Bird prevention, control and repelling method and system based on thermal imaging technology

Abstract

The invention discloses a bird prevention and control expelling method and system based on a thermal imaging technology, and the method comprises the steps: obtaining the environment thermal imaging data of a target region through a thermal imaging device, recognizing a bird heat source target through an image processing algorithm, extracting the behavior characteristics and motion tracks of the bird heat source target, and building a dynamic behavior model; risk assessment and priority ranking are carried out in combination with a risk region division rule; by planning the optimal bird repelling path and controlling the bird repelling device to implement the repelling operation, the bird repelling scheme is dynamically adjusted, and the bird repelling efficiency is improved. According to the invention, comprehensive analysis of bird gathering positions and activity areas can be realized, risk levels of bird activities can be accurately evaluated, priority ranking is carried out, and a scientific basis is provided for bird repelling operation; meanwhile, by planning the optimal bird repelling path and dynamically adjusting the bird repelling scheme, the bird repelling efficiency is effectively improved, resource waste is reduced, the accuracy and the intelligent level of bird prevention, control and repelling are improved, and the method is suitable for airports, power stations and other scenes needing efficient bird prevention and control.

Description

Technical Field

[0001] The present invention belongs to the technical field of bird prevention and control and expulsion, and in particular relates to a bird prevention and control and expulsion method and system based on thermal imaging technology. Background Art

[0002] At present, traditional bird control methods mostly rely on manual patrols, sound and light repelling or simple operation of fixed equipment. These methods have the problems of high cost, low efficiency and delayed response to changes in bird behavior, and are difficult to meet actual needs. Bird monitoring and repelling methods based on thermal imaging technology can realize real-time monitoring and dynamic control of bird activities by collecting thermal imaging data, identifying bird targets and extracting behavioral characteristics. However, existing technologies still have shortcomings in the accuracy of multi-target identification, the scientific nature of bird repelling path planning, and the sustainability of bird repelling operation effects.

[0003] Existing technologies usually use infrared thermal imaging devices to monitor the activities of birds in real time. Through thermal imaging technology, the activities of birds in low-light or nighttime environments can be effectively detected. Thermal imaging equipment identifies the distribution of birds in a specific area by capturing the thermal radiation emitted by the bird's body. The existing technology has the following shortcomings: First, existing thermal imaging equipment may be affected by environmental interference in complex environments (such as high temperature, humidity or bad weather), resulting in a decrease in image quality, which in turn affects the accuracy of bird recognition. In addition, the resolution and real-time performance of thermal imaging technology itself are limited. Especially in the case of dense flocks of birds, a single thermal imaging device may find it difficult to accurately identify the behavior trajectory of each bird, resulting in information distortion. Secondly, existing image processing algorithms mostly rely on static pattern recognition, lack dynamic adaptability, and cannot cope with the complexity of bird behavior and its environmental changes.

[0004] The technical problems existing in the prior art are as follows: First, thermal imaging data is greatly affected by environmental factors, especially at night or when there are large differences in lighting, the clarity and accuracy of the image are greatly reduced, which will lead to inaccurate positioning of bird targets, thereby affecting subsequent risk assessment and expulsion path planning. Secondly, the existing bird behavior analysis mainly relies on static heat source identification and trajectory tracking, and lacks an adaptation mechanism for dynamic changes. When birds are active in groups, multiple birds may share a heat source signal, making it difficult for image processing algorithms to accurately distinguish different targets. In addition, the behavior of birds is highly random, and the dynamic behavior model in the prior art is difficult to fully capture these changes, resulting in large deviations in the generated risk assessment results, which in turn affects the accuracy of the bird repellent strategy. Finally, the response speed and accuracy of the bird repellent equipment are insufficient, which may lead to unsatisfactory expulsion effects, especially when the prevention and control plan needs to be adjusted quickly. The dynamic adjustment capabilities of the existing methods are weak and it is difficult to meet real-time requirements. Summary of the invention

[0005] The object of the present invention is to solve the problems raised in the background art, and to propose a method and system for preventing and expelling birds based on thermal imaging technology.

[0006] To achieve the object of the present invention, the present invention discloses a method for preventing and expelling birds based on thermal imaging technology, including the following steps:

[0007] Step 1: Obtain the environmental thermal imaging data of the target area through a thermal imaging device to generate a thermal imaging data set;

[0008] Step 2: Based on the thermal imaging data set, use an image processing algorithm to identify the bird heat source target and generate target heat source information;

[0009] Step 3: Based on the target heat source information, extract the heat source change trajectory and behavioral characteristic data of the bird target, establish a dynamic behavior model of bird activities, and analyze the bird aggregation location and activity area;

[0010] Step 4: Combine the dynamic behavior model of bird activities and the preset risk area division rules to conduct a risk assessment on the bird aggregation location and activity area, generate a risk assessment result set of bird activities, and prioritize the bird aggregation location and activity area, and output a prevention and control priority result set;

[0011] Step 5: Based on the prevention and control priority result set and the behavioral characteristic data of the birds, plan the bird expulsion path and generate a bird expulsion instruction;

[0012] Step 6: According to the bird expulsion instruction, control the bird expulsion device to implement the expulsion operation on the birds according to the bird expulsion path, and generate a bird expulsion record;

[0013] Step 7: Analyze the effectiveness of the bird expulsion operation based on the bird expulsion record and the thermal imaging data of the target area after the bird expulsion operation;

[0014] Step 8: When the bird expulsion operation fails to successfully expel the bird target, send a risk warning notice to the management personnel, and dynamically adjust the bird expulsion plan and the bird expulsion path.

[0015] Further, step 1 specifically includes the following steps:

[0016] Step 1-1: Arrange a thermal imaging device in the target area, and continuously collect the thermal imaging data of the target area through the thermal imaging device, including temperature distribution, dynamic changes, and heat source distribution characteristics;

[0017] Step 1-2: Preprocess the collected original thermal imaging data, including denoising, enhancing contrast, and extracting regional features;

[0018] Step 1-3: Divide and organize the preprocessed thermal imaging data according to time sequence and region into a thermal imaging data set.

[0019] Furthermore, step 2 specifically includes the following steps:

[0020] Step 2-1, divide the thermal imaging data set into regions to separate potential heat source areas;

[0021] Step 2-2: Preliminarily screen heat source targets that may belong to birds based on the temperature characteristics, shape characteristics, and dynamic change characteristics of the potential heat source area;

[0022] Step 2-3: Use the target recognition algorithm to evaluate the heat source characteristics and match them with the preset bird heat source model to determine whether it is a bird target; the bird heat source model includes the typical temperature range, size ratio, shape outline and activity pattern of birds;

[0023] Step 2-4, marking the identified bird heat source target, and recording the heat source position, size, shape and temperature of the bird heat source target;

[0024] Step 2-5, generate target heat source information, including the heat source identification and spatial position of the bird target; organize the identified bird target information to generate target heat source information, assign a unique identification (such as a number or label) to each target, and record the specific spatial position (such as longitude and latitude, grid number or image coordinates) in the monitoring area.

[0025] Furthermore, step 3 specifically includes the following steps:

[0026] Step 3-1, according to the target heat source information, determine the spatial position change of the bird target in the time series, and generate the heat source change trajectory of the bird target; the target heat source information includes the position data of the bird at different time points. By performing time series analysis on these position data, the movement trajectory of the bird target (heat source change trajectory) is generated to reflect the activity path of the bird in the monitoring area;

[0027] Step 3-2: Based on the heat source change trajectory of the bird target, extract the behavioral characteristic data of the bird target, including flight speed, direction change, and stay time; calculate the distance and time interval of the position change to obtain the flight speed of the bird; determine whether the flight direction change of the bird is stable by analyzing the angle change of the trajectory; count the time the bird remains stationary in a certain position (or area) to reflect the bird's activity habits;

[0028] Step 3-3: Combine the behavioral characteristic data of the bird target to classify and identify the activity types of the bird, including foraging, roosting, and migration;

[0029] Step 3-4: Establish a dynamic behavior model of bird activities based on the heat source change trajectory and behavioral characteristic data of the bird target, and record the time, frequency, and behavioral trends of bird activities within the target area; the dynamic behavior model reflects the activity patterns of birds within the target area by recording the key characteristics of bird activities (such as activity time, occurrence frequency, behavioral trends, etc.).

[0030] Step 3-5: Based on the dynamic behavior model of bird activities, evaluate the activity density of birds in the target area and determine the aggregation locations of birds in the target area.

[0031] Step 3-6: Based on the aggregation locations of birds in the target area and the heat source change trajectory of the bird target, delimit the bird activity area.

[0032] Furthermore, Step 4 specifically includes the following steps:

[0033] Step 4-1: According to the preset risk area division rules, identify the aggregation locations and activity areas that intersect with the risk areas in the dynamic behavior model of bird activities, and mark the potential risk areas; compare the preset risk area division rules (such as airport runways, farmlands, power line areas) with the dynamic behavior model data of birds (including heat source trajectories and aggregation locations) to identify the areas where the bird activity ranges intersect with the risk areas, and mark these intersecting areas as potential risk areas.

[0034] Step 4-2: Based on the activity frequency, residence time, and aggregation scale of birds in the potential risk areas, evaluate the risk levels of bird activities, including high, medium, and low risks.

[0035] Step 4-3: Summarize the risk levels, bird activity characteristics, and dynamic behavior data of each risk area to generate a risk assessment result set of bird activities.

[0036] Step 4-4: Based on the different risk levels in the risk assessment result set of bird activities, sort the risk areas within the target area according to their priorities.

[0037] Step 4-5: According to the sorting results, output a prevention and control priority result set, including the identification of the risk area, risk level, bird behavior characteristics, and priority sorting.

[0038] Furthermore, Step 5 specifically includes the following steps:

[0039] Step 5-1: Obtain the information of high-priority risk areas in the prevention and control priority result set, including area identification, risk level, and bird behavior characteristic data.

[0040] Step 5-2: Extract the key constraints for bird repelling path planning based on bird behavior characteristic data, including the flight speed of birds, the range of activity areas, and the coverage range of bird repelling devices; use the bird behavior characteristic data (such as flight speed, activity range) and the technical parameters of bird repelling devices (such as coverage range) to generate the constraints that need to be followed during path planning.

[0041] Step 5-3: Determine the rules for bird repelling path planning, including the optimal solution for paths covering risk areas, the interference strategy for reducing bird aggregation, and the efficiency rule for avoiding repeated coverage; among them, the optimal path solution ensures that the bird repelling path can completely cover high-risk areas while minimizing the length of the bird repelling path; the strategy for reducing aggregation interference avoids birds aggregating to uncovered areas during the bird repelling process through the design of the bird repelling path; avoiding repeated coverage means preventing the bird repelling device from covering the same area multiple times during bird repelling path planning.

[0042] Step 5-4: Based on the path planning rules, formulate the action path of the bird repelling device to cover the target risk area and the bird activity trajectory. The nodes of the planned path include the starting point, the ending point, and intermediate key points; the starting point refers to the initial position of the bird repelling device; the intermediate key points refer to the key areas passed by the bird repelling device, usually the positions where birds gather; the ending point refers to the termination position of the bird repelling path, which may be another high-risk area or the return point of the bird repelling device.

[0043] Step 5-5: Generate bird repelling instructions according to the planned bird repelling path. The bird repelling instructions include the starting position, moving path, running time of the bird repelling device, and the coverage requirements for the target risk area; the starting position refers to the position coordinates when the bird repelling device starts; the moving path refers to the moving trajectory that the bird repelling device needs to follow, including the sequence and connection method; the running time refers to the residence time of the bird repelling device or the execution duration of the entire bird repelling path; the coverage requirement refers to the coverage radius and intensity of the bird repelling device in each risk area.

[0044] Furthermore, Step 6 specifically includes the following steps:

[0045] Step 6-1: Start the bird repelling device according to the bird repelling instructions, and set the initial parameters of the bird repelling device, including the device type, operation mode, and starting position; different device types (such as acoustic wave devices, laser devices, or drones) have different starting requirements; the device selects a suitable operation mode according to the bird repelling instructions (such as continuous operation, fixed-point repelling, cyclic coverage); the starting position refers to the initial starting position of the device, usually the starting point coordinates in the planned path.

[0046] Step 6-2: Control the bird repellent device to move along the planned bird repelling path to cover the target risk area and complete specific bird repelling actions according to the bird repelling instructions; control the bird repellent device to ensure that it moves along the planned path to cover all target risk areas; during the covering process, the bird repellent device performs specific bird repelling actions according to the instructions, such as emitting sound waves, lasers or other interference signals to drive away birds.

[0047] Step 6-3: Record the key data during the bird repelling operation to generate a bird repelling record, including the device operation time, the covered path, the bird repelling intensity, the repelling range, and the response of bird activities in the target area; Device operation time: Record the running duration of the device from startup to shutdown; Covered path: The actual path covered by the device, record the time and coordinates of each node; Bird repelling intensity: The intensity of the interference signal emitted by the device (such as sound wave decibels, laser power); Repelling range: The area range covered by the device (such as a radius of 50 meters); Response of bird activities: Record the response of birds, such as the leaving speed, flight direction, and remaining quantity.

[0048] Further, Step 7 specifically includes the following steps:

[0049] Step 7-1: Collect the environmental thermal imaging data of the target area after the bird repelling operation through a thermal imaging device, and record the heat source distribution and changes of bird activities.

[0050] Step 7-2: Compare the initial heat source distribution in the bird repelling record with the heat source distribution in the thermal imaging data after bird repelling to evaluate the impact of the bird repelling operation on the quantity and position of bird heat sources in the target area.

[0051] Step 7-3: Based on the change in heat source distribution, calculate the reduction ratio of bird heat sources in the target area after the bird repelling operation to evaluate whether the bird repelling operation has achieved the expected effect.

[0052] Step 7-4: Through continuous monitoring of the thermal imaging data at multiple time periods after bird repelling, record whether the bird heat sources re-aggregate in the target area to evaluate the continuous effectiveness of the bird repelling operation; after the bird repelling operation ends, continuously monitor the thermal imaging data of the target area to observe whether the birds re-aggregate; if the quantity of heat sources rapidly rebounds within a short period of time, it indicates that the persistence of the bird repelling operation is poor; if the heat sources remain reduced for a long time, the bird repelling operation has good persistence.

[0053] Step 7-5: Generate a bird repelling effect evaluation record, including the reduction ratio of bird activities, the re-aggregation time, and the duration of the operation effectiveness.

[0054] Further, Step 8 specifically includes the following steps:

[0055] Step 8-1: Based on the bird repelling effect evaluation record, determine whether the bird repelling operation has successfully driven away the target birds. If the bird heat sources still re-aggregate in the target area, it is determined that the bird repelling operation has not successfully driven away the bird target.

[0056] Step 8-2: According to the persistence or aggregation degree of bird activities in the target area, trigger the risk warning mechanism to generate a risk warning notice, including the location, activity trajectory, and influence range of the bird heat sources.

[0057] Step 8-3: Send the risk warning notice to the management personnel, including the number of undriven birds, aggregation location, activity frequency, and potential risk areas.

[0058] Step 8-4: Optimize the bird repelling plan, including adjusting the operating parameters of the bird repelling equipment, optimizing the bird repelling path planning, and expanding the coverage range.

[0059] Step 8-5: Re-plan the bird repelling path to cover the key points not covered and the high-frequency bird activity areas in the target area.

[0060] To achieve the object of the present invention, the present invention also discloses a bird prevention and control and repelling system based on thermal imaging technology, including a thermal imaging device, an image processing module, a behavior analysis module, a risk assessment module, a path planning module, a bird repelling control module, an effect evaluation module, and a warning and adjustment module.

[0061] The thermal imaging device is used to obtain the environmental thermal imaging data of the target area and generate a thermal imaging data set.

[0062] The image processing module is used to identify the bird heat source target based on the thermal imaging data set using image processing algorithms and generate target heat source information.

[0063] The behavior analysis module is used to extract the heat source change trajectory and behavior feature data of the bird target based on the target heat source information, establish a dynamic behavior model of bird activities, and analyze the bird aggregation location and activity area.

[0064] The risk assessment module is used to combine the dynamic behavior model of bird activities and the preset risk area division rules to conduct a risk assessment on the bird aggregation location and activity area, generate a risk assessment result set of bird activities, and perform a priority ranking on the bird aggregation location and activity area, and output a prevention and control priority result set.

[0065] The path planning module is used to plan the bird repelling path based on the prevention and control priority result set and the behavior feature data of the birds and generate a bird repelling instruction.

[0066] The bird repelling control module is used to control the bird repelling equipment to perform a repelling operation on the birds according to the bird repelling instruction and generate a bird repelling record.

[0067] The effect evaluation module is used to analyze the effectiveness of the bird repelling operation based on the bird repelling records and the thermal imaging data of the target area after the bird repelling operation is executed;

[0068] The early warning and adjustment module is used to send a risk early warning notice to the management personnel when the bird repelling operation fails to successfully repel the bird target, and dynamically adjust the bird repelling plan and the bird expulsion path.

[0069] Compared with the prior art, the remarkable progress of the present invention lies in: by acquiring the thermal imaging data of the target area and using image processing algorithms to accurately identify the bird target, the behavioral characteristics and activity trajectories of the birds can be effectively extracted, and a dynamic behavior model can be established, so as to realize a comprehensive analysis of the bird aggregation positions and activity areas. Combining with the risk area division rules, the risk level of bird activities can be accurately evaluated and prioritized, providing a scientific basis for the bird repelling operation. At the same time, by planning the optimal bird repelling path and dynamically adjusting the bird repelling plan, the bird repelling efficiency is effectively improved, and resource waste is reduced. Based on the effect analysis of the bird repelling records and thermal imaging data, the immediacy and persistence of the operation can be evaluated. When the bird repelling fails, the early warning mechanism is triggered to provide decision-making support for the management personnel, improving the accuracy and intelligent level of bird prevention and control, and being applicable to scenarios such as airports and power stations that require efficient bird prevention and control.

[0070] To more clearly illustrate the functional characteristics and structural parameters of the present invention, the following further explains in conjunction with the drawings and specific embodiments. Description of the Drawings

[0071] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation to the present invention. In the drawings:

[0072] Figure 1 is a schematic flow chart of a bird prevention and control method based on thermal imaging technology. Specific Embodiments

[0073] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0074] As Figure 1 shown, a bird prevention and control method based on thermal imaging technology includes the following steps:

[0075] Obtain the environmental thermal imaging data of the target area through a thermal imaging device to generate a thermal imaging data set;

[0076] Based on the thermal imaging dataset, use an image processing algorithm to identify the heat source targets of birds and generate target heat source information;

[0077] Based on the target heat source information, extract the heat source change trajectory and behavioral characteristic data of the bird targets, establish a dynamic behavior model of bird activities, and analyze the bird aggregation locations and activity areas;

[0078] Combined with the dynamic behavior model of bird activities and the preset risk area division rules, conduct a risk assessment on the bird aggregation locations and activity areas, generate a risk assessment result set of bird activities, and prioritize the bird aggregation locations and activity areas, and output a prevention and control priority result set;

[0079] Based on the prevention and control priority result set and the behavioral characteristic data of the birds, plan the bird expulsion path and generate a bird expulsion instruction;

[0080] According to the bird expulsion instruction, control the bird expulsion device to implement the expulsion operation on the birds according to the bird expulsion path and generate a bird expulsion record;

[0081] Based on the bird expulsion record and the thermal imaging data of the target area after the bird expulsion operation, analyze the effectiveness of the bird expulsion operation;

[0082] When the bird expulsion operation fails to successfully drive away the bird targets, send a risk warning notice to the management personnel and dynamically adjust the bird expulsion plan and the bird expulsion path.

[0083] Specifically, obtain the environmental thermal imaging data of the target area through a thermal imaging device to generate a thermal imaging dataset, including:

[0084] Arrange thermal imaging devices in the target area, and continuously collect the thermal imaging data of the target area through the thermal imaging devices, including temperature distribution, dynamic changes, and heat source distribution characteristics; in one embodiment, install a thermal imaging camera near an airport runway, and the thermal imaging camera can continuously monitor the temperature distribution around the runway. If a certain heat source (such as a flying bird) moves continuously, the thermal imaging camera will record the changes in the shape, size, and position of the heat source. The dynamic change characteristics may include the change speed and direction of the heat source position.

[0085] Preprocess the collected original thermal imaging data, including denoising, enhancing contrast, and extracting regional features;

[0086] The preprocessed thermal imaging data is organized into a thermal imaging dataset according to time sequence and region. In one embodiment, multiple thermal imaging cameras are installed, and the thermal imaging cameras respectively cover the four regions of the east, west, south, and north of the airport. The thermal imaging cameras capture thermal imaging data every 1 second. These data are arranged according to time (such as recorded by the second) and classified according to the monitoring regions of the thermal imaging cameras (such as the east area, the west area, etc.) to form a thermal imaging dataset.

[0087] Specifically, based on the thermal imaging dataset, an image processing algorithm is used to identify the heat source targets of birds and generate target heat source information, including:

[0088] The thermal imaging dataset is divided into regions to separate potential heat source regions. In one embodiment, the airport is divided into 100 regional grids, and hot spots with temperatures higher than the surrounding environment (for example, the temperature value is 5°C higher than the background) appear in the 10th, 11th, and 12th grids in the thermal imaging image. These grids are marked as potential heat source regions, and other regions without detected hot spots are ignored;

[0089] Based on the temperature characteristics, shape characteristics, and dynamic change characteristics of the potential heat source regions, heat source targets that may belong to birds are initially screened. In one embodiment, the temperature of the heat source region is about 37°C, which is within the body temperature range of birds; at the same time, the shape is elliptical, and the aspect ratio is close to the body shape of birds, and it has moved 3 meters in the past 30 seconds, which conforms to the activity characteristics of birds. Through these feature screenings, the heat source region is initially judged to be a bird heat source target;

[0090] A target recognition algorithm is used to evaluate the heat source characteristics and match them with a preset bird heat source model to determine whether it is a bird target; among them, the bird heat source model includes the typical temperature range, size ratio, shape contour, and activity rules of birds;

[0091] The identified bird heat source targets are marked, and the heat source positions, sizes, shapes, and temperatures of the bird heat source targets are recorded;

[0092] Generate target heat source information, including the heat source identification and spatial position of the bird target. Specifically, the identified bird target information is sorted out to generate target heat source information, and a unique identifier (such as a number or label) is assigned to each target and recorded at the specific spatial position in the monitoring region (such as longitude and latitude, grid number, or image coordinates).

[0093] Specifically, based on the target heat source information, the heat source change trajectory and behavioral characteristic data of the bird target are extracted, and a dynamic behavior model of bird activities is established to analyze the bird aggregation positions and activity regions, including:

[0094] Determine the spatial position change of the bird target in the time series according to the target heat source information, and generate the heat source change trajectory of the bird target; specifically, the target heat source information includes the position data of the bird at different time points. By performing time series analysis on these position data, the movement trajectory (heat source change trajectory) of the bird target can be generated, which reflects the activity path of the bird in the monitoring area;

[0095] Based on the heat source change trajectory of the bird target, extract the behavioral characteristic data of the bird target, including flight speed, direction change, and staying time; specifically, flight speed: calculate the distance of position change and the time interval to obtain the movement speed of the bird; direction change: judge whether the flight direction of the bird is stable by analyzing the corner change of the trajectory; staying time: count the time when the bird stays still at a certain position (or area) to reflect the activity habits of the bird;

[0096] Combine the behavioral characteristic data of the bird target to classify and identify the activity types of the bird, including foraging, perching, and migration; in one embodiment, a bird target moves at a speed of 0.5 m / s in the area and stays for 30 seconds, and it is judged that the activity type of the bird is foraging. Another bird target flies straight at a speed of 5 m / s and the direction does not change, and it is judged that the activity type of the bird is migration;

[0097] According to the heat source change trajectory and behavioral characteristic data of the bird target, establish a dynamic behavior model of bird activities, and record the time, frequency, and behavioral trends of bird activities in the target area; specifically, the dynamic behavior model reflects the activity rules of birds in the target area by recording the key characteristics of bird activities (such as activity time, occurrence frequency, behavioral trends, etc.);

[0098] Based on the dynamic behavior model of bird activities, evaluate the activity intensity of birds in the target area and determine the aggregation positions of birds in the target area; in one embodiment, the activity frequency of birds in the grid numbered A3 area is 5 times per hour, and the end points of multiple heat source trajectories are located in the A3 area, and it is determined that the A3 area is the aggregation position;

[0099] Based on the aggregation positions of birds in the target area and the heat source change trajectory of the bird target, delimit the bird activity area; in one embodiment, the heat source trajectory shows that the bird target mainly moves between areas A3, A4, and B3, and these areas are delimited as the bird activity area.

[0100] Specifically, combine the dynamic behavior model of bird activities and the preset risk area division rules to conduct a risk assessment on the bird aggregation positions and activity areas, generate a risk assessment result set of bird activities, and perform a priority ranking on the bird aggregation positions and activity areas, and output a prevention and control priority result set, including:

[0101] According to the preset risk area division rules, identify the aggregation locations and activity areas in the dynamic behavior model of bird activities that intersect with the risk areas, and mark the potential risk areas. Specifically, compare the preset risk area division rules (such as airport runways, farmlands, power line areas) with the dynamic behavior model data of birds (including heat source trajectories and aggregation locations) to identify the areas where the bird activity range intersects with the risk areas, and mark these intersecting areas as potential risk areas.

[0102] Based on the activity frequency, stay time, and aggregation scale of birds in the potential risk areas, evaluate the risk levels of bird activities, including high, medium, and low risks. In one embodiment, in area C3, the bird activity frequency is 10 times per hour, the average stay time is 20 minutes, and the aggregation scale is 50 birds. The evaluated risk level of bird activities is high risk. In area C4, the activity frequency is 2 times per hour, the stay time is 5 minutes, and the aggregation scale is 5 birds. The evaluated risk level of bird activities is low risk.

[0103] Summarize the risk levels, bird activity characteristics, and dynamic behavior data of each risk area to generate a risk assessment result set of bird activities.

[0104] Based on the different risk levels in the risk assessment result set of bird activities, sort the risk areas in the target area according to priority. In one embodiment, the sorting result is: First priority: Area C3 (high risk, aggregation scale 50 birds); Second priority: Area C4 (low risk, aggregation scale 5 birds).

[0105] According to the sorting result, output a prevention and control priority result set, including the identification of the risk area, risk level, bird behavior characteristics, and priority sorting.

[0106] Specifically, based on the prevention and control priority result set and the bird behavior characteristic data, plan the bird expulsion path and generate a bird expulsion instruction, including:

[0107] Obtain the high-priority risk area information in the prevention and control priority result set, including area identification, risk level, and bird behavior characteristic data.

[0108] Extract the key constraint conditions for bird expulsion path planning according to the bird behavior characteristic data, including the flight speed of birds, activity area range, and coverage range of bird expulsion equipment. Specifically, use the bird behavior characteristic data (such as flight speed, activity range) and the technical parameters of bird expulsion equipment (such as coverage range) to generate the constraint conditions that need to be observed during path planning.

[0109] Determine the rules for bird repellent path planning, including the optimal solution for paths covering risk areas, interference strategies for reducing bird aggregation, and efficiency rules for avoiding repeated coverage; specifically, according to the characteristics of risk areas and bird repellent objectives, formulate specific rules for bird repellent path planning: Optimal solution for paths: Ensure that the bird repellent path can completely cover high-risk areas while minimizing the length of the bird repellent path; Interference strategy for reducing aggregation: Avoid birds aggregating to uncovered areas during the bird repellent process through the design of the bird repellent path; Avoiding repeated coverage: When planning the bird repellent path, prevent the bird repellent equipment from covering the same area multiple times;

[0110] Based on the path planning rules, formulate the action path of the bird repellent equipment to cover the target risk area and the bird activity trajectory. The nodes of the planned path include the starting point, ending point, and intermediate key points; specifically, Starting point: The initial position of the bird repellent equipment; Intermediate key points: The key areas passed by the bird repellent equipment, usually the locations where birds aggregate; Ending point: The termination position of the bird repellent path, which may be another high-risk area or the return point of the bird repellent equipment;

[0111] According to the planned bird repellent path, generate bird repellent instructions, which include the starting position, moving path, running time of the bird repellent equipment, and the coverage requirements for the target risk area; specifically, Starting position: The position coordinates when the bird repellent equipment starts; Moving path: The moving trajectory that the bird repellent equipment needs to follow, including the sequence and connection method; Running time: The residence time of the bird repellent equipment or the execution duration of the entire bird repellent path; Coverage requirements: The coverage radius and intensity of the bird repellent equipment in each risk area.

[0112] Specifically, according to the bird repellent instructions, control the bird repellent equipment to implement the bird repellent operation along the bird expulsion path, and generate a bird repellent record, including:

[0113] According to the bird repellent instructions, start the bird repellent equipment and set the initial parameters of the bird repellent equipment, including the equipment type, operation mode, and starting position; specifically, Equipment type: Different equipment (such as acoustic equipment, laser equipment, or drones) has different starting requirements; Operation mode: The equipment selects a suitable mode according to the bird repellent instructions (such as continuous operation, fixed-point bird repellent, cyclic coverage); Starting position: The initial starting position of the equipment, usually the starting point coordinates in the planned path;

[0114] Control the bird repellent equipment to move along the planned bird expulsion path, cover the target risk area, and complete specific bird repellent actions according to the bird repellent instructions; specifically, Control the bird repellent equipment to ensure that it moves along the planned path and covers all target risk areas. During the coverage process, the bird repellent equipment executes specific bird repellent actions according to the instructions, such as emitting sound waves, lasers, or other interference signals to drive away birds;

[0115] Record the key data during the bird repelling operation to generate a bird repelling record, including the device operation time, coverage path, bird repelling intensity, repelling range, and the response of bird activities within the target area; specifically, device operation time: record the operation duration of the device from startup to shutdown; coverage path: the actual path covered by the device, record the time and coordinates of each node; bird repelling intensity: the intensity of the interference signal emitted by the device (such as sound wave decibels, laser power); repelling range: the area range covered by the device (such as a radius of 50 meters); bird activity response: record the response of birds, such as leaving speed, flight direction, and remaining quantity.

[0116] Specifically, based on the bird repelling record and the thermal imaging data of the target area after the bird repelling operation, analyze the effectiveness of the bird repelling operation, including:

[0117] Collect the environmental thermal imaging data of the target area after the bird repelling operation through a thermal imaging device, and record the heat source distribution and changes of bird activities; in one embodiment, after the bird repelling operation, it is found through a thermal imaging camera that: Initial state: There are 5 high-temperature heat sources (birds) in the target area, respectively distributed at nodes 1, 2, and 3; After bird repelling: The heat sources at nodes 1 and 2 disappear, and there are still 2 heat sources at node 3;

[0118] Compare the initial heat source distribution in the bird repelling record with the heat source distribution in the thermal imaging data after bird repelling, and evaluate the impact of the bird repelling operation on the number and location of bird heat sources in the target area; in one embodiment, the bird repelling record shows that: Before bird repelling: There are heat sources at nodes 1, 2, and 3; After bird repelling: The heat sources at nodes 1 and 2 disappear, and the number of heat sources at node 3 decreases from 5 to 2; The comparison result shows that the bird repelling operation successfully cleared some areas, but the repelling effect at node 3 is limited;

[0119] Based on the change in heat source distribution, calculate the reduction ratio of bird heat sources in the target area after the bird repelling operation, and evaluate whether the bird repelling operation achieves the expected effect; in one embodiment, if there are 10 heat sources before bird repelling and 3 heat sources after bird repelling, the reduction ratio is 70%; the set expected effect is 70%, then the bird repelling operation achieves the expected effect;

[0120] Through continuous monitoring of the thermal imaging data in multiple time periods after bird repelling, record whether the bird heat sources re-aggregate in the target area, and evaluate the continuous effectiveness of the bird repelling operation; specifically, after the bird repelling operation, continuously monitor the thermal imaging data of the target area to observe whether the birds re-aggregate; if the number of heat sources rapidly rebounds in a short period of time, it indicates that the persistence of the bird repelling operation is poor; if the number of heat sources remains decreasing for a long time, the bird repelling operation has good persistence;

[0121] Generate a bird repelling effect evaluation record, including the reduction ratio of bird activities, the re-aggregation time, and the duration of operation effectiveness.

[0122] Specifically, when the bird repelling operation fails to successfully repel the bird target, a risk warning notice is sent to the management personnel, and the bird repelling plan and the bird repelling path are dynamically adjusted, including:

[0123] Based on the bird repelling effect evaluation record, determine whether the bird repelling operation has successfully repelled the target birds; if the bird heat sources still re-aggregate in the target area, it is determined that the bird repelling operation has failed to successfully repel the bird target;

[0124] According to the persistence or aggregation degree of bird activities in the target area, trigger the risk warning mechanism to generate a risk warning notice, including the positions, activity trajectories, and influence ranges of the bird heat sources;

[0125] Send a risk warning notice to the management personnel, including the number of unrepelled birds, aggregation positions, activity frequencies, and potential risk areas;

[0126] Optimize the bird repelling plan, including adjusting the operating parameters of the bird repelling equipment, optimizing the bird repelling path planning, and expanding the coverage range;

[0127] Re-plan the bird repelling path to cover the key points not covered and the high-frequency bird activity areas in the target area.

[0128] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article, or device.

[0129] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bird control and expulsion method based on thermal imaging technology, characterized in that: The following steps are involved: Step 1: Obtain environmental thermal imaging data of the target area through a thermal imaging device to generate a thermal imaging data set; Step 2: Based on the thermal imaging data set, use the image processing algorithm to identify the bird heat source target and generate the target heat source information; Step 3: Based on the target heat source information, extract the heat source change trajectory and behavior characteristic data of the bird target, establish a dynamic behavior model of bird activities, and analyze the bird gathering location and activity area; Step 4: Combine the dynamic behavior model of bird activities and the preset risk area division rules to conduct risk assessment on bird gathering locations and activity areas, generate a risk assessment result set for bird activities, prioritize bird gathering locations and activity areas, and output a prevention and control priority result set; Step 5: Based on the prevention and control priority result set and the bird behavior characteristic data, plan the bird expulsion path and generate the bird expulsion instruction; Step 6: According to the bird-repelling instruction, the bird-repelling device is controlled to drive away the birds according to the bird-repelling path, and a bird-repelling record is generated; Step 7: Analyze the effectiveness of the bird-repelling operation based on the bird-repelling record and the thermal imaging data of the target area after the bird-repelling operation is performed; Step 8: When the bird-repelling operation fails to successfully drive away the bird target, a risk warning notification is sent to the management personnel, and the bird-repelling plan and bird-repelling path are dynamically adjusted.

2. The bird control and expulsion method based on thermal imaging technology according to claim 1 is characterized in that: Step 1 specifically includes the following steps: Step 1-1, arranging thermal imaging equipment in the target area, and continuously collecting thermal imaging data of the target area through the thermal imaging equipment, including temperature distribution, dynamic changes and heat source distribution characteristics; Step 1-2: preprocessing the collected raw thermal imaging data, including denoising, contrast enhancement and regional feature extraction; Step 1-3: divide and organize the preprocessed thermal imaging data into thermal imaging data sets according to time sequence and region.

3. The bird control and expulsion method based on thermal imaging technology according to claim 1 is characterized in that: Step 2 specifically includes the following steps: Step 2-1, divide the thermal imaging data set into regions to separate potential heat source areas; Step 2-2: Preliminarily screen heat source targets that may belong to birds based on the temperature characteristics, shape characteristics, and dynamic change characteristics of the potential heat source area; Step 2-3: Use a target recognition algorithm to evaluate the heat source characteristics and match them with a preset bird heat source model to determine whether it is a bird target; wherein the bird heat source model includes the typical temperature range, size ratio, shape outline and activity pattern of birds; Step 2-4, marking the identified bird heat source target, and recording the heat source position, size, shape and temperature of the bird heat source target; Step 2-5, generate target heat source information, including the heat source identification and spatial position of the bird target; organize the identified bird target information to generate target heat source information, assign a unique identification to each target, and record the specific spatial position in the monitoring area.

4. The bird control and expulsion method based on thermal imaging technology according to claim 1 is characterized in that: Step 3 specifically includes the following steps: Step 3-1, according to the target heat source information, determine the spatial position change of the bird target in the time series, and generate the heat source change trajectory of the bird target; the target heat source information includes the position data of the bird at different time points. By performing time series analysis on these position data, the movement trajectory of the bird target is generated to reflect the activity path of the bird in the monitoring area; Step 3-2: Based on the heat source change trajectory of the bird target, extract the behavioral characteristic data of the bird target, including flight speed, direction change, and stay time; calculate the distance and time interval of the position change to obtain the flight speed of the bird; determine whether the flight direction change of the bird is stable by analyzing the angle change of the trajectory; count the time the bird remains stationary at a certain position to reflect the bird's activity habits; Step 3-3: Combine the behavioral characteristic data of the bird target to classify and identify the activity types of the bird, including foraging, roosting, and migration; Step 3-4: Based on the heat source change trajectory and behavioral characteristic data of the bird target, a dynamic behavior model of bird activities is established to record the time, frequency and behavioral trend of bird activities in the target area; the dynamic behavior model reflects the activity patterns of birds in the target area by recording the key characteristics of bird activities; Step 3-5: Based on the dynamic behavior model of bird activities, evaluate the density of bird activities in the target area and determine the gathering location of birds in the target area; Step 3-6: Delineate the bird activity area based on the gathering locations of birds in the target area and the changing trajectories of the heat sources of the bird targets.

5. The bird control and expulsion method based on thermal imaging technology according to claim 1 is characterized in that: Step 4 specifically includes the following steps: Step 4-1: According to the preset risk area division rules, identify the gathering locations and activity areas in the dynamic behavior model of bird activities that intersect with the risk area, and mark the potential risk areas; compare the preset risk area division rules with the dynamic behavior model data of birds, identify the areas where the bird activity range intersects with the risk area, and mark these intersecting areas as potential risk areas; Step 4-2: Assess the risk level of bird activities based on the frequency of birds’ activities, residence time and gathering size in potential risk areas, including high, medium and low risk; Step 4-3: Summarize the risk level, bird activity characteristics and dynamic behavior data of each risk area to generate a risk assessment result set of bird activities; Step 4-4: based on the different risk levels in the risk assessment result set of bird activities, the risk areas in the target area are sorted according to priority; Step 4-5: Based on the sorting results, output the prevention and control priority result set, including the identification of the risk area, risk level, bird behavior characteristics and priority sorting.

6. The bird control and expulsion method based on thermal imaging technology according to claim 1 is characterized in that: Step 5 specifically includes the following steps: Step 5-1, obtain the high-priority risk area information in the prevention and control priority result set, including area identification, risk level and bird behavior characteristic data; Step 5-2: Extract key constraints for bird-repelling path planning based on bird behavior characteristic data, including bird flight speed, activity area range, and coverage of bird-repelling equipment; generate constraints that need to be followed during path planning using bird behavior characteristic data and technical parameters of bird-repelling equipment; Step 5-3, determine the rules for bird-repelling path planning, including the optimal solution for covering the risk area, the interference strategy for reducing bird gathering, and the efficiency rule for avoiding repeated coverage; the optimal solution for the path ensures that the bird-repelling path can fully cover the high-risk area while minimizing the length of the bird-repelling path; the strategy for reducing the interference of gathering avoids the gathering of birds to uncovered areas during the bird-repelling process through the bird-repelling path design; avoiding repeated coverage means preventing the bird-repelling equipment from covering the same area multiple times during the bird-repelling path planning; Step 5-4: Based on the path planning rules, formulate the action path of the bird-repellent device, covering the target risk area and the bird activity trajectory. The nodes of the planned path include the starting point, the end point and the intermediate key points; the starting point refers to the initial position of the bird-repellent device; the intermediate key point refers to the key area where the bird-repellent device passes, usually the location where birds gather; the end point refers to the end position of the bird-repellent path; Step 5-5. Generate bird-repelling instructions based on the planned bird-repelling path. The bird-repelling instructions include the starting position, moving path, operating time and coverage requirements of the target risk area of ​​the bird-repelling equipment; the starting position refers to the position coordinates of the bird-repelling equipment when it is started; the moving path refers to the moving trajectory that the bird-repelling equipment needs to follow, including the sequence and connection method; the operating time refers to the stay time of the bird-repelling equipment or the execution time of the entire bird-repelling path; the coverage requirement refers to the coverage radius and intensity of the bird-repelling equipment in each risk area.

7. The bird control and expulsion method based on thermal imaging technology according to claim 1 is characterized in that: Step 6 specifically includes the following steps: Step 6-1, according to the bird repelling instruction, start the bird repelling device and set the initial parameters of the bird repelling device, including device type, operation mode and starting position; different device types have different startup requirements; the device selects the appropriate operation mode (such as continuous operation, fixed-point repelling, and circular coverage) according to the bird repelling instruction; the starting position refers to the initial startup position of the device, which is usually the starting point coordinates in the planned path; Step 6-2, control the bird repelling device to move along the planned bird repelling path, cover the target risk area, and complete specific bird repelling actions according to the bird repelling instructions; control the bird repelling device to ensure that it moves along the planned path and covers all target risk areas; during the coverage process, the bird repelling device performs specific bird repelling actions according to the instructions to drive away birds; Step 6-3: Record key data during the bird-repelling operation and generate bird-repelling records, including equipment operation time, coverage path, bird-repelling intensity, repelling range, and response to bird activities in the target area.

8. The bird control and expulsion method based on thermal imaging technology according to claim 1 is characterized in that: Step 7 specifically includes the following steps: Step 7-1, using thermal imaging equipment to collect environmental thermal imaging data of the target area after the bird-repelling operation is performed, and record the distribution and changes of heat sources for bird activities; Step 7-2, compare the initial heat source distribution in the bird-repelling record with the heat source distribution in the thermal imaging data after bird-repelling, and evaluate the impact of the bird-repelling operation on the number and location of bird heat sources in the target area; Step 7-3: Based on the change in heat source distribution, calculate the proportion of heat sources reduced in the target area after the bird-repelling operation to evaluate whether the bird-repelling operation has achieved the expected effect; Step 7-4: By continuously monitoring the thermal imaging data of multiple periods after bird repelling, record whether the heat sources of birds gather again in the target area, and evaluate the continued effectiveness of the bird repelling operation; after the bird repelling operation is completed, continue to monitor the thermal imaging data of the target area to observe whether the birds gather again; if the number of heat sources rises rapidly in a short period of time, it indicates that the sustainability of the bird repelling operation is poor; if the heat sources remain reduced for a long time, the bird repelling operation has good sustainability; Step 7-5: Generate bird repellent effect evaluation records, including the percentage of bird activity reduction, re-gathering time, and duration of operation effectiveness.

9. The bird control and expulsion method based on thermal imaging technology according to claim 1 is characterized in that: Step 8 specifically includes the following steps: Step 8-1: Based on the bird repelling effect evaluation record, determine whether the bird repelling operation successfully drives away the target birds; if the bird heat source still exists in the target area and re-gathers, it is determined that the bird repelling operation has failed to successfully drive away the bird target; Step 8-2: According to the persistence or concentration of bird activities in the target area, the risk warning mechanism is triggered to generate a risk warning notification, including the location of the bird heat source, activity trajectory and impact range; Step 8-3: Send risk warning notifications to management personnel, including the number of birds that have not been driven away, their gathering locations, activity frequencies, and potential risk areas; Step 8-4: Optimize the bird-repelling scheme, including adjusting the operating parameters of the bird-repelling equipment, optimizing the bird-repelling path planning, and expanding the coverage; Step 8-5: Replan the bird-repelling route to cover uncovered key points and high-frequency bird activity areas in the target area.

10. A bird prevention and control expulsion system based on thermal imaging technology, the system is based on the bird prevention and control expulsion method based on thermal imaging technology according to claim 1, characterized in that: It includes thermal imaging equipment, image processing module, behavior analysis module, risk assessment module, path planning module, bird repelling control module, effect evaluation module, early warning and adjustment module; The thermal imaging device is used to obtain environmental thermal imaging data of the target area and generate a thermal imaging data set; The image processing module is used to identify bird heat source targets based on the thermal imaging data set using an image processing algorithm to generate target heat source information; The behavior analysis module is used to extract the heat source change trajectory and behavior characteristic data of the bird target based on the target heat source information, establish a dynamic behavior model of the bird activity, and analyze the bird gathering location and activity area; The risk assessment module is used to combine the dynamic behavior model of bird activities and the preset risk area division rules to conduct risk assessment on bird gathering locations and activity areas, generate a risk assessment result set for bird activities, prioritize bird gathering locations and activity areas, and output a prevention and control priority result set; The path planning module is used to plan a bird expulsion path and generate a bird expulsion instruction based on the prevention and control priority result set and the bird behavior characteristic data; The bird-repelling control module is used to control the bird-repelling device to drive away the birds according to the bird-repelling instruction and generate a bird-repelling record; The effect evaluation module is used to analyze the effectiveness of the bird-repelling operation based on the bird-repelling record and the thermal imaging data of the target area after the bird-repelling operation is performed; The warning and adjustment module is used to send a risk warning notification to the management personnel when the bird-repelling operation fails to successfully drive away the bird target, and dynamically adjust the bird-repelling plan and the bird-repelling path.

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