with the accompanying drawings and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0040] Embodiment 1

[0041] This embodiment proposes a substation bird prevention method based on radar detection and visible light recognition, which is applied to the substation bird prevention system. It can more accurately locate and identify bird activities in the substation, formulate intelligent start and stop strategies for fixed bird repellent devices, and ultimately achieve the effect of improving the quality and effectiveness of substation bird prevention.

[0042] like Figure 1 As shown, the substation bird prevention system of this embodiment includes a radar detection unit, a visible light recognition unit, a radar detection and visible light recognition fusion unit, a data storage unit, a data processing unit and a substation bird damage multi-dimensional prevention and control unit. The functional modules are described as follows:

[0043] Radar detection unit: Based on millimeter wave radar detection technology, it can obtain the three-dimensional spatial coordinates and speed of bird activities in the substation in real time;

[0044] Visible light recognition unit: Based on the YOLOv3 target detection algorithm, it can sharpen and recognize bird information in the radar positioning area;

[0045] Radar detection and visible light recognition fusion unit: Based on coordinate fusion technology, the three-dimensional coordinates of the bird point cloud detected by the radar can be converted to a two-dimensional image plane, improving the accuracy of visible light target recognition in different environments;

[0046] Data storage unit: mainly used to record and store bird activity data and bird maps of substations;

[0047] Data processing unit: Based on deep learning algorithms, using stored bird maps, continuously trains bird target image recognition models to improve target detection efficiency;

[0048] Substation bird damage multi-dimensional prevention and control unit: Based on the bird activity data of the substation, the fixed bird repellent device and bird repellent robot in the substation are intelligently started and stopped.

[0049] like Figure 2 As shown, based on the substation bird protection system of this embodiment, the method of this embodiment includes the following steps:

[0050] S1) detecting the target object in real time by using a radar detection unit;

[0051] S2) If the target object is not detected, the substation bird damage multi-dimensional prevention and control unit keeps the alarm released and the fixed bird repellent device or the inspection robot turned off. If the target object is detected, the radar detection unit calculates the position and speed of the target object, and then identifies the target object through the visible light recognition unit closest to the position of the target object;

[0052] S3) If the identification result of the target object is not a bird, the substation bird damage multi-dimensional prevention and control unit keeps the alarm lifted and turns off the fixed bird repellent device or the inspection robot;

[0053] If the identification result of the target object is a bird, the fixed bird repellent device is enabled through the substation bird damage multi-dimensional prevention and control unit to drive away the bird, and the radar detection unit continues to detect the target object in real time until the target object cannot be detected or the target object is detected but the identification result of the target object is not a bird;

[0054] If the identification result of the target object is a bird and the speed of the target object is zero, an alarm will be sounded through the substation bird damage multi-dimensional prevention and control unit and the inspection robot will be enabled to expel the bird. At the same time, the radar detection unit will continue to detect the target object in real time until the target object cannot be detected or the target object is detected but the identification result of the target object is not a bird.

[0055] Each step is described in detail below in conjunction with relevant functional modules.

[0056] In this embodiment, the radar detection unit includes four radars respectively arranged at the four corners of the substation, and the two radars on the same diagonal line cooperate with each other to form a group of bistatic radars, so the radar detection unit includes two groups of bistatic radars.

[0057] One radar in the bistatic radar acts as a transmitter to transmit a signal, and the other radar acts as a receiver to receive a signal. In step S1 of this embodiment, when the target object is detected in real time by the radar detection unit, the signal transmitted by the transmitter in each group of bistatic radars and the signal received by the receiver are obtained in real time, and the change value of the received signal of each receiver is calculated. If the change value corresponding to at least one group of bistatic radars is greater than a preset value, the target object is detected.

[0058] In this embodiment, the change value of the received signal of each receiver specifically refers to the signal strength change value of the received signal of the receiver compared with the transmission signal of the corresponding transmitter, or the time difference between the received signal of the receiver and the transmission signal of the corresponding transmitter, or the frequency change value of the received signal of the receiver compared with the transmission signal of the corresponding transmitter. Specifically:

[0059] Regarding signal strength changes, when the transmitted signal encounters a target, part of the signal will be reflected back to the receiver. Due to the presence of the target, the strength of the reflected signal is usually weaker than the directly transmitted signal. At this time, the receiver can determine the presence of the target by detecting the change in signal strength.

[0060] For the time difference of the signal, there is a time delay when the signal reaches the target and then returns to the receiver. This delay is the round-trip time of the signal from the transmitter to the target and then to the receiver. By accurately measuring this time difference, the distance between the target and the transmitter and receiver can be calculated.

[0061] For signal frequency changes, if the target is moving, the received signal frequency will change, which is called the Doppler effect. By analyzing the frequency changes, the speed and moving direction of the target can be determined.

[0062] In summary, the presence of the target object can be detected through the above signal changes.

[0063] In step S2 of this embodiment, when calculating the position and speed of the target, the target is located by combining the time when the target reflection signal reaches different base radars. At the same time, the moving speed of the target is obtained by analyzing the difference frequency change between the transmitted signal and the received signal. Specifically, it includes:

[0064] S101) Each group of bistatic radars calculates the three-dimensional coordinate point of the target object according to the time difference between the received signal of the receiver and the transmitted signal of the transmitter;

[0065] Specifically, for a set of bistatic radars, transmitter A is located at known coordinates (x A ,y A ,z A ), receiver B is located at the known coordinates (x B ,y B ,z B ), when the target is detected, the signal sent by transmitter A is reflected by the target and received by receiver B. At this time, the total time from when the measurement signal is sent from transmitter A to when the reflected signal is received by receiver B is t. Using the signal propagation speed v (such as the speed of light), the total distance of the signal path is calculated: d = v*t.

[0066] Assuming the three-dimensional coordinates of the target object are (x, y, z), establish the equation related to the distance:

[0067]

[0068] Among them, x A ,y A 、z AThey represent the X-axis, Y-axis, and Z-axis coordinates of the transmitter A position, respectively. B ,y B 、z B They respectively represent the X-axis, Y-axis, and Z-axis coordinates of the position of receiver B. The equation is a nonlinear equation and can be solved by a numerical method (x, y, z). In this embodiment, the signal receiving angle of the receiver and the intervals of the X-axis, Y-axis, and Z-axis coordinates of the position of the target are added as constraints. Receiver B records the angle of signal incidence, which may include the azimuth angle θ (the angle on the horizontal plane) and the pitch angle φ (the angle on the vertical plane).

[0069] The direction vector of the received signal can be expressed as v = (cosφ·cosθ,cosφ·sinθ,sinφ), and the vector between the target and the receiver is (xx B ,yy B ,zz B ), this vector should be in the same direction as the direction vector v of the received signal, which can be represented by the dot product: (xx B )cosφ·cosθ+(yy B )cosφ·sinθ+(zz B )sinφ=||xx B ,yy B ,zz B ||.

[0070] The constraints are combined with the aforementioned path equation for numerical calculation. The angle information can help eliminate certain uncertainties so that the equation can obtain a unique solution.

[0071] S102) each group of bistatic radars calculates the speed of the target object according to the frequency change value of the received signal of the receiver compared with the transmitted signal of the corresponding transmitter and the three-dimensional coordinate point of the target object;

[0072] Specifically, through step S101, the three-dimensional coordinates of the position of the target object can be obtained as (x, y, z), and the Doppler frequency shift measured by the receiver B is Δf. The relationship between the Doppler frequency shift and the radial velocity of the target is:

[0073]

[0074] Among them, v TA is the radial velocity component of the target relative to the transmitter A, v TB is the radial velocity component of the target relative to the receiver B, f0 is the frequency of the transmitted signal, and c is the speed of light.

[0075] Since the position of the target is known, the radial velocity component can be determined through geometric relationships. The direction vector of the target relative to the transmitter A is (xx A ,yy A ,zz A ), the direction vector of the target object relative to the receiver B is (xx B ,yy B ,zz B ).

[0076] Assume that the velocity vector of the target is v = (v x ,v y ,v z ),but:

[0077]

[0078] Substituting the above radial velocity formula into the Doppler frequency shift formula, we get:

[0079]

[0080] The Doppler frequency shift Δf is measured by receiver B, and assuming that the target object moves at a uniform speed as a constraint, the velocity vector v of the target object can be solved by numerical methods. x ,v y ,v z ).

[0081] In another method, the three-dimensional coordinates (x, y, z) of the position of the target object at the current moment and the next moment obtained from step S101 can be used to calculate the displacement vector of the target object under one clock interval, and the displacement vector is divided by the clock interval to obtain the velocity vector v of the target object = (v x ,v y ,v z ).

[0082] S103) After positioning and measuring the speed of the target object based on the time when the target object arrives at each set of bistatic radars, the final three-dimensional coordinates and speed of the target object are averaged by the two sets of bistatic radars. Specifically, the three-dimensional coordinate points of the target object calculated by the two sets of bistatic radars are connected into a line segment, the middle coordinate point of the line segment is taken as the final coordinate point of the target object, and the average of the speed values ​​of the target object calculated by the two sets of bistatic radars is taken as the final speed of the target object.

[0083] In step S2 of this embodiment, before the target is identified by the visible light identification unit closest to the position of the target, the method further includes: converting the three-dimensional coordinates of the position of the target to a two-dimensional image plane by a radar detection and visible light identification fusion unit, the radar detection and visible light identification fusion unit uses the intersection of the two diagonals of the horizontal plane of the substation as the two-dimensional coordinate origin and the three-dimensional coordinate origin, and converts the three-dimensional coordinates of the point cloud obtained by the radar detection unit to the two-dimensional image plane by coordinate fusion technology, and the expression is as follows:

[0084]

[0085] Among them, u and v are the two-dimensional image coordinates, u0 and v0 are the offsets of the camera optical axis, and f x and f y are the image width and height transformation ratios, R 3×3 is the rotation matrix, T 3×1 is the translation matrix, I 1×1 is the identity matrix, 0 1×3 is a zero matrix, X r , Y r , Z r are the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object’s position respectively.

[0086] In step S2 of this embodiment, when the target object is identified by the visible light identification unit that is closest to the target object, the following steps are specifically performed:

[0087] S201) selecting a visible light recognition unit that is closest to the position of the target object;

[0088] In this embodiment, the visible light recognition unit includes all industrial video cameras installed outdoors in the substation. These industrial video cameras are pre-marked with corresponding coordinates. Therefore, in step S2 of this embodiment, before the target object is recognized by the visible light recognition unit closest to the target object, the real-time distance between each visible light recognition unit and the target object is calculated according to the coordinates of each visible light recognition unit and the coordinates of the target object's position, and the visible light recognition unit with the shortest distance is selected as the visible light recognition unit closest to the target object.

[0089] S202) controlling the position of the visible light recognition unit toward the target object, and then taking images at specified time intervals;

[0090] In this embodiment, based on the two-dimensional coordinates obtained by the radar detection and visible light recognition fusion unit, the camera closest to the two-dimensional coordinate point is controlled to shoot an image toward the coordinate point every 10 minutes.

[0091] S203) The image captured by the visible light recognition unit is obtained and sharpened. In this embodiment, the Laplace algorithm is used for sharpening. The formula is as follows:

[0092]

[0093] Among them, x is the grayscale of the central pixel in the neighborhood of the image, y is the average grayscale of other pixels in the neighborhood of the image, the function f(x, y) is the Laplace operator, and the function g(x, y) is the Laplace formula after image enhancement.

[0094] S204) unifying the size of the sharpened image and inputting it into the detection network of the target detection model to obtain a recognition result;

[0095] In this embodiment, the target detection model uses the YOLOv3 image recognition model. After the sharpened preprocessed image is scaled to 416×416 and input into its detection network, the recognition process is as follows:

[0096] The detection network makes predictions at three different scales, obtaining feature maps of three different sizes, 13×13, 26×26, and 52×52, to detect objects of different sizes.

[0097] Each feature map is divided into a corresponding number of grids according to different sizes. The specific numbers are: the 13×13 feature map is divided into 169 grids; the 26×26 feature map is divided into 676 grids; the 52×52 feature map is divided into 2704 grids;

[0098] Each grid predicts a specified number of bounding boxes. In this embodiment, the specified number is 3. Each bounding box includes: 4 coordinate information of the bounding box, which is the center coordinates and width and height of the target in this embodiment; 1 bounding box confidence to indicate the probability that the target exists in the grid; 1 bird information, specifically the probability that the target in the bounding box is a bird;

[0099] The confidence value of the frame is calculated, invalid frames are filtered out through non-maximum suppression, and the frame with the highest confidence is obtained as the target frame, and the recognition result is obtained according to the bird information of the target frame. If the probability value of the bird information is greater than a preset threshold, the target object is recognized as a bird, otherwise it is not a bird. If there is a target object in the image whose recognition result is a bird, the image is marked as a bird atlas and uploaded to the data storage unit together with the corresponding target object position and speed data.

[0100] In this embodiment, the data recorded by the data storage unit specifically includes: statistical data of bird nests in substations, statistical data of bird activity locations in substations, duration data of bird activities in substations, frequency data of bird activities in substations, and species of birds active in substations, and the bird atlas recorded by the data storage unit forms a bird atlas database.

[0101] Specifically, the statistics of bird nests in substations include the time when the nest was discovered, the name of the substation where the nest is located, and the name of the equipment where the nest is located. The statistics of the location of bird activities in substations include the name of the substation involved in the bird activities and the name of the equipment involved in the bird activities. The duration data of bird activities in substations include the total duration of birds' stay in the substation, that is, the total duration of the target object being detected and the target object being a bird. The frequency data of bird activities in substations include the total number of bird activities in substations in different months, quarters, and years, that is, the total number of times the target object was detected and the target object was a bird. The types of birds active in substations include data such as the names of birds.

[0102] In this embodiment, the bird atlas database contains all bird atlases taken since the system was put into operation, and is updated once a quarter and uploaded to the data processing unit.

[0103] The data processing unit uses the bird atlas database that is updated quarterly to regularly conduct image recognition model training for the visible light recognition unit.

[0104] Therefore, in step S2 of this embodiment, before the target object is recognized by the visible light recognition unit that is closest to the target object, the following steps are further included:

[0105] The data storage unit is used to obtain images with a probability of being birds greater than a preset threshold among the images taken by all visible light recognition units within a specified time period, and the images are added to the bird atlas database after adding data labels. Then, the data processing unit uses the bird atlas database to train the target detection model. The model training specifically uses the substation bird atlas recorded by the data storage unit to perform deep learning training of the YOLOv3 image recognition model for bird target image recognition. The trained and updated image recognition model is synchronously updated in the visible light recognition unit. The convolutional neural network of the YOLOv3 image recognition model includes an input layer, a convolution layer, a pooling layer, an activation layer, a fully connected layer, and an output layer.

[0106] In this embodiment, the substation bird damage multi-dimensional prevention and control unit uses the monitored bird activity data to perform real-time alarms, intelligently start and stop the substation fixed bird repellent device, and automatically navigate and recycle the inspection robot. In step S3 of this embodiment, the substation bird damage multi-dimensional prevention and control unit alarms and enables the fixed bird repellent device or the inspection robot to expel birds, and the substation bird damage multi-dimensional prevention and control unit releases the alarm and shuts down the fixed bird repellent device or the inspection robot at the same time, specifically including:

[0107] When the visible light recognition unit detects bird activity and the radar detection unit detects that the bird's speed is zero, the substation bird damage multi-dimensional prevention and control unit automatically sends real-time information to the substation centralized control center to warn the operation and maintenance personnel of bird intrusion and stay. When the visible light recognition unit no longer detects bird activity, the substation bird damage multi-dimensional prevention and control unit automatically sends an alarm release message to the substation centralized control center to remind the operation and maintenance personnel that the bird activity in the substation has disappeared.

[0108] When the visible light recognition unit detects bird activity, the substation bird damage multi-dimensional prevention and control unit automatically turns on the fixed bird repellent device in the substation, which includes a sound bird repellent device and an ultrasonic bird repellent device. When the visible light recognition unit no longer detects bird activity, the substation bird damage multi-dimensional prevention and control unit automatically turns off the fixed bird repellent device in the substation.

[0109] When the visible light recognition unit detects bird activity and the radar detection unit detects that the bird's speed is zero, the inspection robot is automatically navigated to the two-dimensional coordinates of the substation bird activity obtained by the radar detection and visible light recognition fusion unit, and the laser bird repellent on the inspection robot is turned on to drive the birds away. When the visible light recognition unit no longer detects bird activity, the inspection robot is automatically navigated and recovered.

[0110] Embodiment 2

[0111] This embodiment provides a substation bird prevention system, including:

[0112] A radar detection unit is used to detect a target object in real time and, if a target object is detected, calculate the position and speed of the target object;

[0113] A visible light recognition unit is used to identify a target object according to its position, specifically, the position toward the target object, and then take images at a specified time interval, obtain the taken images and perform sharpening processing, and then unify the size of the sharpened images and input them into the detection network of the target detection model to obtain a recognition result;

[0114] A radar detection and visible light recognition fusion unit is used to convert the three-dimensional coordinates of the target's position into a two-dimensional image plane;

[0115] A data storage unit is used to obtain images whose recognition results as birds are greater than a preset threshold value from among the images taken by all visible light recognition units within a specified time period, and add data labels to the images and then add them to the bird atlas database;

[0116] A data processing unit, used for training a target detection model using the bird atlas database;

[0117] The multi-dimensional bird-damage prevention and control unit of the substation is used to enable a fixed bird-repellent device to drive away the birds when the identification result of the target object is a bird. It is also used to alarm and enable a patrol robot to drive away the birds when the identification result of the target object is a bird and the speed of the target object is zero. It is also used to shut down the fixed bird-repellent device or cancel the alarm and recycle the patrol robot when the target object cannot be detected or the identification result of the target object is not a bird.

[0118] In summary, the present invention proposes a substation bird prevention method and system based on radar detection and visible light recognition, based on millimeter wave radar detection technology, real-time acquisition of the three-dimensional spatial coordinates and speed of bird activities in the substation; based on coordinate fusion technology, the three-dimensional coordinates detected by the radar can be converted to a two-dimensional image plane, improving the accuracy of visible light target recognition in different environments; visible light recognition is based on the YOLOv3 target detection algorithm, and can perform sharp image recognition on the bird information in the radar positioning area; according to the image recognition result, the bird activity data and bird atlas of the substation are recorded and stored, and based on the deep learning algorithm, the stored bird atlas is regularly used to continuously train the bird target image recognition model to improve the target detection efficiency; finally, based on the substation bird activity data and bird image recognition results, the fixed bird repellent device and bird repellent robot in the substation are intelligently started and stopped. The present invention can meet the accuracy of bird target recognition in substations under different environments, reasonably formulate the intelligent start-stop strategy of the bird repellent device in the substation, and overcome the defect that the traditional bird repellent is easily adapted by birds.

[0119] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for preventing birds from entering a substation based on radar detection and visible light recognition, characterized in that: Applied to a substation bird prevention system including a radar detection unit and a visible light recognition unit, the method comprises the following steps: The target object is detected in real time by the radar detection unit. If the target object is detected, the position and speed of the target object are calculated, and then the target object is identified by the visible light recognition unit closest to the position of the target object; If the identification result of the target object is a bird, the fixed bird repellent device is enabled to drive away the bird, and the target object is continuously detected in real time through the radar detection unit until the target object cannot be detected or the identification result of the target object is not a bird; If the target object is identified as a bird and the speed of the target object is zero, an alarm is triggered and the inspection robot is enabled to drive away the bird, and the target object is continuously detected in real time by the radar detection unit until the target object is not detected or the identification result of the target object is not a bird; If the target object cannot be detected or the identification result of the target object is not a bird, the fixed bird repellent device is turned off or the alarm is released and the inspection robot is recovered.

2. The method for preventing birds from substations based on radar detection and visible light recognition according to claim 1 is characterized in that: The radar detection unit includes four radars respectively arranged at the four corners of the substation, and the two radars on the same diagonal line cooperate with each other to form a group of dual-base radars. One radar in the dual-base radar acts as a transmitter to transmit signals, and the other radar acts as a receiver to receive signals. When the radar detection unit detects the target object in real time, the signal transmitted by the transmitter in each group of dual-base radars and the signal received by the receiver are obtained in real time, and the change value of the received signal of each receiver is calculated. If the change value corresponding to at least one group of dual-base radars is greater than the preset value, the target object is detected.

3. The method for preventing birds from substations based on radar detection and visible light recognition according to claim 2 is characterized in that: The change value of the received signal of each receiver specifically refers to the signal strength change value of the received signal of the receiver compared with the transmitted signal of the corresponding transmitter, or the time difference between the received signal of the receiver and the transmitted signal of the corresponding transmitter, or the frequency change value of the received signal of the receiver compared with the transmitted signal of the corresponding transmitter.

4. The method for preventing birds from substations based on radar detection and visible light recognition according to claim 2 is characterized in that: When calculating the position and velocity of a target, it specifically includes: Each set of bistatic radars calculates the three-dimensional coordinates of the target object based on the time difference between the received signal of the receiver and the transmitted signal of the transmitter. At the same time, each set of bistatic radars calculates the speed of the target object based on the frequency change value of the received signal of the receiver compared with the corresponding transmitted signal of the transmitter and the three-dimensional coordinates of the target object. The three-dimensional coordinate points of the target object calculated by the two sets of bistatic radars are connected into a line segment, the middle coordinate point of the line segment is taken as the final coordinate point of the target object, and the average value of the velocity values ​​of the target object calculated by the two sets of bistatic radars is taken as the final velocity of the target object.

5. The method for preventing birds from substations based on radar detection and visible light recognition according to claim 1 is characterized in that: Before the target is recognized by the visible light recognition unit closest to the position of the target, the method further includes: converting the three-dimensional coordinates of the position of the target to a two-dimensional image plane, as expressed as follows: Among them, u and v are the two-dimensional image coordinates, u0 and v0 are the offsets of the camera optical axis, and f x and f y are the image width and height transformation ratios, R 3×3 is the rotation matrix, T 3×1 is the translation matrix, I 1×1 is the identity matrix, 0 1×3 is a zero matrix, X r , Y r , Z r are the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object’s position respectively.

6. The method for preventing birds from substations based on radar detection and visible light recognition according to claim 1, characterized in that: When the target object is identified by the visible light identification unit closest to the target object, it specifically includes: Selecting a visible light recognition unit closest to the position of the target object, controlling the visible light recognition unit to face the position of the target object, and then taking images at specified time intervals; The image captured by the visible light recognition unit is obtained and sharpened, and then the size of the sharpened image is unified and input into the detection network of the target detection model; the detection network performs predictions at different scales to obtain feature maps of different sizes to detect targets of different sizes; each feature map is divided into a corresponding number of grids according to different sizes, and each grid predicts a specified number of borders, each of which includes coordinate information of the border, border confidence, and the probability that the target in the border is a bird; the confidence value of the border is calculated, and invalid borders are filtered out through non-maximum suppression to obtain the border with the highest confidence, so as to obtain the recognition result.

7. The method for preventing birds from substations based on radar detection and visible light recognition according to claim 6 is characterized in that: The formula for sharpening is: Among them, x is the grayscale of the central pixel in the neighborhood of the image, y is the average grayscale of other pixels in the neighborhood of the image, the function f(x, y) is the Laplace operator, and the function g(x, y) is the Laplace formula after image enhancement.

8. The method for preventing birds from substations based on radar detection and visible light recognition according to claim 6, characterized in that: Before the target is identified by the visible light identification unit closest to the target, the method further includes: Obtain images whose recognition results are birds with a probability greater than a preset threshold from among the images taken by all visible light recognition units within a specified time period, add data labels to the images and add them to a bird atlas database, and use the bird atlas database to train a target detection model.

9. A substation bird protection system, characterized in that: include: A radar detection unit is used to detect a target object in real time and, if a target object is detected, calculate the position and speed of the target object; A visible light recognition unit is used to identify a target object according to its position, specifically, the position toward the target object, and then take images at a specified time interval, obtain the taken images and perform sharpening processing, and then unify the size of the sharpened images and input them into the detection network of the target detection model to obtain a recognition result; The multi-dimensional bird-damage prevention and control unit of the substation is used to enable a fixed bird-repellent device to drive away the birds when the identification result of the target object is a bird. It is also used to alarm and enable a patrol robot to drive away the birds when the identification result of the target object is a bird and the speed of the target object is zero. It is also used to shut down the fixed bird-repellent device or cancel the alarm and recycle the patrol robot when the target object cannot be detected or the identification result of the target object is not a bird.

10. The substation bird protection system according to claim 9, characterized in that: Also includes: A radar detection and visible light recognition fusion unit is used to convert the three-dimensional coordinates of the target's position into a two-dimensional image plane; A data storage unit is used to obtain images whose recognition results as birds are greater than a preset threshold value from among the images taken by all visible light recognition units within a specified time period, and add data labels to the images and then add them to the bird atlas database; A data processing unit is used to train a target detection model using the bird atlas database.

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