Bird repelling control method and device based on loaded unmanned aerial vehicle and unmanned aerial vehicle bird repelling system

Abstract

The embodiment of the invention provides a bird repelling control method and device based on a loaded unmanned aerial vehicle and an unmanned aerial vehicle bird repelling system, and relates to the technical field of unmanned aerial vehicles. The method comprises the following steps: when it is determined that the residence time of a bird repelling object on a power equipment facility is longer than a preset duration, acquiring a central included angle of at least one target pan-tilt camera device; the central included angle represents an included angle between a connecting line of the target pan-tilt camera equipment and the bird repelling object and a horizontal line; determining at least one target action waypoint according to the coordinates and the central included angle of the target pan-tilt camera equipment; generating a bird repelling route according to the position coordinates of the hangar loaded with the unmanned aerial vehicle and the coordinates of the target action waypoint; sending a bird repelling instruction to the load unmanned aerial vehicle; the bird repelling instruction is used for indicating the loaded unmanned aerial vehicle to fly according to a bird repelling route, and controlling a bird repelling device on the loaded unmanned aerial vehicle to repel birds at the target action waypoint. The method is used for achieving the effects of enlarging the actual bird repelling range and utilization rate of the bird repelling device and improving the bird repelling effect and efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a bird-repelling control method and device based on a load-bearing unmanned aerial vehicle, and an unmanned aerial vehicle bird-repelling system. Background Art

[0002] With the widespread use of power equipment and facilities, the stay and activities of birds on these equipment and facilities have gradually become an issue that cannot be ignored. When birds stay on power equipment, it may cause equipment failure, short circuit and other safety hazards, thus affecting the stable operation of the power system. Therefore, how to effectively drive away birds to protect the safe operation of power equipment and facilities has become a technical problem that needs to be solved urgently in the power industry.

[0003] In the prior art, bird repelling mainly relies on manual inspection and fixed bird repelling devices. Manual inspection requires a lot of manpower and time, and is limited by the working hours and scope of the inspectors. Although fixed bird repelling devices can play a role in repelling birds to a certain extent, their coverage is limited, and birds may adapt to the fixed devices, resulting in a gradual weakening of the bird repelling effect.

[0004] It can be seen that the current bird repellent schemes have problems such as poor bird repellent effect, limited coverage, high cost, and low efficiency, and cannot meet the current needs for efficient, flexible, and low-cost bird repellent. Summary of the invention

[0005] The bird-repelling control method, device and drone bird-repelling system based on a load-bearing drone provided in the embodiments of the present application are used to adapt to various environments and bird-repelling needs, eliminate the bird-repelling blind spots caused by fixed unmanned bird-repelling machines, effectively expand the actual bird-repelling range and utilization rate of the bird-repelling device, improve the bird-repelling effect and efficiency, and achieve effective protection of power equipment and facilities.

[0006] In a first aspect, an embodiment of the present application provides a bird-repelling control method based on a load-bearing drone, comprising:

[0007] When it is determined that the stay time of the bird-repelling object on the power equipment facility is greater than the preset time, the central angle of at least one target pan-tilt camera device is obtained; wherein the central angle represents the angle between the line connecting the target pan-tilt camera device and the bird-repelling object and the horizontal line;

[0008] Determine at least one target action waypoint according to the coordinates of the target pan / tilt camera device and the central angle;

[0009] Generate a bird-repelling route according to the position coordinates of the hangar carrying the UAV and the coordinates of the target action waypoint;

[0010] Send a bird repelling instruction to the load drone; wherein, the bird repelling instruction is used to instruct the load drone to fly along the bird repelling route and control the bird repelling device carried on the load drone to repel birds at the target action waypoint.

[0011] In a possible implementation manner, when the central included angle of at least two adjacent target pan-tilt camera devices is obtained, the determining of at least one target action waypoint according to the coordinates of the target pan-tilt camera device and the central included angle includes:

[0012] Determine the coordinates of the bird repelling object according to the central included angle of at least two adjacent target pan-tilt camera devices and the coordinates of the target pan-tilt camera device;

[0013] Determine at least one target action waypoint according to the coordinates of the bird repelling object and a preset inspection grid; wherein, a plurality of preset waypoints distributed in a grid pattern are deployed in the preset inspection grid.

[0014] In a possible implementation manner, the determining of the coordinates of the bird repelling object according to the central included angle of at least two adjacent target pan-tilt camera devices and the coordinates of the target pan-tilt camera device includes:

[0015] Determine the distance between the target pan-tilt camera device and the bird repelling object according to the central included angle of two adjacent target pan-tilt camera devices and the distance between the target pan-tilt camera devices;

[0016] Determine the coordinates of the bird repelling object according to the distance between the target pan-tilt camera device and the bird repelling object and the coordinates of the target pan-tilt camera device.

[0017] In a possible implementation manner, the determining of at least one target action waypoint according to the coordinates of the bird repelling object and a preset inspection grid includes:

[0018] Determine the preset waypoints in the preset inspection grid that meet the first preset condition according to the coordinates of the bird repelling object;

[0019] Calculate the coordinate distance between the bird repelling object and the preset waypoint according to the coordinates of the bird repelling object and the coordinates of the preset waypoint;

[0020] Select the first n preset waypoints with the smallest coordinate distance and determine them as the target action waypoints; wherein, the n is an integer greater than or equal to 1.

[0021] In a possible implementation manner, when only the central included angle of 1 target pan-tilt camera device is obtained, the determining of at least one target action waypoint according to the coordinates of the target pan-tilt camera device and the central included angle includes:

[0022] Determine the target driving area of the bird repelling object according to the coordinates and central included angle of the target pan-tilt camera device;

[0023] Determine that all preset waypoints located in the target driving area are target action waypoints.

[0024] In a possible implementation manner, the determining the target driving area of the bird repelling object according to the coordinates and central included angle of the target pan-tilt camera device includes:

[0025] Determine a target function group according to the coordinates and central included angle of the target pan-tilt camera device and a preset function group;

[0026] Fit the function image of the target function group, a preset inspection grid, and a preset monitoring grid in the same plane, and determine the grid area in the preset inspection grid that satisfies the second preset condition as the target driving area.

[0027] In a possible implementation manner, the generating a bird repelling route according to the position coordinates of the hangar of the load drone and the coordinates of the target action waypoint includes:

[0028] Determine the straight-line distance between the hangar of the load drone and the target action waypoint according to the position coordinates of the hangar of the load drone and the coordinates of the target action waypoint;

[0029] Determine the target action waypoint with the minimum straight-line distance as the starting point, and other target action waypoints as passing waypoints, and generate a bird repelling route by using an algorithm related to the traveling salesman problem.

[0030] In a possible implementation manner, before obtaining the central included angle of at least one target pan-tilt camera device, the method further includes:

[0031] Control the target pan-tilt camera device to patrol according to a preset patrol mode, and collect target images at a preset frequency;

[0032] If it is determined that the target image contains the bird repelling object, control the target pan-tilt camera device to switch to a moving following mode, and determine the staying time of the bird repelling object on the power equipment facilities.

[0033] In a second aspect, an embodiment of the present application provides a bird repelling control device based on a load drone, including:

[0034] An acquisition unit, configured to acquire the central included angle of at least one target pan-tilt camera device when it is determined that the staying time of the bird repelling object on the power equipment facilities is greater than a preset duration; wherein, the central included angle represents the included angle between the connection line of the target pan-tilt camera device and the bird repelling object and the horizontal line;

[0035] A processing unit, configured to determine at least one target action waypoint according to the coordinates of the target pan-tilt camera device and the central included angle;

[0036] A generating unit, configured to generate a bird repelling route according to the position coordinates of the hangar of the payload drone and the coordinates of the target action waypoint;

[0037] An instruction unit, configured to send a bird repelling instruction to the payload drone; wherein, the bird repelling instruction is used to instruct the payload drone to fly according to the bird repelling route, and control the bird repelling device carried on the payload drone to repel birds at the target action waypoint.

[0038] In a third aspect, an embodiment of the present application provides a drone bird repelling system, including: a payload drone, a bird repelling device, a central control device, and a plurality of intelligent monitoring devices distributed in a grid in a monitoring area;

[0039] Wherein, the intelligent monitoring device is configured to collect target images;

[0040] The payload drone is configured to carry the bird repelling device;

[0041] The bird repelling device is configured to repel birds;

[0042] The central control device is configured to execute the above first aspect and / or various possible implementation manners of the first aspect.

[0043] In a fourth aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0044] The memory stores computer execution instructions;

[0045] The processor executes the computer execution instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementation manners of the first aspect.

[0046] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer execution instructions are stored, and when the computer execution instructions are executed by a processor, they are used to implement the above first aspect and / or various possible implementation manners of the first aspect.

[0047] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the above first aspect and / or various possible implementation manners of the first aspect.

[0048] In the bird repelling control method, device, and bird repelling system based on a load drone provided by an embodiment of the present application, the method includes: when it is determined that the residence time of the bird repelling target on the power equipment facility is greater than a preset duration, obtaining the central angle of at least one target pan-tilt camera device; wherein, the central angle represents the angle between the line connecting the target pan-tilt camera device and the bird repelling target and the horizontal line; determining at least one target action waypoint according to the coordinates of the target pan-tilt camera device and the central angle; generating a bird repelling flight path according to the position coordinates of the hangar of the load drone and the coordinates of the target action waypoint; sending a bird repelling instruction to the load drone; wherein, the bird repelling instruction is used to instruct the load drone to fly according to the bird repelling flight path and control the bird repelling device carried on the load drone to perform bird repelling at the target action waypoint. By monitoring bird activities, when it is determined that bird repelling is required, the target action waypoint is determined according to the position of the birds, and a suitable bird repelling flight path is planned, so as to control the load drone carrying the bird repelling device to perform bird repelling, which can adapt to various environments and bird repelling requirements, eliminate the bird repelling dead corners brought by fixed unmanned bird repelling machines, effectively expand the actual bird repelling range and utilization rate of the bird repelling device, improve the bird repelling effect and efficiency, and realize the effective protection of power equipment facilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0050] Figure 1 It is a schematic flowchart of a bird repelling control method based on a load drone provided by an embodiment of the present application;

[0051] Figure 2 It is a partial distribution diagram of a pan-tilt camera device provided by an embodiment of the present application;

[0052] Figure 3 It is a partial distribution diagram of a preset waypoint provided by an embodiment of the present application;

[0053] Figure 4 It is a schematic architecture diagram of a substation unmanned aerial vehicle autonomous bird repelling system provided by an embodiment of the present application;

[0054] Figure 5 It is a schematic structural diagram of a bird repelling control device based on a load drone provided by an embodiment of the present application;

[0055] Figure 6 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0056] Through the above-mentioned accompanying drawings, specific embodiments of the present application have been shown, and more detailed descriptions will be provided hereinafter. These drawings and written descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiment

[0057] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numerals in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0058] In recent years, with the continuous improvement of the ecological environment and the significant enhancement of the awareness of wildlife protection, the population of bird species has increased significantly. However, this positive change has also brought new challenges and troubles to fields such as aviation and power grids. On key power equipment and facilities such as substations and transmission towers, the behaviors of birds building nests, excreting, pecking, and pulling wires are becoming increasingly frequent. These behaviors are very likely to cause insulator flashover, short-circuit tripping, and grounding faults, seriously threatening the safe and stable operation of power equipment. In extreme cases, it may even induce large-scale power outages, having a significant impact on social life and economic development.

[0059] Traditional unmanned bird repelling machines, such as laser emission devices, sound emission devices, odor bird repelling boxes, etc., due to their lack of mobility, are usually fixedly installed at a specific position. Their bird repelling range is relatively limited and it is difficult to comprehensively cover vast areas such as substations and transmission towers, restricting their bird repelling effect and efficiency in practical applications and unable to meet the current high-efficiency, flexible, and low-cost bird repelling requirements.

[0060] To solve the above problems, the embodiment of the present application provides a bird repelling control method based on a load drone. Through a pan-tilt camera device for bird monitoring, the central control device autonomously plans a flight route after calculating the position of the target bird and sends the route to the load drone. After the load drone carrying the bird repelling device reaches the designated area, it controls the bird repelling device to drive away the birds. Through intelligent control and flexible flight strategies, the embodiment of the present application not only realizes the effective protection of power equipment and facilities, but also can adapt to various environments and requirements. The load drone can bring the bird repelling device to the area where bird repelling is needed, eliminating the bird repelling dead corners brought by fixed unmanned bird repelling machines, effectively expanding the actual bird repelling range, and improving the bird repelling effect and efficiency.

[0061] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. The following several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0062] It should be noted that the execution subject of the bird repelling control method based on a load drone provided in the embodiments of the present application can be a bird repelling control device based on a load drone. This bird repelling control device can be deployed in a drone bird repelling system, and the embodiments of the present application do not make any restrictions. The embodiments of the present application will be described in detail by taking the execution subject as a bird repelling control device based on a load drone as an example.

[0063] Figure 1 It is a schematic flowchart of a bird repelling control method based on a load drone provided in the embodiments of the present application. As Figure 1 shown, the bird repelling control method based on a load drone provided in the embodiments of the present application includes:

[0064] S101. When it is determined that the staying time of a bird repelling target on power equipment facilities is greater than a preset duration, obtain the central included angle of at least one target pan-tilt camera device; wherein, the central included angle represents the included angle between the line connecting the target pan-tilt camera device and the bird repelling target and the horizontal line.

[0065] Exemplarily, during the process of repelling birds, it is first necessary to monitor the bird activities on power equipment facilities. When it is monitored that the staying time of a certain bird repelling target (i.e., a bird) on power equipment facilities exceeds the preset duration, it can be considered that this bird repelling target may affect the normal operation of the power equipment and bird repelling is required.

[0066] Among them, the monitoring of bird activities can be carried out through an intelligent monitoring device. Optionally, the intelligent monitoring devices are distributed in the area of power equipment facilities and can be grid-pointed according to the monitoring radius that the intelligent monitoring device can cover. In this way, each intelligent monitoring device corresponds to position information, and a monitoring grid can be constructed based on the position information of all intelligent monitoring devices. Specifically, the intelligent monitoring device can include a pan-tilt camera device. According to the requirements for preventing bird damage to power facilities, such as preventing birds from building nests or staying, multiple pan-tilt camera devices are arranged in a grid according to longitude and latitude in the covered area. When a bird flies into the monitoring area of any pan-tilt camera device, this pan-tilt camera device can accurately capture the position of the bird repelling target from the first perspective.

[0067] In the embodiments of the present application, the target pan-tilt camera device is the pan-tilt camera device that captures the bird repelling object staying on the power equipment facilities. When it is determined that the staying time of the bird repelling object on the power equipment facilities is greater than a preset duration, the central angle of the target pan-tilt camera device that captures the bird repelling object can be obtained for subsequent determination of the position information of the bird repelling object. It can be understood that by reasonably deploying the intelligent monitoring device, at least one or more pan-tilt camera devices can identify the position of the bird and fix the pan-tilt, so as to obtain one or more central angles, which are not limited in the embodiments of the present application.

[0068] Optionally, in a possible embodiment, before obtaining the central angle of at least one target pan-tilt camera device, the bird repelling control method based on a load-carrying unmanned aerial vehicle provided in the embodiments of the present application may further include:

[0069] S01. Control the target pan-tilt camera device to patrol according to a preset patrol mode and collect target images at a preset frequency;

[0070] S02. If it is determined that the target image contains a bird repelling object, control the target pan-tilt camera device to switch to a mobile following mode and determine the staying time of the bird repelling object on the power equipment facilities.

[0071] Exemplarily, by setting the pan-tilt camera device, the pan-tilt camera devices distributed in a grid pattern in the monitoring area can be controlled to perform automated monitoring according to a preset patrol mode. The preset patrol mode has its corresponding patrol frequency. In this preset patrol mode, the pan-tilt camera device will rotate at a preset rotation rate and time period and collect target images at a preset frequency. The target images collected contain images of the power equipment facilities within the monitoring area of the pan-tilt camera device. The target images collected by the pan-tilt camera device are sent to the bird repelling control device based on a load-carrying unmanned aerial vehicle in the embodiments of the present application. A bird recognition algorithm is preset in the bird repelling control device based on a load-carrying unmanned aerial vehicle. Based on this bird recognition algorithm, it can be recognized whether the target image contains a bird repelling object. When it is recognized that the target image contains a bird repelling object, it indicates that the bird has entered the visual coverage range of the pan-tilt camera device. At this time, the pan-tilt camera device can be controlled to switch from the preset patrol mode to the mobile following mode. In the mobile following mode, the pan-tilt camera device will automatically adjust the pan-tilt angle to face the direction of the bird's flight, continuously track the movement of the bird repelling object. When the bird stays on the power equipment facilities, the center point of the pan-tilt can be fixed. By analyzing the target images collected by the pan-tilt camera device, the staying time of the bird repelling object on the power equipment facilities can be determined.

[0072] After it is determined that the staying time of the bird repelling object on the power equipment facilities is greater than the preset duration, the angle between the line connecting the corresponding target pan-tilt camera device to the bird repelling object and the horizontal line can be obtained, and the central angle is recorded.

[0073] Through the whole process management of automatically monitoring dynamic responses, the embodiments of the present application can timely and effectively monitor the bird activities on power equipment and facilities, which not only improves the automation degree of monitoring, but also enhances the response ability and accuracy of the bird repelling system.

[0074] S102. Determine at least one target action waypoint according to the coordinates and central included angle of the target pan-tilt camera device.

[0075] Exemplarily, the target action waypoint is the specific position that the payload drone needs to reach when performing the bird repelling task. At this position, the payload drone will stay for a certain period of time, and the bird repelling device on the payload drone will be activated to repel birds. Among them, the specific duration of the payload drone's stay can be set according to requirements or flexibly adjusted according to the bird repelling effect. For example, when the bird repelling effect is good, it stays for a short time; when the bird repelling effect is poor, it stays for a long time until the expected bird repelling effect is achieved. In the embodiments of the present application, at least one target action waypoint can be determined according to the coordinates and central included angle of the target pan-tilt camera device.

[0076] Optionally, in a possible embodiment, when the central included angles of at least two adjacent target pan-tilt camera devices are obtained, determining at least one target action waypoint according to the coordinates and central included angle of the target pan-tilt camera device may include:

[0077] S1. Determine the coordinates of the bird repelling object according to the central included angles of at least two adjacent target pan-tilt camera devices and the coordinates of the target pan-tilt camera device;

[0078] S2. Determine at least one target action waypoint according to the coordinates of the bird repelling object and a preset inspection grid; wherein, a plurality of preset waypoints distributed in a grid pattern are deployed in the preset inspection grid.

[0079] Exemplarily, when the central included angles of at least two adjacent target pan-tilt camera devices are obtained, the principle of trigonometric functions can be used to calculate the coordinates of the bird repelling object, and then the target action waypoints are selected from the preset inspection grid.

[0080] The preset inspection grid refers to a grid structure predefined in the monitoring area, which contains a plurality of preset waypoints. These preset waypoints are distributed in a grid pattern and cover the entire monitoring area. The design of these preset waypoints mainly considers the flight path planning requirements of the drone to ensure that a suitable waypoint can be quickly found at any position.

[0081] Optionally, in a possible embodiment, step S1. Determine the coordinates of the bird repelling object according to the central included angles of at least two adjacent target pan-tilt camera devices and the coordinates of the target pan-tilt camera device may include:

[0082] S11. Determine the distance between the target pan-tilt camera device and the bird repelling object according to the central angle between two adjacent target pan-tilt camera devices and the distance between the target pan-tilt camera devices.

[0083] S12. Determine the coordinates of the bird repelling object according to the distance between the target pan-tilt camera device and the bird repelling object and the coordinates of the target pan-tilt camera device.

[0084] Exemplarily, given the distance between two known target pan-tilt camera devices and their respective central angles, the triangulation method can be used to calculate the distance between each target pan-tilt camera device and the bird repelling object. Specifically, a triangle can be constructed where the positions of the two target pan-tilt camera devices form the known sides, and the two central angles provide two known angles. Using the sine theorem or the cosine theorem, the distance from each target pan-tilt camera device to the bird repelling object can be calculated. Furthermore, based on the distances between the two target pan-tilt camera devices and the bird repelling object and the coordinates of any one of the target pan-tilt camera devices, the coordinates of the bird repelling object can be determined.

[0085] Exemplarily, Figure 2 This is a partial distribution schematic diagram of a pan-tilt camera device provided by an embodiment of the present application. As Figure 2 shown, each pan-tilt camera device P 1.1 ~P 4.4 is distributed in a grid pattern. When the target pan-tilt camera devices P 2.2 and P 2.3 detect that the bird repelling object N 2 stays at a certain position, after obtaining the central angles θ 2.2 and α 2.3 of the target pan-tilt camera devices P 1 and α 1 , according to the distance L 2.2 between the target pan-tilt camera devices P 2.3 and the following calculation formula (1), the distance L 1 between the target pan-tilt camera device P 2.2 and the bird repelling object N 2 and the distance L 2 between the target pan-tilt camera device P 2.3 and the bird repelling object N 2 can be calculated. Among them, the formula (1) is as follows: 3 . Among them, formula (1) is as follows:

[0086] (1)

[0087] Among them, the distance L 2.2 between the target pan-tilt camera devices P 2.3 and P 1It can be calculated based on the coordinates of the target pan-tilt camera device P 2.2 and P 2.3 The coordinates of the two can be obtained when deploying the target pan-tilt camera device.

[0088] If the coordinates of the target pan-tilt camera device P 2.2 are (x, y), according to the trigonometric function relationship, the coordinates of the bird repelling object N 2 can be calculated as (M 1 , N 1 ) = ( , ).

[0089] The precise position of the bird repelling object can be determined by using the central angle between two adjacent pan-tilt camera devices. The advantage of this method is that it improves the positioning accuracy. Especially in a complex environment, the error that may be brought by a single perspective can be effectively reduced through multi-perspective observations.

[0090] Optionally, in a possible embodiment, step S2, determining at least one target action waypoint according to the coordinates of the bird repelling object and the preset inspection grid, may include:

[0091] S21. Determine the preset waypoints in the preset inspection grid that meet the first preset condition according to the coordinates of the bird repelling object;

[0092] S22. Calculate the coordinate distance between the bird repelling object and the preset waypoint according to the coordinates of the bird repelling object and the coordinates of the preset waypoint;

[0093] S23. Select the top n preset waypoints with the smallest coordinate distance and determine them as the target action waypoints; where n is an integer ≥ 1.

[0094] Exemplarily, the preset inspection grid includes multiple preset waypoints. To reduce the calculation amount and improve the calculation efficiency, the preset waypoints in the preset inspection grid that meet the first preset condition can be determined first according to the coordinates of the bird repelling object as the alternative action waypoints. Among them, the first preset condition in the embodiments of the present application is not limited. For example, the first preset condition may be that all the preset waypoints located within the monitoring grid where the bird repelling object is located are the alternative action waypoints; or, on the basis of the monitoring grid where the bird repelling object is located, the range of the side length of at least one waypoint grid can be expanded, and the preset waypoints within this range are determined as the alternative action waypoints; and so on. For example, in combination with Figure 2 , it can be determined that the preset waypoints in the preset inspection grid framed by the pan-tilt camera devices P 2.2 , P 2.3 , P 3.2 , P 3.3 in the figure are the waypoints that meet the first preset condition.

[0095] After determining the preset waypoints that meet the first preset condition in the preset inspection grid, according to the coordinates (M 1 , N 1 ) of the bird repelling object and the coordinates (x n , y n ) of the preset waypoints, the coordinate distances between the bird repelling object and each preset waypoint can be calculated, and the formula is as follows: Formula (2):

[0096] (2)

[0097] Wherein, (x n , y n ) are the coordinates of the preset waypoints that meet the first preset condition respectively. Based on Formula (2), the coordinate distances between the bird repelling object and each preset waypoint can be calculated. Then, according to the calculated coordinate distances, all the alternative preset waypoints can be sorted, and the first n preset waypoints with the smallest coordinate distances can be selected as the target action waypoints of the present application. Wherein, n is an integer greater than or equal to 1, and the specific value can be set according to the task requirements and the operation ability of the UAV. For example, n can be 4.

[0098] It can be understood that the present application involves two grids. One grid is a preset monitoring grid formed by the layout points of multiple pan-tilt camera devices, and the other grid is a preset inspection grid formed by multiple preset waypoints. Wherein, the side length of each waypoint grid is less than the side length of the monitoring grid. In practical applications, in order to ensure the safe flight of the load UAV, the height of the monitoring grid can be set lower than the height of the inspection grid. When using functions or formulas to calculate the position of the bird repelling object or determine the waypoint action grid in the embodiments of the present application, the two grids can be fitted on the same height or top view plane.

[0099] Exemplarily,[[]] Figure 3 is a partial distribution schematic diagram of preset waypoints provided by an embodiment of the present application. As Figure 3 shown, the target action waypoints determined by the central included angle of two target pan-tilt camera devices may include the preset waypoints H 4.3 , H 4.4 , H 5.3 , H 5.4 in the figure. Each preset waypoint has its corresponding coordinates.

[0100] Through the coordinates of the bird repelling object, the most suitable target action waypoints can be effectively selected, ensuring that the UAV can quickly and safely approach the bird repelling object and perform the bird repelling task. This method not only improves the operation accuracy but also enhances the adaptability of the bird repelling system in different environments and conditions.

[0101] Optionally, in a possible embodiment, when only the central angle of one target pan-tilt camera device is obtained, determining at least one target action waypoint according to the coordinates and the central angle of the target pan-tilt camera device may include:

[0102] S10, determining a target driving area of ​​the bird-repelling object according to the coordinates and center angle of the target PTZ camera device;

[0103] S20, determining that all preset waypoints located in the target driving area are target action waypoints.

[0104] For example, when only one PTZ camera device recognizes the bird-repelling object, and other PTZ camera devices fail to recognize the bird-repelling object due to reasons such as the PTZ angle or device occlusion, only the central angle of one target PTZ camera device can be obtained. Figure 2 , only the target PTZ camera device P 1.1 Bird-repelling objects detected N 1 When staying at a certain position, only the target PTZ camera device P can be obtained 1.1 The central angle β of the target PTZ camera device P 1.1 The central angle β can only identify the bird-repelling object N 1 The direction in which the bird is located cannot be determined. 1 In this case, the target driving area of ​​the bird-repelling object can be determined according to the coordinates and the center angle of the target PTZ camera device, and the preset waypoints in the target driving area are determined to be the target action waypoints.

[0105] Optionally, in a possible embodiment, step S10, determining a target driving area of ​​the bird-repelling object according to the coordinates and the center angle of the target PTZ camera device, may include:

[0106] S1001, determining a target function group according to the coordinates and center angle of the target PTZ camera device and a preset function group;

[0107] S1002, fitting the function graph of the target function group, the preset inspection grid and the preset monitoring grid in the same plane, and determining the grid area in the preset inspection grid that meets the second preset condition as the target expulsion area.

[0108] Exemplarily, the preset function group may include the following formulas (3) and (4):

[0109] (3)

[0110] (4)

[0111] Among them, b can be the effective bird repelling radius of the bird repelling device. With the central angle β of the target pan-tilt camera device P1.1 and the effective bird repelling radius b of the bird repelling device, when as in the above formula, the target function group can be calculated.

[0112] Referring to Figure 2 , when the function images of the calculated target function group, the preset inspection grid, and the preset monitoring grid are fitted in the same plane, the grid area in the preset inspection grid that meets the second preset condition can be determined as the target repelling area. Combining Figure 2 , the second preset condition can be set to determine the position of the bird repelling object N 1 wherein the shaded area framed by the monitoring grid constructed by the pan-tilt camera devices P 1.1 , P 1.2 , P 2.1 , P 2.2 and the target functions y 1 and y 2 is the target repelling area.

[0113] Of course, the target repelling area can also be determined by other means. For example, on both sides of the connection line between the bird repelling object N 1 and the pan-tilt camera device P 1.1 , parallel lines at a certain distance from the connection line are respectively drawn, and the area framed by the parallel lines and the monitoring grid constructed by the pan-tilt camera devices P 1.1 , P 1.2 , P 2.1 , P 2.2 is determined as the target repelling area, etc. The embodiments of the present application do not make limitations.

[0114] After determining the target repelling area of the bird repelling object, it can be determined that the preset waypoints located in the target repelling area are all target action waypoints. Based on the above method, when only one pan-tilt camera device recognizes the bird repelling object and other pan-tilt camera devices fail to recognize the bird repelling object due to pan-tilt angles or device occlusion, etc., the target action waypoints can also be quickly determined, so as to control the drone to more flexibly adjust its flight path, which has high practicability.

[0115] S103. Generate a bird repelling flight path according to the position coordinates of the hangar of the load drone and the coordinates of the target action waypoint.

[0116] Exemplarily, when no bird repelling is carried out, the load drone is located in the hangar, and the position of the hangar of the load drone is the starting position of the bird repelling flight path, while the target action waypoint is the position where the load drone needs to reach to perform the bird repelling task. Therefore, according to the position coordinates of the hangar of the load drone and the coordinates of the target action waypoint, a bird repelling flight path can be generated.

[0117] Understandably, there may be one or more target action waypoints. Therefore, multiple different flight routes can be generated. In practical applications, an appropriate path planning algorithm can be selected according to the task requirements and environmental complexity. For example, the A* algorithm, Dijkstra's algorithm, etc. can be used to calculate the optimal path from the hangar location to the target action waypoint, and considering factors such as distance, time, and energy consumption, the optimal flight route can be determined.

[0118] Optionally, in a possible embodiment, generating a bird repelling flight route according to the position coordinates of the hangar of the payload drone and the coordinates of the target action waypoint may include:

[0119] S100. Determine the straight-line distance between the hangar of the payload drone and the target action waypoint according to the position coordinates of the hangar of the payload drone and the coordinates of the target action waypoint;

[0120] S200. Determine the target action waypoint with the minimum straight-line distance as the starting point, and other target action waypoints as passing waypoints, and use an algorithm related to the traveling salesman problem to generate a bird repelling flight route.

[0121] Exemplarily, if the position coordinates of the hangar of the payload drone are H(M 2 , N 2 ), and the coordinates of the target action waypoint are (X, Y), then the distance between the hangar and each target action waypoint can be calculated by the following formula (5):

[0122] (5)

[0123] After calculating the straight-line distance between the hangar of the payload drone and each target action waypoint, the coordinates of the target action waypoint with the minimum distance can be selected and recorded as H(X m , Y n ), which is determined as the starting point of the bird repelling flight route, and other target action waypoints are used as passing waypoints. Then, an algorithm related to the traveling salesman problem is used to select the optimal flight route as the bird repelling flight route.

[0124] Among them, the traveling salesman problem (TSP) is a classic problem in combinatorial optimization. Its goal is to find the shortest path passing through a given set of cities, and each city is visited only once and finally returns to the starting city. Since TSP is an NP-hard problem, it is very difficult to find its exact solution in large-scale cases. Therefore, researchers have developed various algorithms to solve TSP. For example, in this application, brute-force algorithms, greedy algorithms, etc. can be used to obtain the optimal flight route.

[0125] Exemplarily, in the embodiments of the present application, the load drone needs to start from the position of the hangar and reach the target action waypoint H (X m , Y n ) with the minimum distance. After that, it passes through other target action waypoints in sequence, stays for a period of time at each waypoint to drive away birds, and then returns to the hangar of the load drone. The present application can determine the passing order of each other target action waypoint based on the above algorithms related to the traveling salesman problem, plan the flight route with the shortest flight path, and determine it as the bird-driving route in the embodiments of the present application.

[0126] It should be noted that in order to ensure that the load drone can take off from the hangar and safely reach the positions of each target action waypoint, each target action waypoint can be set to be higher than the highest equipment facility among all power equipment facilities in the monitoring area.

[0127] S104. Send a bird-driving instruction to the load drone; wherein, the bird-driving instruction is used to instruct the load drone to fly according to the bird-driving route and control the bird-driving device carried on the load drone to drive away birds at the target action waypoint.

[0128] Exemplarily, after the bird-driving route is determined, the bird-driving control device based on the load drone in the embodiments of the present application can generate a bird-driving instruction and send the bird-driving instruction to the load drone. Among them, the bird-driving instruction should include the bird-driving route. The load drone of the present application has high-precision positioning (Real-Time Kinematic, RTK) and automatic flight along the route function. When the load drone receives the bird-driving instruction, it will fly according to the route planned by the bird-driving route. When it reaches each target action waypoint, it will stay for a certain period of time. At this time, the bird-driving device carried on the load drone will start to drive away birds.

[0129] Among them, the embodiments of the present application do not limit the type of the bird-driving device. For example, the bird-driving device can include a lighting device, a sound-emitting device, etc., and uses light, sound, etc. to drive away birds. Among them, the lighting device can be composed of components such as a camera, a 360-degree rotating flashing multi-color laser lamp, a flashing lamp, etc., and the light emitted by them can drive away birds; the sound-emitting device can be composed of components such as a high-power horn, an ultrasonic horn, etc., and they can emit high-decibel sounds, the calls of natural enemies of birds, etc. to drive away birds. It can also be built-in with an SD card, etc. to DIY high-pitched ultrasonic bionic audio to achieve scientific physical bird-driving. The present application only turns on the bird-driving device when it reaches the target action waypoint, avoiding disturbing the people with long-term or large-scale sound and light actions.

[0130] The bird repelling control method based on a load drone provided by an embodiment of the present application includes, when it is determined that the staying time of a bird repelling target on power equipment facilities is greater than a preset duration, obtaining the central included angle of at least one target pan-tilt camera device; wherein, the central included angle represents the included angle between the line connecting the target pan-tilt camera device and the bird repelling target and the horizontal line; determining at least one target action waypoint according to the coordinates of the target pan-tilt camera device and the central included angle; generating a bird repelling flight path according to the position coordinates of the hangar of the load drone and the coordinates of the target action waypoint; sending a bird repelling instruction to the load drone; wherein, the bird repelling instruction is used to instruct the load drone to fly according to the bird repelling flight path and control the bird repelling device carried on the load drone to perform bird repelling at the target action waypoint. By monitoring the activities of birds, when it is determined that bird repelling is needed, the embodiment of the present application determines the target action waypoint according to the position of the birds and plans a suitable bird repelling flight path, so as to control the load drone carrying the bird repelling device to perform bird repelling, which can adapt to various environments and bird repelling requirements, eliminate the bird repelling dead corners brought by fixed unmanned bird repelling machines, effectively expand the actual bird repelling range and utilization rate of the bird repelling device, improve the bird repelling effect and efficiency, and achieve the effective protection of power equipment facilities.

[0131] Exemplarily, an embodiment of the present application further provides a drone bird repelling system, which includes a load drone, a bird repelling device, a central control device, and a plurality of intelligent monitoring devices distributed in a grid pattern in a monitoring area; wherein, the intelligent monitoring device is used to collect target images; the load drone is used to carry the bird repelling device; the bird repelling device is used to perform bird repelling; the central control device is used to execute the bird repelling control method based on the load drone according to any one of the above embodiments.

[0132] Figure 4 It is a schematic diagram of the architecture of a substation drone autonomous bird repelling system provided by an embodiment of the present application. As Figure 4As shown in the figure, the substation unmanned aerial vehicle (UAV) autonomous bird repelling system includes an intelligent detection system, a central control device, a load UAV, and a bird repelling device. Among them, the intelligent detection system may include a high-definition pan-tilt camera and a front-end bird recognition algorithm. The high-definition pan-tilt cameras are distributed in the area of power equipment and facilities to be monitored, and are grid-pointed according to the coverage radius of the high-definition pan-tilt cameras. Each high-definition pan-tilt camera corresponds to position information including longitude and latitude coordinates and altitude. The target images collected by the high-definition pan-tilt cameras are recognized using the front-end bird recognition algorithm. When a bird repelling target is recognized, the intelligent detection system sends a signal to the central control device, and the central control device sends a control signal to the high-definition pan-tilt camera to switch it from the preset patrol mode to the mobile following mode, so as to adjust the pan-tilt angle to face the direction of the bird's flight and continuously track the movement of the bird repelling target. When the bird stays on the power equipment and facilities, the center point of the pan-tilt is fixed, and the central included angle of the high-definition pan-tilt camera is obtained. Then, the central control device autonomously plans a bird repelling flight path according to the central included angles and coordinates of at least one high-definition pan-tilt camera, and issues an execution instruction to the load UAV. After the load UAV carrying the bird repelling device arrives at the established area, the bird repelling device is activated to emit an audible and visual alarm to drive away the birds.

[0133] Figure 5 FIG. is a schematic structural diagram of a bird repelling control device based on a load UAV provided by an embodiment of the present application. As Figure 5 shown, the bird repelling control device 50 based on a load UAV provided in this embodiment includes an acquisition unit 501, a processing unit 502, a generation unit 503, and an instruction unit 504.

[0134] Among them, the acquisition unit 501 is configured to obtain the central included angle of at least one target pan-tilt camera device when it is determined that the staying time of the bird repelling target on the power equipment and facilities is greater than a preset duration; wherein, the central included angle represents the included angle between the line connecting the target pan-tilt camera device and the bird repelling target and the horizontal line;

[0135] The processing unit 502 is configured to determine at least one target action waypoint according to the coordinates and the central included angle of the target pan-tilt camera device;

[0136] The generation unit 503 is configured to generate a bird repelling flight path according to the position coordinates of the hangar of the load UAV and the coordinates of the target action waypoint;

[0137] The instruction unit 504 is configured to send a bird repelling instruction to the load UAV; wherein, the bird repelling instruction is used to instruct the load UAV to fly according to the bird repelling flight path and control the bird repelling device carried on the load UAV to repel birds at the target action waypoint.

[0138] The device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, and will not be elaborated here in this embodiment.

[0139] In a possible implementation, the processing unit 502 is specifically configured to:

[0140] Determine the coordinates of the bird repelling object according to the central angle between at least two adjacent target pan-tilt camera devices and the coordinates of the target pan-tilt camera devices;

[0141] Determine at least one target action waypoint according to the coordinates of the bird repelling object and a preset inspection grid; wherein, a plurality of preset waypoints distributed in a grid pattern are deployed in the preset inspection grid.

[0142] In a possible implementation, the processing unit 502 is specifically configured to:

[0143] Determine the distance between the target pan-tilt camera device and the bird repelling object according to the central angle between two adjacent target pan-tilt camera devices and the distance between the target pan-tilt camera devices;

[0144] Determine the coordinates of the bird repelling object according to the distance between the target pan-tilt camera device and the bird repelling object and the coordinates of the target pan-tilt camera device.

[0145] In a possible implementation, the processing unit 502 is specifically configured to:

[0146] Determine the preset waypoints in the preset inspection grid that meet the first preset condition according to the coordinates of the bird repelling object;

[0147] Calculate the coordinate distance between the bird repelling object and the preset waypoint according to the coordinates of the bird repelling object and the coordinates of the preset waypoint;

[0148] Select the first n preset waypoints with the smallest coordinate distance and determine them as the target action waypoints; wherein, n is an integer greater than or equal to 1.

[0149] In a possible implementation, the processing unit 502 is specifically configured to:

[0150] Determine the target repelling area of the bird repelling object according to the coordinates and the central angle of the target pan-tilt camera device;

[0151] Determine that the preset waypoints located in the target repelling area are all target action waypoints.

[0152] In a possible implementation, the processing unit 502 is specifically configured to:

[0153] Determine a target function group according to the coordinates, the central angle and a preset function group of the target pan-tilt camera device;

[0154] Fit the function image of the target function group, the preset inspection grid and the preset monitoring grid in the same plane, and determine the grid area in the preset inspection grid that meets the second preset condition as the target repelling area.

[0155] In a possible implementation manner, the generating unit 503 is specifically configured to:

[0156] Determine the straight-line distance between the hangar of the load drone and the target action waypoint according to the position coordinates of the hangar of the load drone and the coordinates of the target action waypoint;

[0157] Determine the target action waypoint with the minimum straight-line distance as the starting point, and the other target action waypoints as passing waypoints, and use the algorithm related to the traveling salesman problem to generate a bird repelling route.

[0158] In a possible implementation manner, the obtaining unit 501 is specifically configured to:

[0159] Before obtaining the central included angle of at least one target pan-tilt camera device, control the target pan-tilt camera device to patrol according to a preset patrol mode and collect target images at a preset frequency;

[0160] If it is determined that the target image contains a bird repelling object, control the target pan-tilt camera device to switch to the mobile following mode and determine the staying time of the bird repelling object on the power equipment facilities.

[0161] The device provided in this embodiment can be used to execute the method of the above embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here.

[0162] It should be noted that it should be understood that the division of each module of the above device is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. And these modules can all be implemented in the form of software called by a processing element; they can all be implemented in the form of hardware; they can also be partially implemented in the form of software called by a processing element and partially implemented in the form of hardware. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a certain processing element of the above device to perform the functions of the above data processing modules. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together or independently implemented. Here, the processing element can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the integrated logic circuit in the processor element or the instruction in the form of software.

[0163] Figure 6 This is a schematic structural diagram of an electronic device provided in an embodiment of the present application. As Figure 6As shown in the figure, the electronic device 60 provided in this embodiment includes: at least one processor 601 and a memory 602. Optionally, the device 60 further includes a communication component 603. Among them, the processor 601, the memory 602, and the communication component 603 are connected through a bus 604.

[0164] In a specific implementation process, at least one processor 601 executes the computer-executable instructions stored in the memory 602, so that at least one processor 601 executes the above method.

[0165] For the specific implementation process of the processor 601, reference can be made to the above method embodiment, and its implementation principle and technical effect are similar, so they will not be elaborated here in this embodiment.

[0166] In the above embodiment, it should be understood that the processor may be a central processing unit (English: Central Processing Unit, abbreviated: CPU), or other general-purpose processors, digital signal processors (English: Digital Signal Processor, abbreviated: DSP), application-specific integrated circuits (English: Application Specific Integrated Circuit, abbreviated: ASIC), etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0167] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0168] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0169] This application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0170] The present application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0171] The above-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk. The readable storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0172] An exemplary readable storage medium is coupled to the processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in a device.

[0173] The division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be indirect couplings or communication connections through some interfaces, devices, or units, and can be in electrical, mechanical, or other forms.

[0174] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0175] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0176] If a function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs, etc., which can store program codes of various types.

[0177] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When this program is executed, it executes the steps including those of the above method embodiments; and the aforementioned storage medium includes: ROMs, RAMs, magnetic disks, or optical discs, etc., which can store program codes of various types.

[0178] Finally, it should be noted that: After considering the specification and practicing the invention disclosed herein, those skilled in the art will easily think of other implementation manners of the present invention. The present invention is intended to cover any variations, uses, or adaptive changes of the present invention. These variations, uses, or adaptive changes follow the general principles of the present invention and include common general knowledge or conventional technical means in the technical field not disclosed in the present invention. It is not limited to the exact structure described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A bird-repelling control method based on a load-bearing drone, characterized in that: include: When it is determined that the stay time of the bird-repelling object on the power equipment facility is greater than the preset time, the central angle of at least one target pan-tilt camera device is obtained; wherein the central angle represents the angle between the line connecting the target pan-tilt camera device and the bird-repelling object and the horizontal line; Determine at least one target action waypoint according to the coordinates of the target pan / tilt camera device and the central angle; Generate a bird-repelling route according to the position coordinates of the hangar carrying the UAV and the coordinates of the target action waypoint; A bird-repelling instruction is sent to the load-bearing UAV; wherein the bird-repelling instruction is used to instruct the load-bearing UAV to fly according to the bird-repelling route, and control the bird-repelling device on the load-bearing UAV to perform bird-repelling at the target action waypoint.

2. The method according to claim 1, characterized in that When the center angles of at least two adjacent target pan-tilt camera devices are obtained, determining at least one target action waypoint according to the coordinates of the target pan-tilt camera device and the center angles includes: Determine the coordinates of the bird-repelling object according to the central angle of at least two adjacent target pan-tilt camera devices and the coordinates of the target pan-tilt camera devices; At least one target action waypoint is determined according to the coordinates of the bird-repelling object and a preset inspection grid; wherein a plurality of preset waypoints distributed in a grid format are deployed in the preset inspection grid.

3. The method according to claim 2, characterized in that The step of determining the coordinates of the bird-repelling object according to the central angle of at least two adjacent target pan-tilt camera devices and the coordinates of the target pan-tilt camera device comprises: Determine the distance between the target pan-tilt camera device and the bird-repelling object according to the central angle of two adjacent target pan-tilt camera devices and the distance between the target pan-tilt camera devices; The coordinates of the bird-repelling object are determined according to the distance between the target pan-tilt camera device and the bird-repelling object and the coordinates of the target pan-tilt camera device.

4. The method according to claim 2, characterized in that: The step of determining at least one target action waypoint according to the coordinates of the bird-repelling object and a preset inspection grid comprises: Determining a preset waypoint in the preset inspection grid that meets a first preset condition according to the coordinates of the bird-repelling object; Calculating the coordinate distance between the bird-repelling object and the preset waypoint according to the coordinates of the bird-repelling object and the coordinates of the preset waypoint; The first n preset waypoints with the smallest coordinate distance are selected and determined as the target action waypoints; wherein n is an integer ≥1.

5. The method according to claim 1, characterized in that When only the central angle of one target pan-tilt camera device is obtained, determining at least one target action waypoint according to the coordinates of the target pan-tilt camera device and the central angle includes: Determining a target driving area of ​​the bird-repelling object according to the coordinates and the center angle of the target pan-tilt camera device; It is determined that all preset waypoints located in the target driving area are target action waypoints.

6. The method according to claim 5, characterized in that The step of determining a target driving area of ​​the bird-repelling object according to the coordinates and the central angle of the target PTZ camera device comprises: Determine a target function group according to the coordinates and the center angle of the target pan / tilt camera device and a preset function group; The function graph of the target function group, the preset inspection grid and the preset monitoring grid are fitted in the same plane, and a grid area in the preset inspection grid that meets a second preset condition is determined as the target driving area.

7. The method according to any one of claims 1 to 6, characterized in that The step of generating a bird-repelling route according to the position coordinates of the hangar carrying the UAV and the coordinates of the target action waypoint includes: Determine the straight-line distance between the hangar carrying the UAV and the target action waypoint according to the position coordinates of the hangar carrying the UAV and the coordinates of the target action waypoint; The target action waypoint with the smallest straight-line distance is determined as the starting point, and the other target action waypoints are the passing waypoints. The bird-repelling route is generated by using the algorithm related to the traveling salesman problem.

8. The method according to any one of claims 1 to 6, characterized in that Before obtaining the central angle of at least one target pan-tilt camera device, the method further includes: Control the target PTZ camera equipment to patrol according to the preset patrol mode and collect target images according to the preset frequency; If it is determined that the target image contains the bird-repelling object, the target pan-tilt camera device is controlled to switch to a mobile follow-up mode, and the stay time of the bird-repelling object on the power equipment and facilities is determined.

9. A bird-repelling control device based on a load-bearing drone, characterized in that: include: An acquisition unit is used to acquire a central angle of at least one target pan-tilt camera device when it is determined that the stay time of the bird-repelling object on the power equipment facility is greater than a preset time; wherein the central angle represents the angle between the line connecting the target pan-tilt camera device and the bird-repelling object and the horizontal line; A processing unit, configured to determine at least one target action waypoint according to the coordinates of the target pan-tilt camera device and the central angle; A generating unit, configured to generate a bird-repelling route according to the position coordinates of the hangar carrying the UAV and the coordinates of the target action waypoint; The command unit is used to send a bird-repelling command to the load-bearing UAV; wherein the bird-repelling command is used to instruct the load-bearing UAV to fly according to the bird-repelling route, and control the bird-repelling device on the load-bearing UAV to perform bird-repelling at the target action waypoint.

10. A drone bird-repelling system, characterized in that: include: Load drones, bird repellent devices, central control devices, and multiple intelligent monitoring devices distributed in a grid in the monitoring area; Wherein, the intelligent monitoring device is used to collect target images; The payload drone is used to carry the bird-repelling device; The bird-repelling device is used for repelling birds; The central control device is used to execute the method according to any one of claims 1 to 8.

11. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 8 when executed by a processor.

13. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 8 when being executed by a processor.

Images