Mooring unmanned aerial vehicle bird condition detecting and driving system

Abstract

The utility model discloses a bird condition detecting and driving system for a mooring unmanned aerial vehicle. The mooring unmanned aerial vehicle bird condition detecting and driving system comprises a bird detecting unit used for detecting and tracking birds around a warning area; the bird repelling unit is used for directionally repelling the birds detected by the bird detecting unit; the mooring unmanned aerial vehicle unit comprises an unmanned aerial vehicle and a mooring cable, the unmanned aerial vehicle is used for bearing the bird detecting unit and the bird repelling unit and hovering at the task height, a power line of the mooring cable is used for providing electric energy for the unmanned aerial vehicle, the bird detecting unit and the bird repelling unit, and a signal data line of the mooring cable is used for transmitting signals of the unmanned aerial vehicle, the bird detecting unit and the bird repelling unit; and the system control unit is electrically connected with the signal data line, and is used for controlling the flight state of the unmanned aerial vehicle, receiving the detection signal of the bird detection unit to identify birds, and driving the bird repelling unit to repel the detected birds according to the identification result. By means of the technology, birds at different heights in a sensitive area can be stably and effectively repelled for a long time.

Description

TECHNICAL FIELD

[0001] The utility model relates to bird situation detection and driving field, especially to tethered unmanned plane bird situation detection and driving system. BACKGROUND

[0002] The collision between the airplane and the bird poses a great threat to the flight safety of the civil aviation airplane and the military airplane. Since the relative speed of the airplane is large, the destructive power generated when the bird collides with the airplane is also large. When the destructive power exceeds the bearing capacity of the airplane, the body or the parts of the airplane are damaged, thereby directly threatening the flight safety.

[0003] The airplane is in the approach height layer of 100-200m during the takeoff, landing and low-altitude flight stages. The traditional ground bird driving equipment is adopted in the current aviation flight station, the installation position is relatively fixed, the effective working height is below 100m, the control height is limited, and there are many blind spots, so the bird cannot be effectively driven. In view of this, a new bird driving means is urgently needed to guarantee the flight safety of the aviation flight station. UTILITY MODEL CONTENT

[0004] Technical problem to be solved

[0005] The utility model aims at providing a tethered unmanned plane bird situation detection and driving system, so that the birds of different heights in the sensitive area can be stably and effectively driven for a long time.

[0006] Technical solution

[0007] In order to achieve the above utility model purposes, according to the tethered unmanned plane bird situation detection and driving system provided by the utility model, it comprises: a bird detection unit for detecting and tracking the birds around the warning area; a bird driving unit for driving away the birds detected by the bird detection unit in a direction; a tethered unmanned plane unit comprising an unmanned plane and a tethering cable connected with the unmanned plane, the unmanned plane is used for carrying the bird detection unit and the bird driving unit and hovering at the task height, the tethering cable comprises a power line and a signal data line, the power line is used for providing electric energy for the unmanned plane, the bird detection unit and the bird driving unit, and the signal data line is used for transmitting the signals of the unmanned plane, the bird detection unit and the bird driving unit; and a system control unit electrically connected with the signal data line of the tethering cable, used for controlling the flight state of the unmanned plane, identifying the birds by receiving the detection signals of the bird detection unit, and driving the bird driving unit to drive the detected birds according to the identification result.

[0008] Preferably, the bird detecting unit comprises a photoelectric detector for detecting birds around the alert area, a laser range finder for measuring the current distance between the detected bird and the detecting unit, and a holder for mounting the photoelectric detector and the laser range finder so that the photoelectric detector tracks the birds around the alert area according to the control of the system control unit.

[0009] Preferably, the photoelectric detector is internally provided with at least one of an infrared thermal imaging module and a visible light imaging module in a shell composed of a front shell, a middle shell and a rear shell.

[0010] Preferably, the front shell is provided with an infrared protective lens corresponding to the infrared thermal imaging module, and / or the front shell is provided with a visible light protective lens corresponding to the visible light imaging module.

[0011] Preferably, the bird repelling unit comprises at least one of a multi-frequency strong sound bird repelling device, a variable frequency flash light wave bird repelling device and a multi-tube bird repelling bomb launching device.

[0012] Preferably, the multi-frequency strong sound bird repelling device has a lower shell and an upper shell, a triangular column-shaped support is arranged in the middle of the lower shell, and a loudspeaker is arranged on each of the three vertical surfaces of the support.

[0013] Preferably, at least one buzzer is arranged around the loudspeaker.

[0014] Preferably, a decorative net is arranged in front of the loudspeaker and fastened to the lower shell and the upper shell.

[0015] Preferably, the multi-tube bird repelling bomb launching device comprises a body and a plurality of launching tubes arranged on the body.

[0016] Preferably, the tethered unmanned aerial vehicle bird situation detecting and repelling system further comprises a power supply unit connected to the power line of the tethering cable and arranged on the ground moving body or the ground.

[0017] Advantages

[0018] According to the tethered unmanned aerial vehicle bird situation detecting and repelling system, the tethered unmanned aerial vehicle can stably hover at a task height larger than that of the prior art for a long time, so that the bird detecting unit carried on the unmanned aerial vehicle can accurately detect birds at different heights, and the bird repelling unit can effectively drive away the detected birds in the sensitive area, having a mobile and efficient repelling direction. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings of the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only relate to some embodiments of the present application and are not intended to limit the present application.

[0020] Figure 1 is a block diagram of the bird situation exploration and driving system of the tethered unmanned aerial vehicle according to an embodiment of the present application.

[0021] Figure 2 is a block diagram of the bird exploration unit according to an embodiment of the present application.

[0022] Figure 3 is a structure of the photoelectric detector according to an embodiment of the present application.

[0023] Figure 4 is a block diagram of the bird driving unit according to an embodiment of the present application.

[0024] Figure 5 is a structure diagram of the multi-frequency strong sound bird driving device according to an embodiment of the present application.

[0025] Figure 6 is a structure diagram of the multi-tube bird driving projectile launching device according to an embodiment of the present application.

[0026] Figure 7 is a block diagram of the tethered unmanned aerial vehicle unit according to an embodiment of the present application.

[0027] Figure 8 is a simple schematic diagram of the bird situation exploration and driving system of the tethered unmanned aerial vehicle according to an embodiment of the present application.

[0028] Figure 9 is a method flowchart of the bird situation exploration and driving system of the tethered unmanned aerial vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0029] Hereinafter, the preferred embodiments of the present application will be described in detail with reference to the drawings, so that those skilled in the art to which the present application belongs can easily understand the present application.

[0030] In this specification, only the parts necessary for understanding the technical content of the present application will be described, and the description of the remaining parts will be omitted so as not to confuse the gist of the present application. Also, in this process, the thickness of the lines or the size of the constituent elements shown in the drawings can be exaggerated for the sake of clarity and convenience of description.

[0031] The terms used herein are used to describe embodiments and are not intended to limit and / or restrict the present application. When it is stated that one constituent element is "connected", "coupled" or "joined" to another constituent element, this includes not only a direct connection relationship, but also an indirect connection relationship in which other constituent elements are present therebetween. Also, terms such as "include", "contain" or "have" mean that the features, numbers, steps, operations, constituent elements, components or combinations thereof described in the specification are present, and do not exclude the existence or addition of one or more other features, numbers, steps, operations, constituent elements, components or combinations thereof. In addition, the terms "first", "second" and the like that can be referred to herein are used only to distinguish one constituent element from another constituent element, and do not limit the order or importance of the constituent elements, etc. without special mention. Therefore, in this document, the first constituent element in one embodiment can be referred to as the second constituent element in another embodiment, and similarly, the second constituent element in one embodiment can be referred to as the first constituent element in another embodiment.

[0032] As shown in Figure 1 An embodiment of the present application can include a bird detection unit 110, a bird repelling unit 120, a tethered unmanned aerial vehicle unit 130, and a system control unit 140.

[0033] The bird detection unit 110 is used to detect and track birds around the perimeter of a warning area such as an aviation flight station. Figure 2 As shown, the bird detection unit 110 can include a photoelectric detector 111, a laser range finder 112, and a gimbal 113.

[0034] As shown in Figure 3As shown, the photodetector 111 houses at least one of an infrared thermal imaging module 1114 and a visible light imaging module 1115 within a housing consisting of a front shell 1111, a middle shell 1112, and a rear shell 1113. An infrared protective lens 1116 corresponding to the infrared thermal imaging module 1114 is provided in the front shell 1111 to protect the lens of the infrared thermal imaging module 1114. A visible light protective lens 1117 corresponding to the visible light imaging module 1115 is provided in the front shell 1111 to protect the lens of the visible light imaging module 1115. The infrared thermal imaging module 1114 may include a cooled / uncooled infrared thermal imager to detect birds via infrared thermal detection. The visible light imaging module 1115 may include a high-definition visible light camera to detect birds via visible light detection. The infrared thermal imaging module 1114 and the visible light imaging module 1115 can be used individually or in combination, depending on the situation and under the control of the system control unit 140. When the infrared thermal imaging module 1114 and the visible light imaging module 1115 are used together, the detection and recognition rate of birds intruding into the warning area can be greatly improved under low light and long distance conditions through sub-pixel level image fusion technology.

[0035] The laser rangefinder 112 can be a continuous pulse laser rangefinder used to measure the current distance between the bird being detected and the bird detection unit 110.

[0036] The gimbal 113 is used to mount the photoelectric detector 111 and the laser rangefinder 112, so that the photoelectric detector 111 tracks birds around the warning area under the control of the system control unit 140. The gimbal 113 can be a three-axis gyro gimbal, thereby increasing the degree of freedom of gimbal rotation.

[0037] like Figure 4 As shown, the bird deterrent unit 120 is used to directionally drive away birds detected by the bird detection unit 110. The bird deterrent unit 120 may include, for example, Figure 5 The multi-frequency high-intensity sound bird deterrent device 121 is shown. The multi-frequency high-intensity sound bird deterrent device 121 has a lower shell 1211 and an upper shell 1212. A triangular prism-shaped support 1213 is provided in the middle of the lower shell 1211. A loudspeaker 1214 is provided on three vertical surfaces of the support 1213. The loudspeaker 1214 is used to play warning sounds about bird predators and other birds generated by the AI ​​bionic sound module (not shown) built into the bird deterrent unit 120. At least one buzzer 1215 is provided around each loudspeaker 1214. The buzzer 1215 is used to play high-frequency bird deterrent sound sources, including ultrasound and sharp noise. Figure 5Although two buzzers 1215 are shown around the loudspeaker 1214, the number of buzzers is not limited to this, and one, two, four, six or more buzzers can be provided as needed. In addition, a decorative net 1216 is provided in front of the loudspeaker 1214 and is fastened to the lower shell 1211 and the upper shell 1212, for protecting the internal components of the multi-frequency strong sound bird repelling device 121, while also serving an aesthetic purpose. When the photoelectric detector 111 of the bird detection unit 110 detects a bird in the vicinity of the warning area, the multi-frequency strong sound bird repelling device 121 can play warning sounds of the bird's natural enemies and / or high-frequency bird repelling sounds according to the control of the system control unit 140, in order to drive away the detected bird.

[0038] The bird repelling unit 120 can also include at least one of a variable frequency flash light wave bird repelling device 122 and a multi-tube bird repelling projectile launching device 123. The variable frequency flash light wave bird repelling device 122 can emit strong light to the detected bird, for example, specifically a commonly used pulsed laser; and the multi-tube bird repelling projectile launching device 123 can launch bird repelling projectiles to the detected bird, in order to drive away the detected bird. Here, as shown, the multi-tube bird repelling projectile launching device 123 includes a body 1231 and a plurality of launching tubes 1232 provided on the body 1231. Figure 6

[0039] In driving away the bird, at least one of the multi-frequency strong sound bird repelling device 121, the variable frequency flash light wave bird repelling device 122 and the multi-tube bird repelling projectile launching device 123 in the bird repelling unit 120 can be used in coordination according to the control of the system control unit 140.

[0040] As shown, the tethered unmanned aerial vehicle unit 130 can include an unmanned aerial vehicle 131 and a tethering cable 132 connected to the unmanned aerial vehicle 131. The unmanned aerial vehicle 131 is used to carry the bird detection unit 110 and the bird repelling unit 120 and hover at the task height. Here, the unmanned aerial vehicle 131 can be a multi-rotor unmanned aerial vehicle. The tethering cable 132 includes a power line and a signal data line, the power line being used to provide power to the unmanned aerial vehicle 131, the bird detection unit 110 and the bird repelling unit 120, and the signal data line being used to transmit signals of the unmanned aerial vehicle 131, the bird detection unit 110 and the bird repelling unit 120. The tethering cable 132 can be, for example, a cable in a tethering power supply and automatic line winding machine. Figure 7

[0041] ​​The tethered unmanned aerial vehicle unit 130 reduces the risk of the unmanned aerial vehicle 131 flying out of control due to the tethered design. The unmanned aerial vehicle 131 can hover in the air for a long time without being limited by the battery endurance of a traditional unmanned aerial vehicle because the unmanned aerial vehicle 131 continuously receives power through the power line in the tethering cable 132. The tethered unmanned aerial vehicle unit 130 can achieve high-bandwidth and low-latency communication because data is transmitted through the signal data line in the tethering cable 132, which is very advantageous for video monitoring and data acquisition.

[0042] In addition, as shown in Figure 8 The "appearance" of the unmanned aerial vehicle 131 can cause a "visual panic" to birds flying in the air, which can generate a stress response in the memory of the birds and can play a role in deterring birds at the perimeter of the controlled airspace.

[0043] The system control unit 140 is electrically connected to the signal data line in the tethering cable 132 and is used to control the flight state of the unmanned aerial vehicle 131, receive the detection signal of the bird detection unit 110 to identify the birds, and drive the bird repelling unit 120 to play bionics bird repelling audio and / or emit strong light and / or emit bird repelling bullets to drive away the birds according to the identification result.

[0044] The tethered unmanned aerial vehicle bird situation detection and repelling system 100 of an embodiment of the present application can further include a power supply unit 150 connected to the power line in the tethering cable 132. The power supply unit 150 can be arranged on a ground moving body such as a vehicle or on the ground. When the power supply unit 150 is arranged on a moving vehicle, the movement of the unmanned aerial vehicle 131 in the horizontal direction can be flexibly changed.

[0045] Referring to Figure 9 As described above, the working process of the tethered unmanned aerial vehicle bird situation detection and repelling system according to the embodiment of the present application is as follows.

[0046] In S01, the unmanned aerial vehicle 131 carrying the bird detection unit 110 and the bird repelling unit 120 hovers at the task height.

[0047] In S02, the bird detection unit 110 detects and tracks the birds around the perimeter of the warning area.

[0048] In S03, the system control unit 150 receives the detection signal of the bird detection unit 110 to identify the birds.

[0049] In S04, when the identification result is that the birds are detected, the system control unit 150 drives the bird repelling unit 120 to drive away the detected birds.

[0050] Here, when the bird repelling unit 120 includes the multi-frequency loud sound bird repelling device 121 and / or the variable frequency flash light wave bird repelling device 122 and / or the multi-tube bird repelling bomb launching device 123, the bird repelling unit 120 can play bionics bird repelling audio and / or launch strong light and / or launch bird repelling bombs under the control of the system control unit 150, so as to drive away birds.

[0051] The scope of the claims of the utility model is not limited to the specific embodiments described above. Various other embodiments that can be made by those skilled in the art without departing from the essential technical idea of the utility model described in the claims should also be included in the scope of the claims of the utility model.

Claims

1. A tethered drone bird behavior detection system, comprising: The system comprises: a bird detection unit for detecting and tracking birds around a security area; a bird repelling unit for directing the birds detected by the bird detection unit to move away; a tethered unmanned aerial vehicle unit comprising an unmanned aerial vehicle for carrying the bird detection unit and the bird repelling unit and hovering at a task height, and a tethering cable connected to the unmanned aerial vehicle, the tethering cable comprising a power line for providing power to the unmanned aerial vehicle, the bird detection unit and the bird repelling unit, and a signal data line for transmitting signals of the unmanned aerial vehicle, the bird detection unit and the bird repelling unit; and a system control unit electrically connected to the signal data line of the tethering cable for controlling the flight state of the unmanned aerial vehicle, receiving the detection signals of the bird detection unit to identify the birds, and driving the bird repelling unit to drive the detected birds away according to the identification result.

2. The tethered unmanned aerial vehicle bird situation detection and repelling system according to claim 1, wherein the bird detection unit comprises: a photoelectric detector for detecting birds around the security area; a laser range finder for measuring the current distance between the detected birds and the detection unit; and a gimbal for mounting the photoelectric detector and the laser range finder to enable the photoelectric detector to track the birds around the security area according to the control of the system control unit.

3. The tethered unmanned aerial vehicle bird situation detection and repelling system according to claim 2, wherein the photoelectric detector is provided with at least one of an infrared thermal imaging module and a visible light imaging module inside a housing composed of a front shell, a middle shell and a rear shell.

4. The tethered unmanned aerial vehicle bird situation detection and repelling system according to claim 3, wherein the front shell is provided with an infrared protective lens corresponding to the infrared thermal imaging module, and / or the front shell is provided with a visible light protective lens corresponding to the visible light imaging module.

5. The tethered unmanned aerial vehicle bird situation detection and repelling system according to claim 1, wherein the bird repelling unit comprises at least one of a multi-frequency loud sound bird repelling device, a variable frequency flash light wave bird repelling device and a multi-tube bird repelling projectile launching device.

6. The tethered unmanned aerial vehicle bird situation detection and repelling system according to claim 5, wherein the multi-frequency loud sound bird repelling device has a lower shell and an upper shell, a triangular column-shaped support is arranged in the middle of the lower shell, and loudspeakers are arranged on three vertical surfaces of the support, respectively.

7. The tethered unmanned aerial vehicle bird situation detection and repelling system according to claim 6, wherein at least one buzzer is arranged around each loudspeaker.

8. The tethered unmanned aerial vehicle bird situation detection and repelling system according to claim 6 or 7, wherein a decorative net is arranged in front of the loudspeakers and is fastened to the lower shell and the upper shell.

9. The tethered unmanned aerial vehicle bird situation detection and repelling system according to claim 5, wherein the multi-tube bird repelling projectile launching device comprises a body and a plurality of launching tubes arranged on the body. The system further comprises a power supply unit connected to the power line of the tethering cable and arranged on a ground mobile body or on the ground. ​ ​ ​ ​ ​ ​ ​ ​ ​ 10. The tethered drone bird behavior detection system of claim 1, wherein, ​

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