Bird repelling method, system and equipment based on multi-mode intelligent sensing and collaborative repelling and storage medium

Abstract

The invention discloses a bird repelling method, system and device based on multi-mode intelligent perception and collaborative repelling and a storage medium, and relates to the technical field of electric power facility protection and intelligent bird repelling, the method comprises the steps of continuously scanning a monitoring airspace, and constructing a standardized dynamic parameter sequence; calling a behavior prediction model to calculate the probability that the birds approach the intention, comparing the probability with a preset threshold value, and generating a bird repelling starting instruction when the probability exceeds the threshold value; if not, the low-power-consumption monitoring state is maintained; after the bird repelling starting instruction is triggered, a random algorithm is triggered, and a group of random parameters for uniformly controlling ultrasonic, sound, light and laser modules are generated; the parameters are analyzed, all the modules are synchronously driven to cooperatively work in a random combination mode for a period of random time, and the system automatically returns to a monitoring state after bird repelling is completed; according to the invention, intelligent sensing and multi-mode random collaborative driving of bird approaching behaviors are realized, the bird driving durability can be obviously improved, and safe and stable operation of electric power facilities is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of power facility protection and intelligent bird deterrence technology, and in particular to a bird deterrence method, system, device and storage medium based on multimodal intelligent sensing and collaborative deterrence. Background Technology

[0002] As birds increasingly roost and nest on power facilities such as power towers, transmission lines, and substations, safety accidents such as line short circuits, insulator flashover, and equipment failures caused by this are common, seriously threatening the safe operation of the power grid and the reliability of power supply, while also posing a direct risk to the survival of the birds themselves.

[0003] Currently, common bird control techniques mainly include physical deterrence, chemical repellency, wind-powered bird deterrence, sound-based bird deterrence, and ultrasonic bird deterrence. For example, methods include installing reflective windmills, bird spikes, playing fixed predator calls, or releasing irritating odors. However, these traditional methods generally have the following limitations: fixed output patterns and high predictability allow birds to adapt quickly, leading to a rapid decline in effectiveness; they lack real-time perception and intelligent judgment of bird behavior, making it impossible to distinguish whether birds are passing by or intending to stay, and even more difficult to implement differentiated strategies for different species and seasons; furthermore, existing equipment mostly relies on manual intervention or external power supply, making it difficult to operate stably for long periods on unattended power facilities at high altitudes in the wild; various bird control methods often operate in isolation, lacking coordination and failing to form a multimodal, stochastic, three-dimensional deterrence effect, resulting in low overall deterrence efficiency. Summary of the Invention

[0004] In view of the above-mentioned problems, the present invention provides a bird deterrence method, system, device and storage medium based on multimodal intelligent perception and collaborative deterrence.

[0005] Therefore, the technical problem solved by this invention is: how to provide a method that can operate automatically for a long time, has intelligent perception and decision-making capabilities, and can achieve persistent and effective bird deterrence through randomized multimodal collaborative output.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: In a first aspect, the present invention provides a bird deterrence method based on multimodal intelligent perception and collaborative deterrence, comprising: The radar module continuously scans the monitored airspace, receives raw echo signals, and constructs a standardized dynamic parameter sequence. Based on a standardized dynamic parameter sequence, the microcontroller calls the built-in behavior prediction model to calculate and comprehensively evaluate the target's motion trajectory and signal characteristics, and outputs the probability of the bird's approach intention. The probability of birds approaching is compared with a preset threshold. When the probability exceeds the threshold, it is determined that there is a risk to the habitat and a bird deterrence command is generated. If the probability does not exceed the threshold, the low-power monitoring state is maintained. After the bird deterrence start command is triggered, the main control chip calls the random number generation algorithm to generate a new set of random number sequences, and maps the sequence to a combination of all random parameters controlling the working duration, frequency, content and angle of ultrasonic waves, sound, lasers and flash lights. The main control chip parses the generated random parameters into specific control signals, which synchronously drive the ultrasonic transducer, audio unit, laser scanning mechanism, and strobe light to work together for a random duration according to a randomly set pattern.

[0007] As a preferred solution for a bird deterrence method based on multimodal intelligent perception and collaborative deterrence, wherein: The step of continuously scanning the monitored airspace using a radar module, receiving raw echo signals, and constructing a standardized dynamic parameter sequence includes: The radar detection unit actively transmits detection signals into the monitored airspace and receives raw echo signals reflected by aerial targets. The original echo signal is converted into a digital signal, and multidimensional dynamic parameters for characterizing the target state are analyzed and extracted from the digital signal in real time. The multidimensional dynamic parameters include at least information reflecting the target's spatial position, motion state, and target characteristics.

[0008] As a preferred solution for a bird deterrence method based on multimodal intelligent perception and collaborative deterrence, wherein: The step of continuously scanning the monitored airspace using a radar module, receiving raw echo signals, and constructing a standardized dynamic parameter sequence also includes: The extracted multidimensional dynamic parameters are encapsulated according to a preset format to form a standardized target detection data package.

[0009] As a preferred solution for a bird deterrence method based on multimodal intelligent perception and collaborative deterrence, wherein: Based on a standardized dynamic parameter sequence, the microcontroller invokes a built-in behavior prediction model to calculate and comprehensively evaluate the target's motion trajectory and signal characteristics, outputting the probability of the bird's approach intention, including: The standardized dynamic parameter sequence is input into the built-in behavior prediction model, which performs weighted fusion and nonlinear transformation on the input parameters to comprehensively evaluate the tendency of the target to approach and stay. By outputting a continuous probability value through a behavioral prediction model, the risk level of a target approaching and intending to remain in the monitoring area is quantified.

[0010] As a preferred solution for a bird deterrence method based on multimodal intelligent perception and collaborative deterrence, wherein: After the bird deterrence activation command is triggered, the main control chip calls a random number generation algorithm to generate a new set of random number sequences. These sequences are then mapped in one go to all random parameter combinations controlling the duration, frequency, content, and angle of the ultrasonic, sound, laser, and flashlights, including: In response to the received device startup command, a pseudo-random number generation algorithm is invoked to generate a random number sequence; Each random number in the random number sequence is converted into a corresponding control parameter for controlling the operating characteristics of different types of output units, according to predefined and independent mapping rules.

[0011] As a preferred solution for a bird deterrence method based on multimodal intelligent perception and collaborative deterrence, wherein: After the bird deterrence activation command is triggered, the main control chip calls a random number generation algorithm to generate a new set of random number sequences. These sequences are then mapped in one go to all random parameter combinations controlling the duration, frequency, content, and angle of the ultrasonic, sound, laser, and flashlight operation. This also includes: The control parameters include at least the parameters for controlling the operating frequency of the first type of output unit, the parameters for controlling the output content of the second type of output unit, the parameters for controlling the operating angle of the third type of output unit, the parameters for controlling the flashing frequency of the fourth type of output unit, and the parameters for controlling the overall output duration.

[0012] The beneficial effects of this preferred technical solution are as follows: by comprehensively and randomly controlling multiple dimensions of bird-repelling actions (such as frequency, content, angle, rhythm, and duration), a multi-dimensional and three-dimensional combination of random stimuli is constructed. This makes bird-repelling methods complex and varied, making it difficult for birds to form habits or find patterns from any single dimension, thereby significantly improving the breakthrough of bird-repelling strategies.

[0013] As a preferred solution for a bird deterrence method based on multimodal intelligent perception and collaborative deterrence, wherein: The process of parsing the generated random parameters into specific control signals through the main control chip, and synchronously driving the ultrasonic transducer, audio unit, laser scanning mechanism, and strobe light to work collaboratively for a random duration according to a randomly set pattern, includes: A set of control parameters is parsed into specific hardware drive signals corresponding to each output unit; Based on unified timing control, the parsed hardware drive signals are synchronously sent to the corresponding output units, driving multiple different types of output units to output in a coordinated manner according to a combination working mode defined by a set of control parameters, and controlling all output units to stop working after the preset output duration is reached.

[0014] The beneficial effects of this preferred technical solution are: it achieves precise synchronization and coordinated operation of multimodal bird deterrence methods in time; by uniformly analyzing random parameters and generating synchronous control signals, multiple stimuli such as sound, light, and ultrasound can be precisely coordinated and exert force simultaneously within the same bird deterrence cycle, forming a composite sensory impact, which greatly enhances the deterrent effect of a single bird deterrence action, and the timed control also avoids excessive driving away and energy waste.

[0015] Secondly, the present invention provides a bird deterrent system based on multimodal intelligent sensing and collaborative deterrence, comprising: The radar monitoring and data processing module is used to continuously scan the monitored airspace through the radar module, receive raw echo signals, and construct a standardized dynamic parameter sequence. The intent prediction module is used to calculate based on a standardized dynamic parameter sequence by calling the built-in behavior prediction model through the microcontroller, comprehensively evaluate the target's motion trajectory and signal characteristics, and output the probability of the bird's approach intent. The intelligent decision-making and triggering module compares the probability of birds approaching with a preset threshold. When the probability exceeds the threshold, it determines that there is a risk to the habitat and generates a bird deterrence command. If the probability does not exceed the threshold, it maintains a low-power monitoring state. The randomization parameter generation module is used to generate a new set of random numbers by calling the random number generation algorithm through the main control chip after the bird deterrence start command is triggered. The sequence is then mapped to a combination of all random parameters controlling the working duration, frequency, content and angle of ultrasonic, sound, laser and flash lights. The multimodal collaborative bird deterrence module is used to parse the generated random parameters into specific control signals through the main control chip, and synchronously drive the ultrasonic transducer, audio unit, laser scanning mechanism and strobe light to work collaboratively for a random duration according to a randomly set mode.

[0016] Thirdly, the present invention provides a computer device, comprising: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, they implement the steps of a bird-repelling method based on multimodal intelligent perception and collaborative driving.

[0017] Fourthly, the present invention provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of a bird-repelling method based on multimodal intelligent perception and collaborative deterrence.

[0018] The beneficial effects of this invention are as follows: By deploying millimeter-wave radar to monitor the flight trajectory, speed, and distance of birds in real time, and combining it with an intent prediction model based on multi-parameter fusion, this invention can intelligently determine whether birds are passing by or intend to stay, thereby accurately triggering bird-repelling actions. During the repelling phase, a unified random source synchronously controls the ultrasonic frequency, warning sound type, laser scanning angle, and flashing rhythm, achieving non-periodic and unpredictable linkage of multi-modal output, significantly extending the time window for birds to adapt. The entire unit adopts a high-strength, lightweight structural design, supports photovoltaic self-powered power supply and energy storage, and has an IP66 protection rating. It can be installed for a long time in harsh outdoor environments such as transmission towers, substation structures, and photovoltaic arrays, truly achieving unattended, all-weather active protection. This fundamentally reduces the risk of line short circuits, insulator flashover, and power outages caused by bird nesting, while achieving harmless bird repellent through purely physical means, providing reliable technical support for the safe operation of the power grid and ecological protection. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is an overall flowchart of a bird-repelling method based on multimodal intelligent perception and collaborative driving provided by the present invention. Detailed Implementation

[0021] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0022] Example 1, referring to Figure 1 This is the first embodiment of the present invention, which provides a bird-repelling method based on multimodal intelligent perception and collaborative deterrence, comprising: S1: The radar module continuously scans the monitored airspace, receives the raw echo signals, and constructs a standardized dynamic parameter sequence; S2: Based on a standardized dynamic parameter sequence, the microcontroller calls the built-in behavior prediction model to calculate and comprehensively evaluate the target's motion trajectory and signal characteristics, and outputs the probability of the bird's approach intention. S3: Compare the probability of birds approaching with a preset threshold. When the probability exceeds the threshold, it is determined that there is a risk to the habitat and a bird deterrence command is generated. If the probability does not exceed the threshold, the low-power monitoring state is maintained. S4: After the bird deterrence start command is triggered, the main control chip calls the random number generation algorithm to generate a new set of random number sequences, and maps the sequence to a combination of all random parameters controlling the working duration, frequency, content and angle of ultrasonic waves, sound, lasers and flash lights. S5: The main control chip parses the generated random parameters into specific control signals, and synchronously drives the ultrasonic transducer, audio unit, laser scanning mechanism and strobe light to work together for a random duration according to the randomly set mode.

[0023] It should be noted that steps S1-S5 construct a complete autonomous closed loop from precise perception and intelligent judgment to randomized collaborative execution. Through multi-source information fusion and algorithmic decision-making, the system achieves advanced prediction and differentiated response to bird approach behavior, and utilizes a unified random source to ensure the unpredictability of multimodal bird-repelling stimuli, thereby effectively breaking the adaptive learning cycle of birds. While achieving efficient bird repellency, the entire system, relying on low-power management and autonomous state reset mechanisms, achieves long-term, stable, and self-sustaining unattended operation in harsh outdoor environments, fundamentally improving the durability and reliability of the bird-repelling effect.

[0024] Example 2, refer to Figure 1 As an embodiment of the present invention, based on the previous embodiment, a bird deterrence method based on multimodal intelligent perception and collaborative deterrence is provided, comprising: It should be noted that the bird-repelling method described in this invention is implemented based on a designed intelligent bird-repelling control device. This device employs a modular design, including a radar module, a microcontroller unit (MCU), multimodal bird-repelling actuators (ultrasonic generator, sound player, laser, flashlight, etc.), a photovoltaic power supply module, and a lithium battery storage system. These components are tightly connected via internal circuit boards and interfaces: the radar module outputs signals to the MCU for processing; the MCU runs algorithms and outputs control signals to the actuators; the photovoltaic module connects to the lithium battery through a charging controller, providing power. The working principle is based on closed-loop control of real-time monitoring, predictive judgment, and randomized stimuli, ensuring efficient and energy-saving bird repelling. When the radar detects birds approaching, the device automatically activates the bird-repelling mode; when the birds move away, the device automatically enters a dormant state, thereby maximizing energy savings. Simultaneously, the device utilizes solar photovoltaic panels to continuously replenish the battery, achieving long-term environmentally friendly cyclical operation completely independent of manual intervention. Through the combination of multiple bird-repelling methods and their randomized output design, it is possible to effectively prevent birds from developing habits in a short period, improving the sustained effectiveness of bird repelling.

[0025] The intelligent bird control equipment features a lightweight body, optimized shape, and wind-resistant structural design, making it suitable for narrow or high-altitude environments such as iron towers and photovoltaic supports. The equipment's size has been optimized through finite element simulation, ensuring high stability and wind resistance even in severe weather conditions such as typhoons, heavy rain, and snow. Its compact design also allows for quick, handheld installation by maintenance personnel, reducing the risks associated with working at heights.

[0026] The intelligent bird deterrence control equipment incorporates a high-efficiency photovoltaic panel and an MPPT intelligent charging module, enabling uninterrupted charging around the clock. At a full charge, the equipment can maintain bird deterrence operations for at least 3-5 days during continuous cloudy or rainy weather. Combined with the MCU's low-power strategy, it enters a sleep mode when no birds are detected, maintaining only intermittent radar scanning, thus achieving long-term self-powered operation.

[0027] The intelligent bird-repelling control equipment features a 5V 2A TYPE-C external power interface for rapid recharging during prolonged periods of darkness, such as at night or in rainy weather, improving maintainability and sustainable operation. It supports platform, side-wall, and angle iron mounting, making it suitable for various installation environments including towers, photovoltaic brackets, walls, and equipment enclosures, enhancing its versatility. Wireless remote control operation within 50 meters is supported, allowing for bird-repelling mode selection and sound intensity adjustment. When the equipment is near residential areas or generates noise pollution, the sound source mode can be switched off, enabling low-noise bird repelling via laser and flashlight. A visual battery indicator light at the bottom displays the device's operating status in real time with five bars, allowing users to determine if the power supply is sufficient and external charging is needed. The equipment casing is waterproof and dustproof, achieving an IP66 protection rating, ensuring stable operation even in harsh environments such as heavy rain, strong winds, and sandstorms. It is suitable for outdoor applications such as power transmission lines, photovoltaic arrays, and agricultural parks.

[0028] In this embodiment, step S1 above, which involves continuously scanning the monitored airspace using a radar module, receiving raw echo signals, and constructing a standardized dynamic parameter sequence, includes: The device periodically scans a preset monitoring airspace using its built-in millimeter-wave or microwave radar to receive raw echo signals reflected from aerial targets. After amplifying, filtering, and performing analog-to-digital conversion on the raw signals, the radar extracts and outputs in real-time the distances to targets including birds. radial velocity Relative direction angle and echo intensity The standardized dynamic parameter sequence forms a complete target detection data packet, represented as: Frame={d(t),v(t),θ(t),A(t)}, which provides an accurate data foundation for subsequent intelligent judgment.

[0029] In another possible implementation, when constructing the standardized dynamic parameter sequence, a frequency-modulated continuous wave radar can be used. By calculating the frequency difference between the transmitted and received signals, the target's range and radial velocity information can be directly calculated. At the same time, the target's direction of arrival can be determined by using the phase difference of the echo signals received by a multi-antenna array and an algorithm for estimating the direction of arrival. The echo signals are then subjected to a fast Fourier transform to extract spectral features as characteristic information reflecting the target's size or type. The range, velocity, direction of arrival, and spectral features are then combined to form the standardized dynamic parameter sequence.

[0030] In another possible implementation, when constructing a standardized dynamic parameter sequence, a pulse Doppler radar can also be used. The distance is calculated by measuring the time delay of the pulse echo, and the radial velocity is calculated by the Doppler frequency shift. Using a radar mounted on a two-dimensional gimbal, the relative direction angle of the target is determined by combining the azimuth and elevation angle data of the gimbal fed back by the servo motor with the radar's own beam pointing. The received pulse echo signal is envelope detected and peak detected, and the peak amplitude of the echo pulse is used as the signal strength information reflecting the size of the target, thereby constructing a standardized parameter sequence that includes distance, velocity, direction, and amplitude.

[0031] In another possible implementation, when converting the original echo signal into a digital signal, the original echo signal can also be passed through a programmable gain amplifier for amplitude adjustment to adapt to the signal strength changes of targets at different distances. Then, it is filtered out by an out-of-band noise and interference through a bandpass filter with an adjustable center frequency. The processed analog signal is sent to a high-resolution analog-to-digital converter for synchronous sampling at a sampling rate of not less than 1MHz, and the resulting digital sample stream is buffered in a first-in-first-out memory for subsequent digital signal processor blocks to read and process.

[0032] In another possible implementation, when converting the original echo signal into a digital signal, a direct RF sampling scheme based on undersampling technology can be used. This scheme utilizes a high-speed analog-to-digital converter to directly sample the RF echo signal after low-noise amplification. After sampling, the signal is shifted to the baseband in the digital domain using digital down-conversion technology, and decimation filtering is performed to reduce the data rate.

[0033] In this embodiment, in step S2 above, based on a standardized dynamic parameter sequence, the microcontroller calls the built-in behavior prediction model to calculate and comprehensively evaluate the target's motion trajectory and signal characteristics, outputting the probability of the bird's approach intention, including: After receiving the data packet Frame output in step S1, the microcontroller unit (MCU) calls its built-in bird approach behavior prediction model for real-time calculation. This model comprehensively considers multi-dimensional features such as distance, speed, direction, and target size, and its expression is: in, To effectively sense the reference distance for distance normalization, this embodiment preferably uses 25 meters; echo intensity The linearly normalized value; in this embodiment, the preferred weighting coefficient is... and bias terms All of these were obtained through experimental data calibration and training.

[0034] The MCU calculates a bird approach intention probability value P between 0 and 1 using a bird approach behavior prediction model, which quantifies the risk of the target stopping or nesting.

[0035] In another possible implementation, when the behavior prediction model performs weighted fusion and nonlinear transformation on the various input parameters, a shallow feedforward neural network structure can be used in the model. Its input layer receives normalized multidimensional dynamic parameters, the hidden layer contains several neurons and uses the Sigmoid activation function for nonlinear transformation, and the output layer is a neuron using the Softmax function, which outputs the discrete probability distribution of three states of birds: "harmless flight", "suspicious hovering" and "high-risk approach", and the probability of "high-risk approach" is used as the probability P of the bird's approach intention.

[0036] In another possible implementation, when the behavior prediction model performs weighted fusion and nonlinear transformation on the various input parameters, a classification model can also be constructed based on the support vector machine algorithm. The multidimensional dynamic parameters of the "approach and stay" and "fly over" samples marked in the historical data are used as the training set. The input parameters are mapped to a high-dimensional feature space for linear partitioning through the kernel function to find the optimal classification hyperplane. The signed distance from the current parameter vector to the hyperplane is calculated, and the distance is mapped to a continuous probability value between 0 and 1 using the logistic function, which is used as the probability P of the bird's approach intention.

[0037] In this embodiment, step S3 compares the probability of birds approaching with a preset threshold. When the probability exceeds the threshold, a habitat risk is determined, and a bird deterrent command is generated. If the probability does not exceed the threshold, maintaining a low-power monitoring state includes: The MCU compares the calculated intent probability P with a preset threshold (preferably 0.5 in this embodiment) in real time. If P If the bird is determined to be flying over or briefly passing by, the risk is low, the MCU does not initiate the bird deterrence process, and the device remains in a low-power monitoring mode with only intermittent radar scanning.

[0038] If P If the bird is detected as exhibiting high-risk behavior such as circling or preparing to land, the MCU will then generate a bird deterrence command. This signifies that the system will enter the active bird deterrence phase.

[0039] In this embodiment, after the bird deterrence activation command is triggered in step S4 above, the main control chip calls a random number generation algorithm to generate a new set of random number sequences, and maps the sequence to a combination of all random parameters controlling the working duration, frequency, content, and angle of ultrasonic waves, sound, lasers, and flashlights, including: When the bird deterrence command is activated ( When the bird deterrence function is active and the device is powered normally and not in its bird deterrence cooling-off period, the MCU calls a randomized control algorithm based on a linear congruent generator (LCG), the formula of which is: in, It is the random number output in the nth iteration; is the initial seed; a is the multiplier, and in this embodiment, the recommended value of classic LCG a=1664525 is preferred; c is the increment, and in this embodiment, the recommended value of classic LCG c=1013904223 is preferred; m is the modulus, and in this embodiment, the classic value 232 is preferred to provide a 32-bit cycle period.

[0040] The algorithm generates a new sequence of random numbers. Subsequently, the MCU maps this sequence sequentially to a random combination of parameters controlling all bird-repelling modules: ultrasonic frequency. Sound set index ( (e.g., eagle cries, gunshots, firecrackers, dog barks, gong sounds) and the duration of the sound playback. Seconds, laser scanning angle Flash frequency Hz and the total duration of this bird-scaring action Second.

[0041] In another possible implementation, when mapping the sequence at once to a combination of all random parameters controlling the duration, frequency, content, and angle of the ultrasonic waves, sound, laser, and flash, a high-quality random number seed can be generated using the Mason swivel algorithm. Based on the random number seed, a long sequence containing eight independent random numbers is derived at once. The first two random numbers, after linear transformation, jointly determine a non-uniformly distributed ultrasonic center frequency and bandwidth in the range of 100Hz to 5000Hz. The third random number is used to select segments from an extended audio library including raptor calls, predator alarms, and distress calls. The fourth and fifth random numbers control the deflection angle of the laser in the horizontal and vertical dimensions, respectively, to form a spatial random scan. The sixth random number determines whether the flash adopts a strobe, slow flash, or random interval flashing mode. The last two random numbers jointly determine the duration of this bird-repelling action and the micro-hour sequence difference between the activation of each module.

[0042] In another possible implementation, when mapping the sequence at once to a combination of all random parameters controlling the duration, frequency, content, and angle of ultrasound, sound, laser, and flash, a truly random number can be sampled from a physical noise source (such as thermal noise generated by a reverse-biased Zener diode) as the starting point of the sequence. This truly random number is then expanded using a cryptographically secure hash algorithm to generate a set of random numbers. This set of random numbers is then input into a predefined, multi-dimensional lookup table, which defines the mapping relationship from the random numbers to a set of pre-configured bird deterrence pattern files. Each file encapsulates a set of verified and valid parameters for the ultrasound frequency curve, the composite sound source playlist, the laser Lissajous graphic scanning trajectory, the flash sequence, and the duration.

[0043] In this embodiment, in step S5 above, the generated random parameters are parsed into specific control signals by the main control chip, and synchronously driven so that the ultrasonic transducer, audio unit, laser scanning mechanism, and strobe light work together in a randomly set mode for a random duration, including: The MCU parses the random parameter combination generated in step S4 into corresponding hardware control signals. Specifically, it outputs a PWM waveform with a specific duty cycle and period to the ultrasonic module, controlling it to operate at a random frequency. (100Hz-11000Hz) Operating; based on random index and duration It plays the corresponding warning audio file through the I²S / DAC interface; it outputs a PWM signal to the laser servo to control the laser beam. to Within the range at random angles Perform a scan; simultaneously, at a random frequency A square wave pulse (2Hz-7Hz) drives the LED flashlight to blink. All these modules start synchronously under the unified scheduling of the MCU and work together for a random duration. (3-7 seconds) together constitute a multi-dimensional, unpredictable bird-scare action involving sound, light, and laser. After the action ends, all modules automatically shut down, and the system returns to a low-power monitoring state.

[0044] Example 3: The above is an illustrative scheme of a bird-repelling method based on multimodal intelligent perception and collaborative deterrence in this embodiment. It should be noted that the technical solution of a bird-repelling system based on multimodal intelligent perception and collaborative deterrence belongs to the same concept as the above-described bird-repelling method based on multimodal intelligent perception and collaborative deterrence. Details not described in detail in the technical solution of the bird-repelling system based on multimodal intelligent perception and collaborative deterrence in this embodiment can be found in the description of the above-described bird-repelling method based on multimodal intelligent perception and collaborative deterrence.

[0045] This embodiment also provides a bird deterrent system based on multimodal intelligent sensing and collaborative deterrence, including: The radar monitoring and data processing module is used to continuously scan the monitored airspace through the radar module, receive raw echo signals, and construct a standardized dynamic parameter sequence. The intent prediction module is used to calculate based on a standardized dynamic parameter sequence by calling the built-in behavior prediction model through the microcontroller, comprehensively evaluate the target's motion trajectory and signal characteristics, and output the probability of the bird's approach intent. The intelligent decision-making and triggering module compares the probability of birds approaching with a preset threshold. When the probability exceeds the threshold, it determines that there is a risk to the habitat and generates a bird deterrence command. If the probability does not exceed the threshold, it maintains a low-power monitoring state. The randomization parameter generation module is used to generate a new set of random numbers by calling the random number generation algorithm through the main control chip after the bird deterrence start command is triggered. The sequence is then mapped to a combination of all random parameters controlling the working duration, frequency, content and angle of ultrasonic, sound, laser and flash lights. The multimodal collaborative bird deterrence module is used to parse the generated random parameters into specific control signals through the main control chip, and synchronously drive the ultrasonic transducer, audio unit, laser scanning mechanism and strobe light to work collaboratively for a random duration according to a randomly set mode.

[0046] This embodiment also provides an electronic device applicable to a bird-repelling method based on multimodal intelligent sensing and collaborative deterrence, including: The system includes a memory and a processor. The memory stores computer-executable instructions, and the processor executes these instructions to implement a bird-repelling method based on multimodal intelligent perception and collaborative deterrence, as proposed in the above embodiments.

[0047] This embodiment also provides a storage medium storing a computer program that, when executed by a processor, implements a bird-repelling method based on multimodal intelligent perception and collaborative driving as proposed in the above embodiment.

[0048] The storage medium proposed in this embodiment belongs to the same inventive concept as the bird-repelling method based on multimodal intelligent perception and collaborative driving proposed in the above embodiment. Technical details not described in detail in this embodiment can be found in the above embodiments, and this embodiment has the same beneficial effects as the above embodiments.

[0049] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A bird-repelling method based on multimodal intelligent perception and collaborative deterrence, characterized in that, include: The radar module continuously scans the monitored airspace, receives raw echo signals, and constructs a standardized dynamic parameter sequence. Based on a standardized dynamic parameter sequence, the microcontroller calls the built-in behavior prediction model to calculate and comprehensively evaluate the target's motion trajectory and signal characteristics, and outputs the probability of the bird's approach intention. The probability of birds approaching is compared with a preset threshold. When the probability exceeds the threshold, it is determined that there is a risk to the habitat and a bird deterrence command is generated. If the threshold is not exceeded, the low-power monitoring state is maintained; After the bird deterrence start command is triggered, the main control chip calls the random number generation algorithm to generate a new set of random number sequences, and maps the sequence to a combination of all random parameters controlling the working duration, frequency, content and angle of ultrasonic waves, sound, lasers and flash lights. The main control chip parses the generated random parameters into specific control signals, which synchronously drive the ultrasonic transducer, audio unit, laser scanning mechanism, and strobe light to work together for a random duration according to a randomly set pattern.

2. The bird-repelling method based on multimodal intelligent perception and collaborative deterrence as described in claim 1, characterized in that, The step of continuously scanning the monitored airspace using a radar module, receiving raw echo signals, and constructing a standardized dynamic parameter sequence includes: The radar detection unit actively transmits detection signals into the monitored airspace and receives raw echo signals reflected by aerial targets. The original echo signal is converted into a digital signal, and multidimensional dynamic parameters for characterizing the target state are analyzed and extracted from the digital signal in real time. The multidimensional dynamic parameters include at least information reflecting the target's spatial position, motion state, and target characteristics.

3. The bird-repelling method based on multimodal intelligent perception and collaborative deterrence as described in claim 2, characterized in that, The step of continuously scanning the monitored airspace using a radar module, receiving raw echo signals, and constructing a standardized dynamic parameter sequence also includes: The extracted multidimensional dynamic parameters are encapsulated according to a preset format to form a standardized target detection data package.

4. The bird-repelling method based on multimodal intelligent perception and collaborative deterrence as described in claim 3, characterized in that, Based on a standardized dynamic parameter sequence, the microcontroller invokes a built-in behavior prediction model to calculate and comprehensively evaluate the target's motion trajectory and signal characteristics, outputting the probability of the bird's approach intention, including: The standardized dynamic parameter sequence is input into the built-in behavior prediction model, which performs weighted fusion and nonlinear transformation on the input parameters to comprehensively evaluate the tendency of the target to approach and stay. By outputting a continuous probability value through a behavioral prediction model, the risk level of a target approaching and intending to remain in the monitoring area is quantified.

5. The bird-repelling method based on multimodal intelligent perception and collaborative deterrence as described in claim 4, characterized in that, After the bird deterrence activation command is triggered, the main control chip calls a random number generation algorithm to generate a new set of random number sequences. These sequences are then mapped in one go to all random parameter combinations controlling the duration, frequency, content, and angle of the ultrasonic, sound, laser, and flashlights, including: In response to the received device startup command, a pseudo-random number generation algorithm is invoked to generate a random number sequence; Each random number in the random number sequence is converted into a corresponding control parameter for controlling the operating characteristics of different types of output units, according to predefined and independent mapping rules.

6. The bird-repelling method based on multimodal intelligent perception and collaborative deterrence as described in claim 5, characterized in that, After the bird deterrence activation command is triggered, the main control chip calls a random number generation algorithm to generate a new set of random number sequences. These sequences are then mapped in one go to all random parameter combinations controlling the duration, frequency, content, and angle of the ultrasonic, sound, laser, and flashlight operation. This also includes: The control parameters include at least the parameters for controlling the operating frequency of the first type of output unit, the parameters for controlling the output content of the second type of output unit, the parameters for controlling the operating angle of the third type of output unit, the parameters for controlling the flashing frequency of the fourth type of output unit, and the parameters for controlling the overall output duration.

7. A bird-repelling method based on multimodal intelligent perception and collaborative deterrence as described in claim 6, characterized in that, The process of parsing the generated random parameters into specific control signals through the main control chip, and synchronously driving the ultrasonic transducer, audio unit, laser scanning mechanism, and strobe light to work collaboratively for a random duration according to a randomly set pattern, includes: A set of control parameters is parsed into specific hardware drive signals corresponding to each output unit; Based on unified timing control, the parsed hardware drive signals are synchronously sent to the corresponding output units, driving multiple different types of output units to output in a coordinated manner according to a combination working mode defined by a set of control parameters, and controlling all output units to stop working after the preset output duration is reached.

8. A bird-repelling system based on multimodal intelligent sensing and collaborative deterrence, employing the method described in any one of claims 1 to 7, characterized in that, include: The radar monitoring and data processing module is used to continuously scan the monitored airspace through the radar module, receive raw echo signals, and construct a standardized dynamic parameter sequence. The intent prediction module is used to calculate based on a standardized dynamic parameter sequence by calling the built-in behavior prediction model through the microcontroller, comprehensively evaluate the target's motion trajectory and signal characteristics, and output the probability of the bird's approach intent. The intelligent decision-making and triggering module is used to compare the probability of birds approaching with a preset threshold. When the probability exceeds the threshold, it is determined that there is a risk to the habitat and a bird deterrence command is generated. If the threshold is not exceeded, the low-power monitoring state is maintained; The randomization parameter generation module is used to generate a new set of random numbers by calling the random number generation algorithm through the main control chip after the bird deterrence start command is triggered. The sequence is then mapped to a combination of all random parameters controlling the working duration, frequency, content and angle of ultrasonic, sound, laser and flash lights. The multimodal collaborative bird deterrence module is used to parse the generated random parameters into specific control signals through the main control chip, and synchronously drive the ultrasonic transducer, audio unit, laser scanning mechanism and strobe light to work collaboratively for a random duration according to a randomly set mode.

9. An electronic device, characterized in that, include: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions, which, when executed by the processor, implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores computer-executable instructions that, when executed by a processor, implement the steps of the method according to any one of claims 1 to 7.

Images