Airport intelligent bird repelling system hardware-in-loop simulation technology based on photoelectric equipment
By constructing a hardware-in-the-loop simulation system and using ROS and Gazebo to simulate optoelectronic devices, closed-loop control and data transmission are achieved, solving the problems of difficult and costly testing of airport bird control systems and improving the testing reliability and efficiency of bird control systems.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- JIANGSU HANWEI SEMICONDUCTOR TECHNOLOGY CO LTD
- Filing Date
- 2025-12-02
- Publication Date
- 2026-05-05
AI Technical Summary
Existing airport bird control systems lack detection and identification devices, cannot provide early warnings or assess bird control effectiveness, employ limited and untargeted bird control methods, and lack big data analysis and deep learning, resulting in poor bird control performance. Furthermore, these systems are difficult to test in the field, costly, and inefficient.
A hardware-in-the-loop simulation system was built, which uses the ROS platform and Gazebo simulation environment to simulate optoelectronic devices and radar, etc., to achieve closed-loop control. Data is transmitted through UDP and UVC communication protocols to simulate the detection, identification and expulsion process, and to perform integrated simulation verification of the entire process.
This improved the reliability and efficiency of system testing, ensured the accuracy and stability of the bird deterrence system, reduced the cost and difficulty of field testing, and achieved efficient intelligent bird deterrence.
Smart Images
Figure CN121979166A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of airport safety and aviation support technology, specifically relating to a hardware-in-the-loop simulation technology for an intelligent bird deterrence system for airports based on optoelectronic equipment. It is applicable to bird warning and deterrence at military and civilian airports, as well as other occasions where bird strike prevention is required. Background Technology
[0002] In recent years, with the rapid development of the aviation industry, the probability of bird strikes has increased significantly worldwide, with major bird strikes occurring frequently, causing serious loss of life and property, and drawing high attention from relevant departments in various countries. The frequent occurrence of bird strikes is a key and challenging issue for air force bases and civil aviation airports. Currently, most bird strike solutions employ technologies such as sound waves, light beams, chemicals, and biological methods, including gas cannons, sonic bird deterrents, laser bird deterrents, bird deterrent windmills, bird deterrent agents, drones, and robotic bird deterrents. While these methods can achieve some effect, they fail to meet expectations due to a lack of detection and identification devices, inability to provide early warnings and assess deterrence effectiveness, lack of intelligent algorithms, reliance on single deterrence methods, insufficient targeting, and a lack of big data analysis and deep learning.
[0003] A specialized R&D team was established to address bird strike prevention at airports. Building upon previous research findings in complex background bird detection radar, photoelectric and infrared recognition, bird characteristic studies, big data statistical analysis, artificial intelligence edge computing, deep learning, and sound intensity and laser bird deterrence technologies, the team adopted an "open and modular" design concept. This allows for flexible configuration based on airport deployment requirements and comprehensive prevention functions, including "intelligent detection and perception → data fusion processing → artificial intelligence edge computing → multi-functional sound and light deterrence → deterrence effect evaluation → machine deep learning." The team developed a biomimetic and opto-acoustic-electronic integrated artificial intelligence airport detection and bird deterrence equipment. This equipment is applicable to military and civilian airports around the clock and in all regions for detecting flocks of birds and drones, providing remote early warning, and intelligently implementing targeted and efficient bird deterrence. It reduces human intervention, lowers bird deterrence costs, and improves identification and deterrence efficiency, making it of significant theoretical and practical research value for flight safety in the aviation industry.
[0004] Hardware-in-the-loop simulation, as an efficient, safe, repeatable, and low-cost testing method, has been widely used in fields such as train control, ship propulsion, and battery management. This invention introduces it into the testing of intelligent bird control systems for airports to address the difficulties and high costs encountered in practical testing. Summary of the Invention
[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a hardware-in-the-loop simulation technology for an airport intelligent bird control system based on optoelectronic devices, so as to realize closed-loop simulation verification of the entire system process.
[0006] This invention is achieved through the following technical solution: A hardware-in-the-loop simulation system was constructed, encompassing two core modules: hardware device simulation and communication connectivity. Utilizing the ROS platform and the Gazebo simulation environment, the communication protocols and operating modes of real bird-repelling equipment such as bird-detecting radar, photoelectric devices, high-intensity acoustic devices, and laser devices were simulated. Data simulation, data parsing, and communication transmission modules were built. Real-time interaction between the simulation platform and the intelligent bird-repelling system control unit was achieved through various communication methods such as serial port, UDP, and UVC, forming a closed-loop control system and completing the integrated simulation verification of the entire process from detection, identification, repelling, to learning. The architecture diagram of the airport intelligent bird-repelling system is shown below. Figure 1 As shown, the high-efficiency simulated intelligent bird control system, a key technology for intelligent bird control at airports, includes detection and perception, intelligent recognition, multi-functional deterrence, and deep learning. Through detection and recognition algorithms, it outputs deterrence commands to control loudspeakers and laser equipment to drive away target flocks of birds. This solves the problems of high difficulty, high cost, and low efficiency in conducting field tests of intelligent bird control systems at airports.
[0007] In the ROS platform and Gazebo simulation, a URDF model is constructed using the Gazebo physics engine, establishing photoelectric coordinate systems, radar coordinate systems, laser coordinate systems, and a world coordinate system. Coordinate system alignment with data spatiotemporal consistency is achieved, supporting bird detection and perception functions based on multi-sensor data fusion. This simulation environment verifies the correctness and stability of hardware device instruction execution, deterrence decision-making, and logic control, ensuring the system's reliability and effectiveness in practical applications.
[0008] The UDP and UVC communications are used for transmitting sound and image information, respectively. UDP communication is responsible for transmitting bird attribute information and drive-away audio commands to achieve targeted, loud noise drive-away; UVC communication is used to transmit image parameter information, including bird size, frequency of occurrence, and danger level, improving the system's recognition efficiency and response speed.
[0009] Compared with the prior art, the present invention has the following advantages: (1) This invention uses ROS and Gazebo simulation environment to fully verify the accuracy and stability of hardware device control, drive-off decision and system logic, and improve the reliability and applicability of system testing; (2) The UDP and UVC communication protocols are used to achieve efficient transmission of sound and image data. It has the advantages of fast transmission speed, low system resource consumption and rapid response, and supports the system to quickly identify and accurately drive away. Attached Figure Description
[0010] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0011] Figure 1This is an architecture diagram of the airport's intelligent bird control system.
[0012] Figure 2 This is a simulation diagram of the airport's intelligent bird control hardware in the loop.
[0013] Figure 3 This is a diagram of the extended testing functions of a hardware-in-the-loop simulation system.
[0014] Figure 4 This is a functional diagram of the hardware-in-the-loop simulation equipment joint calibration.
[0015] Figure 5 This is a flowchart of hardware-in-the-loop simulation. Detailed Implementation
[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments. The accompanying drawings are provided to provide a further understanding of the present invention and constitute a part of this application, but do not constitute a limitation on the present invention.
[0017] The hardware-in-the-loop simulation system architecture of the airport intelligent bird control system is as follows: Figure 2 As shown, the hardware-in-the-loop simulation system architecture of the airport intelligent bird control system mainly consists of three parts: a simulation platform, communication equipment, and an intelligent bird control module. The implementation steps include: airport simulation scenario modeling, hardware equipment simulation, communication connection implementation, and simulation report generation. Through ROS and Gazebo co-simulation, the communication protocols and operating modes of radar, photoelectric, acoustic, and laser devices are simulated, and data simulation, parsing, and transmission modules are constructed to achieve closed-loop interaction with the control unit. The system supports simulation modeling of various scenarios such as bird flock dynamics, weather conditions, airport buildings, and obstacles, and can comprehensively test the hardware performance, detection and recognition algorithms, decision-making and planning algorithms, multi-functional control algorithms, and information interaction processes between devices of the intelligent bird control system. The design considers bird flocks over the airport, weather conditions, and the requirements for airport terminal and obstacle settings during the simulation software scenario modeling step. The airport intelligent bird control system can test and verify the hardware performance of the intelligent bird control system, as well as the performance of its detection and perception algorithms, intelligent recognition algorithms, decision-making and path planning algorithms, multi-functional joint control algorithms, and the information interaction and workflow between the control unit and other intelligent devices in the intelligent bird control system.
[0018] The airport's intelligent bird control system includes a wireless communication module, a human-machine interface module, and a monitoring and dispatching platform. It enables communication and cloud-based dispatching between radar, photoelectric sensors, servers, high-intensity acoustic sensors, and lasers. Using a hardware-in-the-loop (HIL) system simulation environment, the interaction between the control unit and the simulation platform or equipment can be tested, including wireless communication, interface operation, and dispatching command response, verifying the system's durability and reliability. The simulation system's extended testing functions include... Figure 3As shown, the control unit receives simulation information from the simulation platform, which can test the control unit's response capabilities to wireless communication interaction, human-machine interface interaction, monitoring and scheduling platform command control, as well as the operational durability and reliability of the intelligent bird deterrence system.
[0019] The hardware devices connected to the control unit in the system include radar, photoelectric, acoustic, and laser equipment. This invention utilizes Gazebo to construct equipment models and obstacle models such as flocks of birds, terminal buildings, and balloons. Radar information is configured via xacro files, simulating radar scanning and outputting point cloud data; photoelectric images are processed using OpenCV and converted to ROS image message format. A checkerboard method is used for joint calibration of radar and photoelectric systems, obtaining rotation and translation parameters between coordinate systems, and photoelectric intrinsic parameters are obtained using the ROS Camera-LIDAR calibration tool to complete equipment calibration. Figure 4 As shown, the joint calibration results of radar and photoelectric sensors yield the rotation and translation of the radar relative to the photoelectric sensor. Using ROS Camera-LIDAR, the intrinsic parameters of the photoelectric sensor are obtained through `autoware_camera_calibration`. The calibration node `rosrun camera_calibrationcameracalibrator.py ---size 8x6 ---square 0.108 image:= / camera / image_rawcamera:= / camera` is run, and then the chessboard calibration board is moved to finally achieve joint calibration.
[0020] The UDP communication module is implemented based on ROS UDP, and the communication between the control unit and the hardware device is written in roscpp. To meet the requirement of transmitting 1800 data packets within 100ms of radar data, the simulation step size is set to 1 / 1800 seconds. To avoid a decrease in simulation speed, the radar data generation frequency is maintained at 10Hz. Subsequent modules process and transmit the data in stages to ensure simulation real-time performance and time synchronization, achieving efficient hardware-in-the-loop simulation. The hardware-in-the-loop simulation process is as follows: Figure 5As shown, according to the communication protocols of most practical radar optoelectronic systems, 360° information needs to be transmitted. Since the horizontal resolution is 0.2°, 1800 data packets need to be transmitted within 100ms. The expectation is to transmit the complete 360° data within 100ms, which means calling the communication module 1800 times within 100ms. Therefore, the ROS simulation step size needs to be set to 1 / 1800s. Because there are many module models in the simulation project, many models inherit the simulation step size frequency, resulting in their frequency also being 1 / 1800s. This will affect the simulation speed to some extent, and in severe cases, may cause the simulation time to be slower than real time, affecting the realism of the simulation test. To avoid affecting the simulation speed, the simulation radar frequency is still set to 10Hz, meaning data is generated once every 100ms. Subsequent models process the generated data 1800 times and transmit it to the control unit, achieving normal radar communication at the specified frequency, ensuring the simulation's real-time performance and synchronization with real-world time, and realizing real-time hardware in-loop simulation.
[0021] The specific implementation methods described above provide a detailed explanation of the purpose, technical solution, and beneficial effects of this invention. It should be understood that the above description is merely a specific implementation method of this invention and is not intended to limit the scope of protection of this invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the scope of protection of this invention.
Claims
1. This invention relates to a hardware-in-the-loop simulation technology for an airport intelligent bird control system based on optoelectronic devices. Its core lies in constructing a complete hardware-in-the-loop simulation system that integrates hardware device simulation and communication connectivity. Based on the ROS platform and the Gazebo simulation environment, the system integrates communication protocols and methods of various bird control equipment, such as bird detection radar, optoelectronic devices, high-intensity acoustic devices, and laser devices. It constructs data simulation, data parsing, and communication transmission modules, and achieves real-time interaction between the simulation platform and the airport intelligent bird control system control unit through serial communication, UDP communication, and UVC communication, forming a closed-loop control system. This completes the integrated simulation verification of the entire process of detection, identification, expulsion, and learning. The system efficiently simulates the key technical aspects of an intelligent bird control system, covering detection and perception, intelligent identification, multi-functional expulsion, and deep learning. Through detection and identification algorithms, it outputs expulsion commands, controlling high-intensity acoustic devices, lasers, and other equipment to accurately expel target bird flocks, effectively solving the problems of high difficulty, high cost, and low efficiency in on-site testing of airport intelligent bird control systems.
2. The ROS platform Gazebo simulation according to claim 1, characterized in that: A URDF model was built using the Gazebo physics engine. By establishing photoelectric coordinate systems, radar coordinate systems, laser coordinate systems, and world coordinate systems, and their mutual transformation relationships, the coordinate space was unified, ensuring the alignment of radar and photoelectric data in time and space. This enabled the bird information detection and perception function through data fusion of radar and photoelectric equipment. The correctness and stability of the hardware device's command execution, bird deterrence decision planning, and deterrence logic were verified through ROS and Gazebo environments. At the same time, the effectiveness and applicability of the airport intelligent bird deterrence simulation system were also verified.
3. The hardware-in-the-loop simulation technology for an airport intelligent bird control system based on optoelectronic equipment, as described in claim 1, is characterized in that: The UDP communication and UVC communication are used for the transmission of sound and image information, respectively. The UDP communication transmits bird attribute information and drive-away audio commands to achieve targeted strong sound drive-away. The UVC communication transmits image parameter information, transmitting the parameters of the acquired image. During the transmission process, known information is communicated to the server, including bird size, frequency of occurrence, and danger level, to improve the system's recognition efficiency and response speed.