Dispelling device and multifunctional intelligent striking platform system

Abstract

The invention provides a repelling device and a multifunctional intelligent striking platform system. The repelling device comprises a launching unit, a driving unit and a driving unit, the first rotating part is fixedly connected with the transmitting unit; the first driving mechanism is used for driving the first rotating part to rotate around a first axis, so that the first rotating part drives the transmitting unit to rotate around the first axis or rotate around an axis parallel to the first axis; the first rotating part is rotatably arranged on the first supporting part, and the first driving mechanism is fixedly arranged on the first supporting part; the second driving mechanism is used for driving the first supporting part to rotate around a second axis perpendicular to the first axis, so that the first supporting part drives the first rotating part, the launching unit and the first driving mechanism to rotate around the second axis; and the first supporting part is rotatably arranged on the second supporting part.

Description

Technical Field

[0001] The present disclosure relates to an expulsion device and a multifunctional intelligent strike platform system. Background Art

[0002] With the rapid development of the global aviation industry and low-altitude economy, the safe operation of airports as core hubs of air transportation, airport airspace, and low-altitude airspace is facing increasingly severe challenges.

[0003] Bird strikes are a significant threat to flight safety. According to statistics, bird strikes cost hundreds of millions of dollars in economic losses worldwide each year and can cause serious aviation accidents. Bird activity, particularly during takeoff and landing, poses a significant threat to the safety of airport runways and surrounding airspace. Therefore, developing efficient and accurate bird detection and repelling technologies is an urgent need to ensure safe airport operations.

[0004] In the prior art, airports often use sound waves, light waves or physical repelling devices to drive away birds. For example, traditional repelling devices interfere with birds by emitting high-decibel sound signals, laser beams or explosive bombs (such as titanium mines), forcing them to leave the airport airspace. However, these devices have obvious limitations: First, the launch direction of most repelling devices is fixed or only supports single-axis rotation, which makes it difficult to cover the three-dimensional space of the airport runway and surrounding airspace, especially when birds are clustered or moving quickly, the repelling effect is limited. Secondly, the launch unit of the existing repelling device usually lacks flexible posture adjustment capabilities and cannot be accurately pointed according to the dynamic position of the target to be repelled, resulting in low repelling efficiency. In addition, traditional repelling devices are mostly independent devices, which are difficult to integrate with the airport's bird detection system, and cannot achieve coordinated operations of real-time detection, identification and repelling.

[0005] In terms of bird detection, radar technology has been applied to the monitoring of targets to be driven away at airports. Existing radar systems identify targets to be driven away by emitting electromagnetic waves and receiving echo signals, combined with signal processing algorithms. However, in complex airport environments (such as multi-target scenarios, bad weather or electromagnetic interference), the recognition accuracy of existing radars is limited, and there is a lack of real-time linkage mechanisms with the drive-away devices. For example, some systems only generate early warning signals and are unable to automatically trigger the drive-away operation based on the threat level of the target to be driven away, or lack a dynamic evaluation of the effect after the drive-away, resulting in an inability to respond to the ongoing bird threat in a timely manner. In addition, existing systems usually rely on wired communications, have poor deployment flexibility, and are difficult to adapt to the dynamic monitoring needs of airport airspace.

[0006] In summary, existing technologies for bird repellent at airports have significant shortcomings in terms of coverage, directional flexibility, system integration, and the coordinated efficiency of detection and repelling, making it difficult to meet airports' needs for efficient and precise bird management. Therefore, a repellent device and system that can achieve flexible multi-axis rotation, integrate detection and repelling functions, and support dynamic effect evaluation is needed to improve the efficiency and reliability of bird repellent at airports and ensure aviation safety. Summary of the Invention

[0007] According to one aspect of the present disclosure, there is provided a driving device, comprising:

[0008] Launch unit;

[0009] a first rotating part, wherein the first rotating part is fixedly connected to the transmitting unit;

[0010] a first driving mechanism, the first driving mechanism being configured to drive the first rotating portion to rotate about a first axis, so that the first rotating portion drives the launching unit to rotate about the first axis or about an axis parallel to the first axis;

[0011] a first supporting portion, wherein the first rotating portion is rotatably disposed on the first supporting portion, and the first driving mechanism is fixedly disposed on the first supporting portion;

[0012] a second driving mechanism, the second driving mechanism being configured to drive the first supporting portion to rotate about a second axis perpendicular to the first axis, so that the first supporting portion drives the first rotating portion, the launching unit, and the first driving mechanism to rotate about the second axis;

[0013] The second supporting portion is provided on which the first supporting portion is rotatably mounted.

[0014] According to the driving-away device of at least one embodiment of the present disclosure, the first rotating portion has a receiving space, and the launching unit is fixedly disposed within the receiving space.

[0015] According to the driving-away device of at least one embodiment of the present disclosure, there are multiple transmitting units, and the multiple transmitting units form a transmitting array.

[0016] According to at least one embodiment of the driving device of the present disclosure, the first driving mechanism includes a first driving motor, a first transmission gear set, and a first driving shaft;

[0017] The rotational motion output by the first driving motor is decelerated by the first transmission gear set and then transmitted to the first driving shaft, so that the first driving shaft drives the first rotating part.

[0018] According to at least one embodiment of the expelling device of the present disclosure, the first supporting portion includes a first arm, a second arm, and a transverse arm connected between the first arm and the second arm, wherein the first arm, the transverse arm, and the second arm form a U-shaped structure;

[0019] The first end of the first rotating part is rotatably connected to the first arm, and the second end of the first rotating part is rotatably connected to the second arm.

[0020] According to the driving device of at least one embodiment of the present disclosure, the first arm and the third arm form an internal connecting space, or the second arm and the third arm form an internal connecting space; the first driving mechanism is disposed within the internal connecting space.

[0021] According to the driving-away device of at least one embodiment of the present disclosure, the first rotating portion and the first supporting portion are rotatably connected via a first bearing assembly.

[0022] According to the driving-away device of at least one embodiment of the present disclosure, the first supporting portion and the second supporting portion are rotatably connected via a second bearing assembly.

[0023] According to the driving device of at least one embodiment of the present disclosure, the first driving motor is configured in the third arm; and the first transmission gear set is configured in the first arm or the second arm.

[0024] According to at least one embodiment of the driving device of the present disclosure, the second driving mechanism includes a second driving motor, a second transmission gear set, and a second driving shaft;

[0025] The rotational motion output by the second drive motor is decelerated by the second transmission gear set and then transmitted to the second drive shaft, so that the second drive shaft drives the first support portion.

[0026] According to at least one embodiment of the driving device of the present disclosure, the second supporting portion is a box, and the second driving motor and the second transmission gear set are disposed inside the box;

[0027] The axis around which the motor shaft of the second driving motor rotates and the axis around which the second driving shaft rotates are parallel to each other, and a preset distance is present between the two axes.

[0028] According to the driving-away device of at least one embodiment of the present disclosure, a camera assembly is further provided on the first rotating part, and the camera assembly is used to capture images and / or videos of the field of view in front of the driving-away device.

[0029] According to another aspect of the present disclosure, a multifunctional intelligent strike platform system is provided, comprising:

[0030] A detection radar device capable of emitting electromagnetic wave signals and further configured to obtain an echo signal of the electromagnetic wave signal after being reflected by a detection target;

[0031] a signal recognition and processing device, which recognizes the echo signal and determines whether the detection target reflecting the electromagnetic wave signal is a target to be driven away. If so, the signal recognition and processing device generates a warning signal;

[0032] a guiding strike radar device, wherein when the detected target is a target to be driven away, the guiding strike radar device continuously tracks the target to be driven away and obtains position information and / or motion trajectory information of the target to be driven away;

[0033] a driving-away device, configured to drive away the target based on the position information and / or motion trajectory information of the target transmitted by the guidance strike radar device;

[0034] The driving device includes the driving device according to any one of the embodiments of the present disclosure.

[0035] According to at least one embodiment of the present disclosure, the multifunctional intelligent strike platform system, the detection radar device includes:

[0036] A horizontal scanning radar, wherein the antenna of the horizontal scanning radar rotates in the horizontal direction to transmit electromagnetic wave signals and receive echo signals;

[0037] A vertical scanning radar has an antenna that rotates in a vertical direction to generate electromagnetic wave signals and receive echo signals.

[0038] According to the multifunctional intelligent strike platform system of at least one embodiment of the present disclosure, the expulsion device communicates with the guidance strike radar device based on wireless communication signals.

[0039] According to the multifunctional intelligent strike platform system of at least one embodiment of the present disclosure, the guiding strike radar device continuously tracks the target to be driven away. If the movement trajectory of the target to be driven away shows that the target to be driven away turns back within a preset time length, an expulsion success signal is generated. If the movement trajectory of the target to be driven away does not show that the target to be driven away turns back within the preset time length, an expulsion failure signal is generated. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0041] Figure 1 Schematic diagram of the structure of a driving device according to an embodiment of the present invention.

[0042] Figure 2 It is a first driving mechanism in the driving device according to one embodiment of the present disclosure.

[0043] Figure 3 It is a schematic structural diagram of the driving device according to one embodiment of the present disclosure, with the upper structure and the door of the second supporting portion removed.

[0044] Figure 4 It is a structural schematic diagram from another perspective of the expelling device of one embodiment of the present disclosure after removing the upper structure and the door of the second supporting part.

[0045] Figure 5 FIG. 1 is a schematic diagram of a module configuration of a control device according to an embodiment of the present disclosure.

[0046] Figure 6 It is a schematic structural block diagram of a multifunctional intelligent strike platform system according to an embodiment of the present invention.

[0047] Figure 7 1 is a schematic diagram of a coordinate system when a driving device according to an embodiment of the present disclosure drives away a target.

[0048] Figure 8 It is a schematic diagram of a bird-repelling process according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0049] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the relevant content and are not intended to limit the present disclosure. It should also be noted that, for ease of description, only the portions relevant to the present disclosure are shown in the accompanying drawings.

[0050] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0051] Unless otherwise stated, the exemplary embodiments / examples shown are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of the various embodiments / examples may be further combined, separated, interchanged, and / or rearranged without departing from the technical concepts of the present disclosure.

[0052] The use of cross hatching and / or shading in the accompanying drawings is generally used to make the boundaries between adjacent components clear. As such, unless otherwise indicated, the presence or absence of cross hatching or shading does not convey or indicate any preference or requirement for the specific materials, material properties, dimensions, proportions, commonalities between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. In addition, in the accompanying drawings, the sizes and relative sizes of the components may be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, the specific process sequence can be performed in a different order than described. For example, two successively described processes can be performed substantially simultaneously or in an order opposite to the order described. In addition, the same figure numbers represent the same components.

[0053] When a component is referred to as being “on,” “over,” “connected to,” or “coupled to” another component, the component may be directly on, directly connected to, or directly coupled to the other component, or intervening components may be present. However, when a component is referred to as being “directly on,” “directly connected to,” or “directly coupled to” another component, there are no intervening components present. For this purpose, the term “connected” may refer to a physical connection, an electrical connection, etc., with or without intervening components.

[0054] For descriptive purposes, the present disclosure may use spatially relative terms such as "below," "beneath," "under," "down," "above," "upper," "above," "higher," and "side (e.g., in a "sidewall")," to describe the relationship of one component to another (other) component as shown in the accompanying drawings. The spatially relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientation depicted in the accompanying drawings. For example, if the device in the drawings is turned over, a component described as "below" or "beneath" another component or feature would then be positioned "above" the other component or feature. Thus, the exemplary term "below" can encompass both the "above" and "below" orientations. Furthermore, the device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations), and as such, the spatially relative descriptors used herein should be interpreted accordingly.

[0055] The terms used herein are for the purpose of describing specific embodiments and are not intended to be restrictive. As used herein, unless the context clearly indicates otherwise, the singular forms "one (kind, person)" and "said (the)" are also intended to include plural forms. In addition, when the terms "comprise" and / or "include" and their variations are used in this specification, the features, integral bodies, steps, operations, parts, assemblies and / or their groups stated are explained, but the presence or addition of one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups is not excluded. It should also be noted that, as used herein, the terms "substantially", "approximately" and other similar terms are used as approximate terms and not as degree terms, so that they are used to explain the inherent deviations of the measured values, calculated values and / or the values provided that will be recognized by those of ordinary skill in the art.

[0056] Figure 1 1 is a schematic structural diagram of a driving device 100 according to an embodiment of the present disclosure.

[0057] refer to Figure 1 The driving device 100 of this embodiment includes:

[0058] Transmitting unit 110;

[0059] A first rotating part 101, wherein the first rotating part 101 is fixedly connected to the transmitting unit 110;

[0060] A first driving mechanism 102 (e.g., comprising a first driving motor, a first driving shaft, and a transmission gear set), the first driving mechanism 102 being configured to drive the first rotating portion 101 to rotate about a first axis, such that the first rotating portion 101 drives the transmitting unit 110 to rotate about the first axis or about an axis parallel to the first axis;

[0061] a first support portion 103 (e.g., a U-shaped arm), the first rotating portion 101 being rotatably disposed on the first support portion 103, and the first driving mechanism 102 being fixedly disposed on the first support portion 103;

[0062] a second driving mechanism 104 (e.g., comprising a second driving motor, a transmission gear set, and a second driving shaft), the second driving mechanism 104 being configured to drive the first supporting portion 103 to rotate about a second axis perpendicular to the first axis, such that the first supporting portion 103 drives the first rotating portion 101, the launching unit 110, and the first driving mechanism 102 to rotate about the second axis;

[0063] The second supporting portion 105 (eg, a box), the first supporting portion 103 is rotatably disposed on the second supporting portion 105 .

[0064] The transmitting unit 110 of the present disclosure may be an acoustic wave transmitting unit, a laser transmitting unit, etc. The transmitting unit 110 may constitute a transmitting unit array (see Figure 2 ), for example, a rectangular array of transmitting units can be formed (see Figure 2 ).

[0065] The present invention utilizes a first drive mechanism 102 and a second drive mechanism 104 to enable dual-axis (horizontal and vertical) rotation of the repelling device 100. The launch unit 110 or array of launch units can flexibly adjust its orientation within three dimensions, significantly expanding the bird repelling coverage area and making it suitable for complex bird activity scenarios such as airport runways and surrounding airspace. Compared to conventional single-axis or fixed-direction repelling devices, the present invention can accurately track the target, improving repelling efficiency and reducing the risk of bird strikes.

[0066] refer to Figure 1 and Figure 2 The first rotating part 101 of the present disclosure preferably has a receiving space, and the transmitting unit 110 is fixedly disposed in the receiving space.

[0067] Preferably, the first rotating part 101 is a rectangular frame structure.

[0068] The transmitting unit 110 can be fixed in the accommodation space by bolts or buckles, etc. The first rotating part 101 can be formed into a sealing structure to prevent the intrusion of rainwater, etc.

[0069] In light of the technical solution disclosed herein, adjustments or changes made by those skilled in the art to the matching structure of the first rotating part 101 and the launching unit 110 all fall within the protection scope of the present disclosure.

[0070] Figure 2 It is a first driving mechanism in the driving device 100 according to one embodiment of the present disclosure.

[0071] refer to Figure 2 In a preferred embodiment of the present disclosure, the first driving mechanism 102 of the present disclosure includes a first driving motor 1021 , a first transmission gear set 1022 and a first driving shaft 1023 .

[0072] The rotational motion output by the first driving motor 1021 is decelerated by the first transmission gear set 1022 and then transmitted to the first driving shaft 1023 , so that the first driving shaft 1023 drives the first rotating part 101 .

[0073] The first transmission gear set 1022 is a reduction gear set, which can be an existing reduction gear set. The first transmission gear set and the first drive shaft can also use an existing reducer (such as a worm gear reducer), which is not particularly limited in this disclosure.

[0074] The reduction design of the first transmission gear set increases torque, enhances the rotational stability of the first rotating part, and ensures the accuracy of the launching unit when quickly adjusting the direction.

[0075] Continue to refer Figure 1 and Figure 2 , the present disclosure optimizes the structure of the first support portion 103 of the driving device 100 .

[0076] like Figure 2 As shown, the first support portion 103 includes a first arm (left arm), a second arm (right arm) and a transverse arm connected between the first arm and the second arm, and the first arm, the transverse arm and the second arm form a U-shaped structure.

[0077] The first end of the first rotating part 101 ( Figure 2 The left end of the first arm is rotatably connected to the first arm, and the second end of the first rotating part 101 ( Figure 2 The right end in FIG) is rotatably connected to the second arm.

[0078] The U-shaped structure enhances the rigidity of the first support portion 103, ensuring stable rotation of the first rotating portion 101. The dual-arm connection design of the first support portion 103 disperses the force, improving the durability of the repelling device in strong airport winds and facilitating precise pointing of the launch unit 110.

[0079] According to the preferred embodiment of the present disclosure, continue to refer to Figure 2 , the first arm and the third arm of the first support portion 103 of the present disclosure form an internal communicating space (or the second arm and the third arm form an internal communicating space).

[0080] Based on the above-mentioned internal communication space, the first driving mechanism 102 of the present disclosure is disposed within the internal communication space.

[0081] The design of the internal interconnected space protects the first drive mechanism 102 from the influence of the external environment (such as rain and dust), improves reliability and maintenance convenience, and enables a compact layout and optimized space utilization, avoiding the external occupation of space by the first drive mechanism.

[0082] Preferably, if the first arm and the third arm form an internally connected space, the second arm is configured as a solid structure or as having a hollow portion, so that no additional counterweight is required, that is, the weight of the left and right sides of the first support portion 103 is equal or approximately equal, thereby avoiding the generation of centrifugal force during the rotation of the first support portion 103. If the second arm and the third arm form an internally connected space, the first arm is configured as a solid structure or as having a hollow portion, so that no additional counterweight is required, that is, the weight of the left and right sides of the first support portion 103 is equal or approximately equal, thereby avoiding the generation of centrifugal force during the rotation of the first support portion 103.

[0083] According to a preferred embodiment of the present disclosure, referring to Figure 2 The first driving motor 1021 of the driving device of the present disclosure is configured in the third arm; the first transmission gear set 1022 is configured in the first arm or the second arm.

[0084] For the driving device of any of the above embodiments, the first rotating portion 101 and the first supporting portion 103 are rotatably connected via a first bearing assembly.

[0085] Realizing rotatable connection through a bearing assembly belongs to the prior art and is not particularly limited in this disclosure.

[0086] For the driving device of any of the above embodiments, the first support portion 103 and the second support portion 105 are rotatably connected via a second bearing assembly.

[0087] Realizing rotatable connection through a bearing assembly belongs to the prior art and is not particularly limited in this disclosure.

[0088] refer to Figure 2 The second support portion 105 of the present disclosure is a box structure, and the second support portion 105 may have four supporting legs.

[0089] Figure 2 A door 1051 of the second support portion 105 is also shown. The door 1051 may be provided on the second support portion 105 in a manner such as hinged, and the door 1051 may be opened and closed.

[0090] Figure 3 It is a schematic structural diagram of the driving device according to one embodiment of the present disclosure, with the upper structure and the door of the second supporting portion removed.

[0091] In some embodiments of the present disclosure, the second driving mechanism 104 includes a second driving motor 1041 , a second transmission gear set, and a second driving shaft.

[0092] The rotational motion output by the second driving motor 1041 is transmitted to the second driving shaft after being decelerated by the second transmission gear set, so that the second driving shaft drives the first supporting portion 103 .

[0093] In some embodiments of the present disclosure, the axis about which the motor shaft of the second drive motor 1041 rotates is parallel to the axis about which the second drive shaft rotates, and a predetermined distance is provided between the two axes. In other words, the second drive motor 1041 and the second drive shaft are staggered in the horizontal direction.

[0094] refer to Figure 3 The second support portion 105 is a box body, and the second drive motor 1041 and the second transmission gear set (not shown, a reducer can also be used) are arranged inside the box body.

[0095] refer to Figure 2 In some embodiments of the present disclosure, a camera assembly 107 is further provided on the first rotating portion 101 of the expelling device 100 of the present disclosure, and the camera assembly 107 is used to capture images and / or videos of the front field of view of the expelling device 100.

[0096] The camera assembly 107 (i.e., the photoelectric tracking module) can provide visual assistance to enhance the recognition and tracking accuracy of the target to be driven away. Combined with the direction adjustment of the transmitting unit 110, the pertinence and success rate of airport bird driving away can be improved.

[0097] The camera assembly 107 is used to track the target and feedback the orientation information. The visual direction of the camera assembly 107 is parallel to the emission direction of the emission unit.

[0098] refer to Figure 3 and Figure 4 In some embodiments of the present disclosure, a control device 106 is further configured within the second support portion 105 . The control device 106 is communicatively connected to the camera assembly 107 . The control device 106 is also used to control the first driving mechanism 102 and the second driving mechanism 104 .

[0099] In some embodiments of the present disclosure, a power supply module 108 is further configured on the second support portion 105 of the driving device 100 .

[0100] Figure 5 FIG. 1 is a schematic diagram of a module configuration of the control device 106 according to an embodiment of the present disclosure.

[0101] refer to Figure 5 In some embodiments of the present disclosure, the control device 106 preferably includes:

[0102] Positioning module 1062: used to obtain the location of the driving device 100, such as GPS location (LatD, LonD, AltD).

[0103] The electronic compass 1064 is used to obtain the bird-repelling azimuth correction value (the angle with the east) Δφ to determine the striking direction of the repelling device 100 .

[0104] Embedded control device 1066: used to communicate with the guidance strike radar device 400 and execute bird repelling logic; calculate the launch angle of the launch unit 110 according to the position and / or movement trajectory of the target to be repelled provided by the guidance strike radar device 400, and control the launch of the repelling device 100.

[0105] The present disclosure also provides a multifunctional intelligent strike platform system.

[0106] Figure 6 It is a schematic structural block diagram of a multifunctional intelligent strike platform system according to an embodiment of the present invention.

[0107] refer to Figure 6 The multifunctional intelligent strike platform system disclosed herein comprises:

[0108] A detection radar device 200, which can emit electromagnetic wave signals and is also used to obtain echo signals after the electromagnetic wave signals are reflected by a detection target (e.g., a target to be driven away);

[0109] A signal recognition and processing device 300 is configured to recognize the echo signal and determine whether the detection target reflecting the electromagnetic wave signal is a target to be driven away. If so, the signal recognition and processing device 300 generates a warning signal.

[0110] The strike radar device 400 is guided to continuously track the target to be driven away and obtain position information and / or motion trajectory information of the target to be driven away when the detected target is the target to be driven away (i.e., the signal recognition and processing device 300 generates a warning signal);

[0111] The expelling device 100 drives away the target to be driven away based on the position information and / or motion trajectory information of the target to be driven away transmitted by the guidance strike radar device 400.

[0112] Among them, the expulsion device of the multifunctional intelligent strike platform system of the present disclosure includes the expulsion device 100 of any one of the embodiments described above in the present disclosure.

[0113] The multifunctional intelligent strike platform system disclosed herein may include multiple different types of repelling devices, such as the repelling device 100 of any one of the embodiments described above in the present disclosure, and may also include a laser repelling device, an eagle-calling repelling device, a titanium thunder cannon repelling device, and the like.

[0114] In some embodiments of the present disclosure, the signal recognition and processing device 300 is an industrial computer (eg, a vehicle-mounted industrial computer).

[0115] In some embodiments of the present disclosure, the detection radar device 200 of the present disclosure is a vehicle-mounted radar device.

[0116] According to the multifunctional intelligent strike platform system of the preferred embodiment of the present disclosure, the detection radar device 200 includes:

[0117] A horizontal scanning radar (preferably an S-band horizontal scanning radar), the antenna of which rotates horizontally to transmit electromagnetic wave signals and receive echo signals;

[0118] A vertical scanning radar (preferably an X-band vertical scanning radar) has an antenna that rotates in a vertical direction to generate electromagnetic wave signals and receive echo signals.

[0119] According to a preferred embodiment of the present disclosure, the guided strike radar device 400 continuously tracks the target to be driven away. If the movement trajectory of the target to be driven away shows that the target to be driven away turns back within a preset time length, a driving away success signal is generated. If the movement trajectory of the target to be driven away does not show that the target to be driven away turns back within the preset time length, a driving away failure signal is generated.

[0120] The control device 106 of the repelling device 100 can control the repelling device 100 to execute a repelling strike on the target to be repelled based on the guidance data (the location and / or motion trajectory of the target to be repelled) from the guidance strike radar device 400 and the strike strategy generated by the control device 106 based on the guidance data. Thus, the repelling device 100 of the present disclosure constitutes an intelligent strike unit.

[0121] Figure 7 1 is a schematic diagram of a coordinate system when a driving device according to an embodiment of the present disclosure drives away a target.

[0122] refer to Figure 7 The GPS location of the driving-away device 100 may be obtained based on the electronic compass 1064 of the control device 106 .

[0123] The GPS position and speed of the target to be driven away can be obtained based on the echo signal described above (existing calculation methods can be used, such as the method in the applicant's prior patent CN110501680B). Figure 7 In, θ pitch is the pitch angle and is the azimuth.

[0124] Figure 8 It is a schematic diagram of a bird-repelling process according to an embodiment of the present disclosure.

[0125] refer to Figure 8 First, initialize the system parameters of the intelligent strike unit (GPS D , azimuth correction value Δφ).

[0126] Next, the intelligent strike unit receives target information (GPS B , speed V B ).

[0127] Next, the intelligent strike unit (repelling device 100 ) calculates the target position vector in the local coordinate system of the repelling device.

[0128] Next, the control device 106 controls the launch unit to point toward the target to be driven away.

[0129] Next, the control device 106 controls the camera assembly 107 to perform photoelectric tracking and update the target position.

[0130] The control device 106 determines whether the target to be driven away is within the strike range. If so, the drive device executes the strike on the target to be driven away. If not, it determines whether the tracking has timed out. If so, it outputs a "target lost" signal. If not, it controls the drive device and its camera assembly to continue tracking.

[0131] The control device 106 continues to control the camera assembly 107 to perform photoelectric tracking on the target to be driven away and evaluate the tracking result.

[0132] If the target's trajectory shows a return, a "remove successfully" signal is output; if the target's trajectory does not show a return, a "remove failed" signal is output. This process can be performed by the guidance strike radar device 400.

[0133] In the present disclosure, the communication parameters (communication signals) between the strike radar device 400 and the expelling device 100 are the GPS position of the target to be expelled (Lat Bird ,Lon Bird ,Alt Bird ) and the speed V of the target to be driven away B (V Bx ,V By ,V Bz ) Local Cartesian coordinate representation.

[0134] The control device 600 may calculate the current relative position vector between the driving device 100 and the target to be driven away based on the following process:

[0135] Convert both the GPS position of the bird and the GPS position of the repeller to the coordinates P in the local Cartesian coordinate system of the repeller Rel (X Rel , YRel , Z Rel ) is as follows:

[0136] Eastward displacement:

[0137]

[0138] North displacement:

[0139]

[0140] Vertical displacement:

[0141] Z Rel ≈Alt Bird -Alt D

[0142] Taking into account the delay Δt seconds of the entire intelligent strike unit (repelling device 100), the target position update formula is:

[0143] P=P Rel +ΔtV b

[0144] Calculate the pitch angle θ of the driving device according to the position P pitch , azimuth The calculation formula of the sum distance D is as follows:

[0145]

[0146] Photoelectric tracking strike:

[0147] The control device 106 adjusts the direction of the driving device 100 according to the above-mentioned pitch angle and azimuth angle, and starts tracking the target to be driven away based on the camera assembly 107.

[0148] The control device 106 corrects the driving device according to the photoelectric tracking result and strikes when the distance D is less than the maximum response distance of the driving device.

[0149] It should be noted that the bird-repelling process and calculation process described above are the bird-repelling process and calculation process of the preferred embodiment of the present invention and should not be understood as a limitation on the multifunctional intelligent strike platform system of the present invention.

[0150] The multifunctional intelligent strike platform system disclosed in the present invention can judge the expulsion effect: after executing the strike and expulsion, the target is continued to be tracked through photoelectricity; the expulsion effect is judged according to the change of the target trajectory; if there is no return, the target position provided by the photoelectricity is updated and the target is returned to continue to strike and expel the target to be expelled.

[0151] The repelling device 100 can provide feedback on the execution results. There are three types of results: repelling success, repelling failure, and target loss. Repelling success occurs when the target's trajectory reverses after the strike; repelling failure occurs when the target's trajectory does not reverse after the strike; and target loss occurs when the optoelectronic system fails to detect the target.

[0152] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments / methods or examples. In addition, those skilled in the art may combine and combine different embodiments / methods or examples described in this specification and the features of different embodiments / methods or examples, unless they are contradictory.

[0153] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0154] Those skilled in the art will appreciate that the above embodiments are merely intended to clearly illustrate the present disclosure and are not intended to limit the scope of the present disclosure. Other changes or modifications may be made based on the above disclosure, and such changes or modifications are still within the scope of the present disclosure.

Claims

1. A driving device, characterized in that: include: Launch unit; a first rotating part, wherein the first rotating part is fixedly connected to the transmitting unit; a first driving mechanism, the first driving mechanism being configured to drive the first rotating portion to rotate about a first axis, so that the first rotating portion drives the launching unit to rotate about the first axis or about an axis parallel to the first axis; a first supporting portion, wherein the first rotating portion is rotatably disposed on the first supporting portion, and the first driving mechanism is fixedly disposed on the first supporting portion; a second driving mechanism, the second driving mechanism being configured to drive the first supporting portion to rotate about a second axis perpendicular to the first axis, so that the first supporting portion drives the first rotating portion, the launching unit, and the first driving mechanism to rotate about the second axis; as well as The second supporting portion is provided on which the first supporting portion is rotatably mounted.

2. The driving device according to claim 1, characterized in that The first rotating part has an accommodating space, and the launching unit is fixedly arranged in the accommodating space.

3. The driving device according to claim 1, characterized in that There are multiple transmitting units, and the multiple transmitting units form a transmitting array.

4. The driving device according to claim 1, characterized in that The first driving mechanism includes a first driving motor, a first transmission gear set and a first driving shaft; The rotational motion output by the first driving motor is decelerated by the first transmission gear set and then transmitted to the first driving shaft, so that the first driving shaft drives the first rotating part.

5. The driving device according to claim 1, characterized in that: The first support portion includes a first arm, a second arm, and a transverse arm connected between the first arm and the second arm, wherein the first arm, the transverse arm, and the second arm form a U-shaped structure; The first end of the first rotating part is rotatably connected to the first arm, and the second end of the first rotating part is rotatably connected to the second arm.

6. The driving device according to claim 5, characterized in that: The first arm and the third arm form an internal communicating space, or the second arm and the third arm form an internal communicating space; The first driving mechanism is disposed within the internal communicating space.

7. The driving device according to claim 1, characterized in that The first rotating portion and the first supporting portion are rotatably connected via a first bearing assembly.

8. The driving device according to claim 1, characterized in that: The first support portion and the second support portion are rotatably connected via a second bearing assembly.

9. The driving device according to any one of claims 1 to 8, characterized in that: The first drive motor is configured within the third arm; The first transmission gear set is disposed in the first arm or the second arm; Optionally, the second driving mechanism includes a second driving motor, a second transmission gear set and a second driving shaft; The rotational motion output by the second drive motor is decelerated by the second transmission gear set and then transmitted to the second drive shaft, so that the second drive shaft drives the first support portion; Optionally, the second supporting portion is a box body, and the second driving motor and the second transmission gear set are arranged inside the box body; The axis around which the motor shaft of the second drive motor rotates and the axis around which the second drive shaft rotates are parallel to each other, and a preset distance is present between the two axes; Optionally, a camera assembly is further provided on the first rotating part, and the camera assembly is used to capture images and / or videos of the field of view in front of the driving device.

10. A multifunctional intelligent strike platform system, characterized in that: include: A detection radar device capable of emitting electromagnetic wave signals and further configured to obtain an echo signal of the electromagnetic wave signal after being reflected by a detection target; a signal recognition and processing device, which recognizes the echo signal and determines whether the detection target reflecting the electromagnetic wave signal is a target to be driven away. If so, the signal recognition and processing device generates a warning signal; a guiding strike radar device, wherein when the detected target is a target to be driven away, the guiding strike radar device continuously tracks the target to be driven away and obtains position information and / or motion trajectory information of the target to be driven away; as well as a driving-away device, configured to drive away the target based on the position information and / or motion trajectory information of the target transmitted by the guidance strike radar device; The driving device comprises the driving device according to any one of claims 1 to 9; Optionally, the detection radar device includes: a horizontal scanning radar, the antenna of which rotates horizontally to transmit electromagnetic wave signals and receive echo signals; and A vertical scanning radar, wherein the antenna of the vertical scanning radar rotates in the vertical direction to generate electromagnetic wave signals and receive echo signals; Optionally, the expelling device communicates with the guiding strike radar device based on wireless communication signals; Optionally, the guidance strike radar device continuously tracks the target to be driven away, and generates a successful driving signal if the movement trajectory of the target to be driven away shows that the target to be driven away turns back within a preset time length; if the movement trajectory of the target to be driven away does not show that the target to be driven away turns back within the preset time length, a failed driving signal is generated.

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