Intelligent control system for bird repelling of cross arm and control method of intelligent control system

Abstract

The invention provides an intelligent control system for bird repelling of a cross arm and a control method of the intelligent control system, and belongs to the technical field of electric power protection. Comprising a bird repelling device body, a bird repelling assembly and an unmanned aerial vehicle mounting platform; the bird repelling device body comprises a main body frame and a strong magnetic adsorption structure, and the main body frame is a hollow cylindrical anti-skid box body; the unmanned aerial vehicle mounting platform comprises an unmanned aerial vehicle body, a one-way rod and a universal claw which are connected in sequence, and the unmanned aerial vehicle body clamps and conveys the bird repelling device body through the universal claw; under the limitation of the one-way rod, the bird repelling device body only swings in one direction; a putting module is integrated on the unmanned aerial vehicle body and is used for controlling putting of the bird repelling device body; the bird repelling device body is fixed based on a strong magnetic adsorption structure, and the bird repelling assembly executes bird repelling operation. On the basis of ensuring the safety of operators, the bird repelling device can be accurately and quickly mounted, and effective bird repelling is realized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of power protection, and particularly relates to an intelligent control system for cross arm bird repelling and a control method thereof. BACKGROUND

[0002] The statements in this section merely provide background information related to the present application and do not necessarily constitute prior art.

[0003] In recent years, with the increasing efforts on ecological environment protection, the population of birds represented by magpies has rapidly increased, and their activity range overlaps with the human production and living area. Such birds have the habit of building nests with metal or hard materials such as iron wires and branches, and the overhead equipment such as distribution line poles and cross arms often become their preferred site due to their structural characteristics. In particular, in farmland, due to the reasons such as more food and fewer trees, the line poles in farmland often become the best nesting site. However, due to the insulation aging or the exposed connection of devices such as wire clamps and lightning arrestor leads of the existing distribution line equipment, the birds are likely to cause the conductors such as iron wires to cross different potential points during nest material transportation or nest building, resulting in inter-phase short circuit or single-phase grounding fault; at the same time, the accumulation of bird nests may cause poor heat dissipation of the equipment and reduction of insulation distance, further increasing the risk of discharge and fire.

[0004] At present, there are many devices for bird repelling, but these devices still have some technical defects that are difficult to solve, for example: (1) The installation of the existing bird repelling devices needs to be completed by the staff through climbing operation, which not only consumes a long time, is low in efficiency, increases the installation cost, but also causes personal safety problems due to the falling risk of high-altitude operation.

[0005] (2) Although the power-related enterprises have installed devices such as bird spikes, spikes, and reflectors, the birds have strong adaptability to the existing protective measures, and after long-term use, they consider them harmless, especially high-intelligence birds such as magpies and crows can quickly adapt to fixed-mode devices, such as bypassing the bird spikes and accumulating nest materials in them, and even using the spikes as nest bases. On the other hand, the bird spikes can only cover part of the area of the tower (such as the cross arm and the insulator), and cannot prevent birds from moving in the adjacent unprotected areas (such as the conductor and the lightning arrestor), and the birds' obsession with nest sites far exceeds the deterrent of conventional bird repelling devices.

[0006] (3) Due to the small force point of the cross arm and the connecting plate of the distribution line that can support the bird repelling device, the existing large-sized sound and light type bird repelling devices cannot be installed, and the sound and light type devices are greatly affected by the weather (the light scattering is weakened in rainy and foggy weather, and the effective bird repelling light at night is almost ineffective for diurnal birds such as magpies). SUMMARY

[0007] To overcome the shortcomings of the prior art, the present invention provides an intelligent control system and control method for bird deterrence on a crossbeam, which can complete the precise and rapid installation of the bird deterrence device and achieve effective bird deterrence while ensuring the safety of the operators.

[0008] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions: The first aspect of this invention provides an intelligent control system for bird deterrence using a crossbeam.

[0009] An intelligent control system for bird deterrence using a crossbar includes: Bird deterrence device body, bird deterrence components, and drone mounting platform; The bird-repelling device includes a main frame and a strong magnetic adsorption structure fixed to the bottom of the main frame; wherein, the main frame is a hollow cylindrical anti-slip box. The drone installation platform includes a drone body, a one-way lever, and a universal claw connected in sequence. The drone body is clamped and transported by the universal claw. Meanwhile, under the restriction of the one-way lever, the bird-repelling device body swings only in one direction during the transport process. The drone body is integrated with a deployment module for identifying the crossarm structural features and generating control commands to control the drone body to deploy the bird deterrent device onto the target crossarm; the bird deterrent device body is fixed based on a strong magnetic adsorption structure, and the bird deterrent component performs the bird deterrent operation.

[0010] Furthermore, the deployment module includes: an environmental data acquisition unit for acquiring multimodal perception data of the target crossarm and its surrounding environment; a target identification and positioning unit for identifying the structural features of the crossarm and calculating the three-dimensional spatial coordinates of the predetermined installation position; and a drone pose and robotic arm control unit for controlling the drone body to deploy the bird deterrent device body and fix it at the predetermined installation position of the target crossarm.

[0011] Furthermore, one end of the one-way lever is connected to the universal claw, and the other end is connected to the UAV body through a one-way coupling. Under the action of the one-way coupling, the universal claw swings only in one direction.

[0012] Furthermore, the main frame includes a main cover and a secondary cover connected vertically by threads; the bird deterrent assembly includes a solar panel, a laser module, a sound wave generator, a battery, a controller, and a fixing component; wherein the fixing component includes a base plate, a control plate, and a bracket.

[0013] Furthermore, the solar power panel includes a circular solar power panel and multiple strip solar power panels; wherein, the circular solar power panel is placed on top of the main frame, and the multiple strip solar power panels are vertically arranged around the inner surface of the main cover and fixed by a bracket.

[0014] Furthermore, there are two sets of laser modules, which are respectively set at opposite ends of the base plate in the fixing component; and the secondary cover in the main frame has openings that are adapted to the position of the laser modules; the sound wave generator is fixed above the base plate in the fixing component, and the battery is placed above the sound wave generator and fixed below the control board.

[0015] Furthermore, the controller is located above the control board and integrates a computing unit and a control unit for analyzing and controlling the working status of the bird deterrent components.

[0016] A second aspect of the present invention provides an intelligent control method for bird deterrence using a crossbeam.

[0017] A smart control method for bird deterrence using a crossbar includes: The UAV receives and parses the installation instructions containing the target crossarm positioning mark and bird deterrent device parameters, determines the target location information, and flies to the target area; it collects multimodal perception data in the target area and calculates the three-dimensional spatial coordinates of the predetermined installation position by identifying the crossarm structural features; it generates control instructions based on the obtained three-dimensional spatial coordinates, and deploys and fixes the bird deterrent device at the predetermined installation position of the target crossarm. After the bird deterrent device body is fixed, the bird deterrent components work to deter birds from the crossarms on the power distribution line.

[0018] Furthermore, the installation instructions containing the target crossarm positioning mark and bird deterrent device parameters are analyzed, including: extracting the GPS positioning data and height parameters of the power distribution line tower, and identifying the specifications, weight and wind resistance level parameters of the bird deterrent device body; subsequently, a three-dimensional model coordinate system of the crossarm is constructed, with the center of the crossarm as the origin.

[0019] Furthermore, when the bird deterrent component is in operation, it compares the acquired light signal with a set light threshold. When the light signal is lower than or equal to the set light threshold, the controller sends a command to control the solar panel to charge the battery; otherwise, the controller sends a command to control the battery to discharge. The above one or more technical solutions have the following beneficial effects: (1) This invention achieves efficient installation of the bird deterrent device through a drone installation platform. After the drone carrying the bird deterrent device arrives at the target area, the delivery module can accurately identify the crossarm structure and generate control commands. The device is accurately delivered through the cooperation of the universal claw and the one-way lever. The strong magnetic adsorption structure at the bottom of the bird deterrent device can be quickly fixed to the crossarm without the need for workers to climb to heights. Compared with the prior art, this installation method can significantly shorten the installation time, improve efficiency, reduce manpower input to reduce installation costs, and completely avoid the risk of falling from heights.

[0020] (2) This invention is specifically designed for distribution lines (not transmission lines), where bird nesting can only cause faults in the crossarms and pole-mounted switch bushings. To address this, the invention provides two sets of laser modules, positioned at opposite ends of the base plate in the fixing component; the secondary cover in the main frame has openings adapted to the laser module's position, and the laser module's emission direction is the same as the crossarm; furthermore, the laser module's emission angle can achieve approximately 360 degrees without blind spots. Therefore, the laser module design of this invention can achieve both omnidirectional bird deterrence and enhanced bird deterrence effect in the main area (crossarm).

[0021] (3) In the bird deterrence component of the present invention, the laser module emits laser through the opening of the sub-cover, which is less affected by the weather; at the same time, when the bird deterrence component is working, it compares the light signal with the set light threshold to determine whether it is day or night, and then can switch to the combination of ultrasonic and deterrent audio at night to overcome the failure of a single environment; it can also automatically adjust the day and night bird deterrence strategy through photosensitive control to ensure that diurnal birds are effectively driven away in all weather conditions, regardless of the weather and day and night.

[0022] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0024] Figure 1 This is a structural diagram of an intelligent control system for bird deterrence using a crossbeam, according to Embodiment 1 of the present invention.

[0025] Figure 2 This is a cross-sectional view of the bird-repelling device body and bird-repelling components in Embodiment 1 of the present invention.

[0026] Figure 3 This is a front view of the bird-repelling device body and bird-repelling components in Embodiment 1 of the present invention.

[0027] Figure 4 This is a top view of the bird-repelling device body and bird-repelling components in Embodiment 1 of the present invention.

[0028] Figure 5 This is a side view of the bird deterrent device body in Embodiment 1 of the present invention.

[0029] Figure 6 This is a structural diagram of the one-way coupling in Embodiment 1 of the present invention.

[0030] Figure 7This is a structural diagram of the landing gear of the UAV in Embodiment 1 of the present invention.

[0031] In the diagram: 1 Bird deterrent device body; 11 Main frame; 111 Main cover; 112 Secondary cover; 12 Strong magnetic adsorption structure; 121 Strip hole; 2 Bird deterrent component; 21 Solar panel; 211 Circular solar power panel; 212 Strip solar power panel; 22 Laser module; 23 Sound wave generator; 24 Battery; 25 Controller; 26 Base plate; 27 Control board; 28 Bracket; 3 UAV mounting platform; 31 UAV body; 32 One-way rod; 33 Universal claw; 34 One-way coupling; 341 Connector; 342 Connector head; 343 Connector tail; 344 Bolt; 345 Ear plate; 4 UAV landing gear; 41 Stabilizing foot; 42 Telescopic rod; 43 Mounting plate. Detailed Implementation

[0032] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0033] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations of the present invention.

[0034] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0035] Example 1 This embodiment discloses an intelligent control system for bird deterrence using a crossbeam.

[0036] An intelligent control system for bird deterrence on a crossbeam includes: a bird deterrence device body, bird deterrence components, and a drone mounting platform; The bird-repelling device includes a main frame and a strong magnetic adsorption structure fixed to the bottom of the main frame; wherein, the main frame is a hollow cylindrical anti-slip box. The drone installation platform includes a drone body, a one-way lever, a universal claw, and a drone landing gear connected in sequence. The drone body is clamped and transported by the universal claw; at the same time, under the restriction of the one-way lever, the bird-repelling device body swings only in one direction during the transport process. The drone body is integrated with a deployment module for identifying the crossarm structural features and generating control commands to control the drone body to deploy the bird deterrent device onto the target crossarm; the bird deterrent device body is fixed based on a strong magnetic adsorption structure, and the bird deterrent component performs the bird deterrent operation.

[0037] Based on the above-described structured design, this invention enables precise and rapid installation of the bird-repelling device while ensuring the safety of operators, and achieves effective bird control. To facilitate understanding of the technical solution of this invention, the specific designs within the technical solution are further explained and described below.

[0038] An intelligent control system for bird deterrence on a crossbeam includes: a bird deterrence device body 1, a bird deterrence component 2, and a drone mounting platform 3.

[0039] like Figure 2 As shown, the bird deterrent device body 1 includes a main frame 11 and a strong magnetic adsorption structure 12 fixed to the bottom of the main frame 11.

[0040] The main frame 11 is a hollow cylindrical anti-slip box, such as... Figure 3 As shown, the main frame 11 includes a main cover 111 and a secondary cover 112 connected by threads. The main cover 111 is made of glass fiber reinforced nylon and has anti-slip texture on the surface. The secondary cover 112 is made of ASA engineering plastic and has an anti-slip protrusion structure molded on the outer surface. The two are connected by M6 stainless steel threads.

[0041] The strong magnetic adsorption structure 12 includes a chassis and a strong magnet fixed to the top of the chassis by a snap fastener. Specifically, the chassis has three pairs of parallel strip holes 121 spaced apart for mounting iron plates. The size of the iron plate is adapted to the strip holes 121 to enhance the magnetic attraction force of the strong magnet.

[0042] The bird deterrent assembly 2 includes a solar panel 21, a laser module 22, a sound wave generator 23, a battery 24, a controller 25, and a fixing component.

[0043] like Figure 2 As shown, the fixing components include a base plate 26, a control plate 27, and a bracket 28. The base plate 26 is horizontally fixed to the inner wall of the bottom of the sub-cover 112, its dimensions matching the inner diameter of the sub-cover 112, and laser modules 22 are mounted at both ends. The control plate 27 is stacked parallel above the base plate 26 and supported by four copper pillars, used to support the controller 25 and the photoresistor. The bracket 28 includes two sets of components: a ring bracket and a strip bracket. The ring bracket is vertically fixed to the edge of the control plate 27, supporting a circular solar panel 211 on top. The strip bracket consists of eight sets of L-shaped stainless steel sheets, radially welded to the inner wall of the main cover 111, used to fix the strip solar panels 212.

[0044] Specifically, the solar panel 21 includes a circular solar panel 211 and multiple strip-shaped solar panels 212. The circular solar panel 211 is placed on top of the main frame 11, and the multiple strip-shaped solar panels 212 are vertically arranged around the inner surface of the main cover 111 and fixed by a bracket 28. The size of the circular solar panel 211 is adapted to the size of the main cover 111, and the strip-shaped solar panels 212 are small panels with a size of 30*50mm, arranged with a 10mm gap between them. A magnet is placed on the back of each strip-shaped solar panel 212, and a coil is placed in the internal space formed by the strip-shaped solar panels 212. The upper and lower parts of the coil are connected to the battery 24.

[0045] like Figure 4 , Figure 5 As shown, there are two sets of laser modules 22, respectively located at opposite ends of the base plate 26 in the fixing component; and the secondary cover 112 in the main frame 11 has openings adapted to the positions of the laser modules 22. This invention is specifically designed for power distribution lines (not transmission lines), where birds can only nest in bird-proof cones or crossarms. Therefore, the two sets of laser modules 22 are respectively located at opposite ends of the base plate 26 in the fixing component, with the emission direction of the laser modules 22 being the same as that of the crossarm; furthermore, the emission angle of the laser modules 22 can achieve a near 360-degree omnidirectional effect. Thus, this invention can achieve omnidirectional bird deterrence and also enhance the bird deterrence effect in the main area (crossarm).

[0046] The sound wave generator 23 is a device that uses sound waves of specific frequencies to interfere with the hearing or physiological state of birds, effectively driving them away from a target area. For example, the long-range high-intensity sound bird deterrent ZQN-DL-QS can emit sounds that frighten birds through a clustered high-intensity sound wave system, causing birds to feel uncomfortable and actively flee, with an effective bird deterrence radius exceeding 100 meters. Its core design lies in sound wave generation, directional propagation, and intelligent control, specifically including a generation submodule, a control submodule, a sensing submodule, and an auxiliary expansion submodule. Further: The sound generation submodule consists of a transducer and a power amplifier. The transducer, a piezoelectric ceramic or electromagnetic loudspeaker, converts electrical signals into sound waves. The power amplifier enhances the sound wave output intensity, with a sound pressure level range of 100dB to 130dB. It can also retrieve pre-recorded deterrent audio (such as raptor calls and bird distress signals) and pre-generated ultrasonic waves of specific frequencies (between 15kHz and 25kHz) from its built-in storage for loop playback.

[0047] The control submodule integrates a microprocessor and a randomization algorithm. The microprocessor is responsible for storing preset sound wave patterns, including predator calls, alarm sounds, and ultrasonic waves. The randomization algorithm aims to prevent birds from adapting to fixed frequencies by alternating the emission of ultrasonic and audible sound waves, and by adjusting the sound wave frequency, interval, and sound pressure level in real time (for example, switching to ultrasonic waves of 20kHz to 25kHz every 5 minutes, superimposed with a sudden 120dB alarm sound; the adjustment time can be flexibly set according to actual needs).

[0048] The sensing submodule includes a microphone and a Doppler sensor. The microphone monitors the ambient noise level and dynamically adjusts the output sound pressure level based on the actual situation. The Doppler sensor is used to identify whether birds have entered the monitoring range (typically 0.5 to 5 meters). Once triggered, it starts emitting sound waves and automatically adjusts the power according to the distance of the birds to ensure that the sound pressure level is not lower than 90dB within the effective range, while minimizing interference with non-target areas.

[0049] The auxiliary expansion sub-modules include an IoT module that supports OTA upgrades via 4G / NB-IoT remote control and allows for reverse positioning and recording of the device location during installation via mobile phone scanning.

[0050] like Figure 2 As shown, the storage battery 24 is placed above the sound wave generator 23 and fixed below the control board 27, and is used to store the electrical energy converted by the solar panel 21.

[0051] A controller 25 is located above the control board 27, and the controller 25 integrates a computing unit and a control unit for analyzing and controlling the working status of the bird deterrent component. Specifically, the controller 25 is an MCU chip, and a photoresistor is configured in the adjacent adapter cap of the controller 25. The output terminal of the solar panel 21 is connected to the battery 24, and the battery 24 is then connected to the MCU chip. The MCU chip controls the laser module through the photoresistor configured in the adapter cap.

[0052] Furthermore, the MCU chip has a pre-set light threshold (used for switching power supply modes). By acquiring the current light signal and comparing it with the light threshold, when the light signal is lower than or equal to the set threshold, it is determined to be daytime, and the controller sends a command to control the solar panel to charge the battery. Conversely, when the light signal is higher than the set threshold, it is determined to be nighttime, and the MCU chip switches to battery power supply mode to ensure continuous operation of the device. The MCU unit has a built-in algorithm that can dynamically optimize the charging strategy and extend battery life; moreover, the MCU unit has a built-in GPS module that can accurately locate the device's position, ensuring data accuracy.

[0053] The drone body 31 integrates a delivery module, which includes: an environmental data acquisition unit for acquiring multimodal perception data of the target crossarm and its surrounding environment; a target identification and positioning unit for identifying the structural features of the crossarm and calculating the three-dimensional spatial coordinates of the predetermined installation position; and a drone pose and robotic arm control unit for controlling the drone body to deliver and fix the bird deterrent device body to the predetermined installation position of the target crossarm.

[0054] The environmental data acquisition unit consists of a lidar, a visible light camera, and a millimeter-wave radar. As an optional embodiment, the lidar used is a Velodyne VLP-16, used to scan the 3D point cloud of the crossarm; the visible light camera is used to acquire the surface texture of the crossarm; and the millimeter-wave radar is used to detect wind speed and obstacles. Using the Kalman filter algorithm integrated within the environmental data acquisition unit, point cloud, image, and radar data can be fused to generate an environmental map (including crossarm location, insulator coordinates, and wind speed vector).

[0055] like Figure 1 As shown, one end of the one-way lever 32 is connected to the universal claw 33, and the other end is connected to the UAV body 31 through the one-way coupling 34. Under the action of the one-way coupling 31, the universal claw 33 swings in only one direction. Compared with the existing technology, this installation method can significantly shorten the installation time, improve efficiency, reduce manpower input to reduce installation costs, and completely avoid the risk of falling from heights.

[0056] like Figure 6 As shown, the one-way coupling 34 includes two identical connecting parts 341, each with a cap-like structure consisting of a solid head 342 and a hollow tail 343. The tails 343 of the two connecting parts are fixed by bolts 344. Limited by the lower ear plate 345 of the connecting parts 341, the two connecting parts 341 can only move radially. Furthermore, during the descent of the UAV body 31, limited by the one-way coupling 34 connected to the one-way rod 32, the bird deterrent device body 1 can only swing unidirectionally in the direction of the crossarm, allowing it to be stably attached to the crossarm via the strong magnetic adsorption structure 12.

[0057] like Figure 7 As shown, the drone landing gear 4 includes a stabilizing foot 41, a telescopic rod 42, and a mounting plate 43. One end of the telescopic rod 42 is fixedly connected to the stabilizing foot 41, and the other end is fixedly connected to the mounting plate 43. The mounting plate 43 has a U-shaped structure, with its open space being smaller than the size of the drone body 31 but larger than the size of the bird deterrent device body 1. This prevents the drone body 31 from falling off after being placed on the mounting plate 43; simultaneously, the open space allows the bird deterrent device body 1 to be held in place by the cooperation of the one-way rod 32 and the universal claw 33. Furthermore, the telescopic rod 42 is extendable, allowing it to be extended during use and compressed when not in use.

[0058] Example 2 This embodiment discloses an intelligent control method for bird deterrence using a crossbeam.

[0059] A smart control method for bird deterrence using a crossbar includes: The UAV receives and parses the installation instructions containing the target crossarm positioning mark and bird deterrent device parameters, determines the target location information, and flies to the target area; it collects multimodal perception data in the target area and calculates the three-dimensional spatial coordinates of the predetermined installation position by identifying the crossarm structural features; it generates control instructions based on the obtained three-dimensional spatial coordinates, and deploys and fixes the bird deterrent device at the predetermined installation position of the target crossarm. After the bird deterrent device body is fixed, the bird deterrent components work to deter birds from the crossarms on the power distribution line.

[0060] Furthermore, the installation instructions containing the target crossarm positioning mark and bird deterrent device parameters are analyzed, including: extracting the GPS positioning data and height parameters of the power distribution line tower, and identifying the specifications, weight and wind resistance level parameters of the bird deterrent device body; subsequently, a three-dimensional model coordinate system of the crossarm is constructed, with the center of the crossarm as the origin.

[0061] Furthermore, when the bird deterrent component is in operation, it compares the acquired light signal with a set light threshold. When the light signal is lower than or equal to the set light threshold, the controller sends a command to control the solar panel to charge the battery; otherwise, the controller sends a command to control the battery to discharge.

[0062] Furthermore, before performing a mission, the drone body is placed on the drone landing gear so that a one-way stick and a gimbal can be installed under the drone body; after the drone body completes the mission, it flies back to the drone landing gear so that the one-way stick and the gimbal can be removed from under the drone body.

[0063] Based on the environmental data acquisition unit, multimodal sensing data of the target crossarm and its surrounding environment are acquired, including: First, a 3D point cloud of the crossarm is scanned using LiDAR, the surface texture of the crossarm is captured using a visible light camera, and wind speed / obstacles are detected using millimeter-wave radar, generating point cloud, image, and radar data respectively. Then, the point cloud, image, and radar data are fused using a Kalman filter algorithm to generate an environmental map containing the crossarm position, insulator coordinates, and wind speed vector.

[0064] Based on the target recognition and positioning unit, the structural features of the crossarm are identified and the three-dimensional spatial coordinates of the predetermined installation position are calculated, including: First, feature recognition is performed through point cloud segmentation and image matching. Point cloud segmentation involves using the RANSAC algorithm to extract crossarm planar features (long strip point cloud clusters), while image matching involves comparing SIFT features with a pre-stored crossarm template image (similarity > 90% confirms the target).

[0065] Subsequently, a local coordinate system with the center of the crossarm as the origin is established, and the coordinates of the installation point are calculated using the PnP algorithm, i.e.: ; in, , and This represents the local coordinates of the installation point, with the center of the crossarm as the origin. , and The world coordinates of the target installation point represent the global coordinates for UAV navigation. Represents the coordinate transformation matrix. This indicates the amount of compensation for the position of strong magnetic adsorption.

[0066] Based on the drone's pose and the robotic arm control unit, the drone body is controlled to deploy and fix the bird deterrent device to the predetermined installation position on the target crossarm, including: The PID controller adjusts the drone's pitch / yaw angles to align the center of the universal gripper with the mounting point. Once aligned, the gripping force of the universal gripper is reduced to 5N. The one-way lever is pressed down to bring the bird deterrent device into contact with the crossarm. During the pressing process, the bird deterrent device swings only in one direction along the crossarm due to the constraint of the one-way lever. Strong magnetic attraction secures the bird deterrent device to the crossarm. The universal gripper is then released, and the drone is controlled to return to its landing gear.

[0067] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. An intelligent control system for bird deterrence using a crossbeam, characterized in that, include: Bird deterrence device body, bird deterrence components, and drone mounting platform; The bird-repelling device includes a main frame and a strong magnetic adsorption structure fixed to the bottom of the main frame; wherein, the main frame is a hollow cylindrical anti-slip box. The drone installation platform includes a drone body, a one-way lever, and a universal claw connected in sequence. The drone body is clamped and transported by the universal claw. Meanwhile, under the restriction of the one-way lever, the bird-repelling device body swings only in one direction during the transport process. The drone body is integrated with a deployment module for identifying the crossarm structural features and generating control commands to control the drone body to deploy the bird deterrent device onto the target crossarm; the bird deterrent device body is fixed based on a strong magnetic adsorption structure, and the bird deterrent component performs the bird deterrent operation.

2. The intelligent control system for bird deterrence on a crossbeam as described in claim 1, characterized in that, The deployment module includes: an environmental data acquisition unit for acquiring multimodal perception data of the target crossarm and its surrounding environment; a target identification and positioning unit for identifying the structural features of the crossarm and calculating the three-dimensional spatial coordinates of the predetermined installation position; and a drone pose and robotic arm control unit for controlling the drone body to deploy the bird deterrent device body and fix it at the predetermined installation position of the target crossarm.

3. The intelligent control system for bird deterrence on a crossbeam as described in claim 1, characterized in that, One end of the one-way lever is connected to the universal claw, and the other end is connected to the UAV body through a one-way coupling. Under the action of the one-way coupling, the universal claw swings only in one direction.

4. The intelligent control system for bird deterrence on a crossbeam as described in claim 1, characterized in that, The main frame includes a main cover and a secondary cover connected vertically by threads; the bird deterrent assembly includes a solar panel, a laser module, a sound wave generator, a battery, a controller, and fasteners; wherein the fasteners include a base plate, a control plate, and a bracket.

5. The intelligent control system for bird deterrence on a crossbeam as described in claim 4, characterized in that, The solar panel includes a circular solar panel and multiple strip solar panels; wherein, the circular solar panel is placed on top of the main frame, and the multiple strip solar panels are vertically wrapped around the inner surface of the main cover and fixed by a bracket.

6. The intelligent control system for bird deterrence on a crossbeam as described in claim 4, characterized in that, The laser module has two sets, which are respectively set at opposite ends of the base plate of the fixing component; and the secondary cover in the main frame has openings that match the position of the laser module; the sound wave generator is fixed above the base plate of the fixing component, and the battery is placed above the sound wave generator and fixed below the control board.

7. The intelligent control system for bird deterrence on a crossbeam as described in claim 4, characterized in that, The controller is located above the control board and integrates a computing unit and a control unit to analyze and control the working status of the bird deterrent components.

8. An intelligent control method for bird deterrence using a crossbeam, characterized in that, include: The drone receives and parses installation instructions containing the target crossarm positioning mark and bird deterrent device parameters, determines the target location information, and flies to the target area. Multimodal sensing data is collected in the target area, and the three-dimensional spatial coordinates of the predetermined installation position are calculated by identifying the structural features of the crossarm. Control commands are generated based on the obtained three-dimensional spatial coordinates, and the bird deterrent device is deployed and fixed at the predetermined installation position of the target crossarm. After the bird deterrent device body is fixed, the bird deterrent components work to deter birds from the crossarms on the power distribution line.

9. The intelligent control method for bird deterrence on a crossbeam as described in claim 8, characterized in that, The installation instructions, which include the target crossarm positioning mark and bird deterrent device parameters, are analyzed. This includes: extracting the GPS positioning data and height parameters of the power distribution line tower, and identifying the specifications, weight, and wind resistance level parameters of the bird deterrent device itself; subsequently, a three-dimensional model coordinate system for the crossarm is constructed, with the center of the crossarm as the origin.

10. The intelligent control method for bird deterrence on a crossbeam as described in claim 8, characterized in that, When the bird deterrent component is in operation, it compares the acquired light signal with a set light threshold. When the light signal is lower than or equal to the set light threshold, the controller sends a command to control the solar panel to charge the battery; otherwise, the controller sends a command to control the battery to discharge.

Images