Intelligent guide system for avoiding bird stike

Abstract

This invention relates to a bird species-based intelligent bird avoidance guidance system that detects birds in real-time over a wide area using multiple fixed cameras, integrates them into a common coordinate system to track them without interruption, performs stepwise output of bird species and avoidance signals based on a preset distance, performs precise bird species analysis using a PTZ camera, outputs customized avoidance signals differentiated according to the bird species, and analyzes the bird's avoidance response to vary the avoidance signals. The intelligent bird avoidance guidance system comprises: four camera units arranged to secure a field of view at 90° intervals to acquire real-time images of a 360° surrounding environment, detecting birds in the real-time images, and mapping the coordinates of the birds; a same object determination unit that calculates the distance between the detected birds when the birds are detected by different camera units among the camera units, and determines them to be the same object and assigns a global ID to the birds when the distance between the birds is less than a certain distance; a PTZ camera unit that targets and tracks the birds and zooms in on the birds; a bird analysis unit that analyzes the real-time images of the birds zoomed in through the PTZ camera unit to identify the species of the birds and calculate a targeting score according to the species of the birds; and an avoidance signal output unit that outputs an avoidance signal suitable for the identified bird species to evade outside the boundary of the facility.

Description

Technology Field

[0001] The present invention relates to an intelligent bird avoidance guidance system, and more specifically, to a bird species-based intelligent bird avoidance guidance system that detects birds in real time over a wide area using a plurality of fixed cameras, tracks them without interruption by integrating them into a common coordinate system, performs precise species analysis using a PTZ camera, selectively outputs a differentiated avoidance signal according to the bird species, and appropriately adjusts the avoidance signal by analyzing the bird's avoidance response. Background Technology

[0003] Recently, intelligent video surveillance systems have evolved beyond simple intruder detection to the stage of detecting and analyzing small flying objects, such as birds, in real time. In particular, the importance of technology that detects approaching birds from a distance early and identifies their species is increasing for preventing bird strikes at airports, monitoring the ecology of rare birds, and protecting power facilities.

[0004] In particular, in the case of long-distance small bird detection technology, when birds appear in images at extremely small sizes of a few pixels, it is difficult to distinguish between background noise and birds using conventional general object recognition algorithms. To address this, background modeling and difference techniques are used to primarily select moving small objects by extracting only changing pixels within a fixed field of view, and time-series feature extraction techniques are used to identify the unique movement of birds that distinguishes them from insects or fallen leaves by analyzing the flight trajectory and velocity components of objects across multiple frames instead of shape information from a single frame.

[0005] In addition, there are technologies that determine the species of a bird by comparing the unique external characteristics of the bird (feather pattern, beak shape, wing span, etc.) with a pre-trained database, and technologies that improve the accuracy of distinguishing between species with similar appearances by converting wing-beat frequency and gliding patterns that differ by bird species into data and reflecting them in an identification model.

[0006] However, the aforementioned conventional technologies face the following technical challenges in the process of continuously tracking birds in flight using a camera system.

[0007] 1) Tracking failure due to irregular maneuvers: Since birds perform rapid changes in direction while minimizing physical inertia, linear prediction-based tracking algorithms frequently experience 'Track Loss,' where they miss objects.

[0008] 2) When multiple birds appear, the camera frequently changes targets and control becomes unstable. When birds move beyond the camera's field of view or are temporarily obscured by trees or structures, the reappearing birds cannot be re-identified in real time as the same individual, resulting in the bird's identification ID changing or the tracking bird being lost.

[0009] In addition, conventional technologies for inducing bird avoidance can be broadly classified into visual, auditory, physical, and chemical stimuli, and in actual field applications, visual and auditory stimuli are primarily utilized.

[0010] However, according to existing studies, single visual stimuli such as scarecrows, kites, and light tend to show a decrease in avoidance effects when applied over a long period. While there have been cases where drones mimicking specific predator shapes have demonstrated high avoidance rates, operational limitations have been reported, such as the need for continuous human intervention.

[0011] In addition, avoidance responses to auditory stimuli show significant differences depending on the ecological characteristics of each species, and it has been reported that even with the same stimulus, different avoidance rates appear depending on the species. This is interpreted to be due to differences in bird body size, gregariousness, and predator perception characteristics.

[0012] Furthermore, when birds are exposed to repetitive and fixed stimuli, a phenomenon called habituation occurs in which they become accustomed to the stimulus, leading to a problem where avoidance responses decrease rapidly. Prior art literature

[0014] Republic of Korea Registered Patent No. 10-2295743 (Registration Date: August 25, 2021) The problem to be solved

[0015] The technical problem that the present invention aims to solve is to provide an intelligent bird avoidance guidance system that can identify bird species using a camera and output an avoidance signal optimized for the bird species by comprehensively considering the risk level of each bird species, the direction of approach of the bird, and the distance between the bird and facilities where collision with the bird is required.

[0016] Furthermore, by applying an adaptive control method that analyzes the change in the bird's movement vector and departure angle in real time after the output of an avoidance signal, thereby varying the stimulus intensity of the avoidance signal or the frequency band of the sound waves, this invention provides an intelligent bird avoidance guidance system capable of overcoming the limitations of a single stimulus method and improving the sustainability of the avoidance response. means of solving the problem

[0018] To solve the technical problem described above, an intelligent bird avoidance guidance system according to an embodiment of the present invention may include: four camera units arranged to secure a field of view at 90° intervals to acquire real-time images of a 360° surrounding environment, detecting birds in the real-time images, and mapping the coordinates of the birds; a same object determination unit that, when the birds are detected by different camera units among the camera units, calculates the distance between the detected birds and, if the distance between the birds is less than a certain distance, determines them to be the same object and assigns a global ID to the birds; a PTZ camera unit that targets and tracks the birds and zooms in on the birds; a bird analysis unit that analyzes the real-time image of the birds zoomed in through the PTZ camera unit to identify the species of the birds and calculates a targeting score according to the species of the birds; and an avoidance signal output unit that outputs an avoidance signal suitable for the identified bird species to evade outside the boundary of the facility.

[0019] A Global ID is a "unique identifier" that indicates that an object is the same across multiple frames, multiple cameras, and multiple time points; if an object detected in one frame, an object detected again in the next frame, or even an object detected by a different camera is the same entity, the same Global ID can be assigned.

[0020] In one embodiment, the PTZ camera unit can target a bird with a high targeting score calculated by considering the risk level of the bird species, the movement vector of the bird, and the distance between the bird and the facility.

[0021] A PTZ (Pan-Tilt-Zoom) camera is an integrated camera system capable of left-right rotation (Pan), up-down rotation (Tilt), and zooming (Zoom) via remote control.

[0022] An intelligent bird avoidance guidance system according to an embodiment of the present invention may further include a database capable of storing bird data including one or more of an identification code suitable for the bird species, a risk level, an avoidance signal, detailed parameters of the avoidance signal, and feedback intensity adjustment data.

[0023] In one embodiment, the avoidance signal output unit may terminate the output of the avoidance signal when the bird moves outside the facility boundary after the avoidance signal is output, and may output the avoidance signal in a variable manner when the bird exists within the facility boundary.

[0024] In one embodiment, the PTZ camera unit can prioritize targeting and tracking the bird when the risk level of the bird species is highest (highest risk level).

[0025] In one embodiment, the bird analysis unit may identify the species of the bird when the bird enters within a first distance from the facility, and the avoidance signal output unit may output an avoidance signal suitable for the identified bird species when the bird enters within a second distance from the facility that is shorter than the first distance. Effects of the invention

[0027] The present invention, as described above, can prevent the phenomenon of bird tracking interruption that may occur when a bird moves, such as passing through or returning to the field of view boundary of the camera unit, through a structure for coordinate integration between multiple cameras and global ID maintenance.

[0028] This invention can mitigate the habituation problem of birds occurring in single-stimulus methods and improve the sustainability of birds' avoidance responses by applying customized avoidance signal output based on bird species identification and adaptive feedback avoidance signal control. Accordingly, it is expected to improve avoidance efficiency compared to existing technologies in the same environment while minimizing ecosystem disturbance.

[0029] Since the present invention applies priority level control of targeting currents based on the targeting score of the PTZ camera unit, unnecessary movement and direction changes of the PTZ camera can be minimized, mechanical wear of the PTZ camera can be reduced, and real-time images can be stably acquired.

[0030] Since the disclosed content is naturally exerted by the composition of the described content regardless of whether the inventor is aware of it, the aforementioned effects are merely a few effects based on the described content and should not be recognized as having described all effects that the inventor has grasped or that actually exist.

[0031] In addition, the effects of the disclosed invention should be further understood through the overall description in the specification, and even if not explicitly stated, if a person skilled in the art to which the described content belongs can recognize that such effects exist through this specification, they should be considered as effects described in this specification. Brief explanation of the drawing

[0033] FIG. 1 is a drawing illustrating an intelligent bird avoidance guidance system according to an embodiment of the present invention. FIG. 2 is a drawing for explaining the arrangement state and field of view of the camera unit and PTZ camera unit according to an embodiment of the present invention. Specific details for implementing the invention

[0034] The present invention is susceptible to various modifications and may take various forms, and embodiments are to be described in detail in the text. However, this is not intended to limit the invention to the specific disclosed forms, and it should be understood that the invention includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention. Similar reference numerals have been used for similar components in the description of each figure. Terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms.

[0035] The above terms are used solely for the purpose of distinguishing one component from another. The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise.

[0036] The shapes, sizes, ratios, angles, numbers, etc. disclosed in the drawings for explaining embodiments of the present invention are exemplary, and therefore the present invention is not limited to the depicted details. Furthermore, in describing the present invention, if it is determined that a detailed description of related known technology may unnecessarily obscure the essence of the present invention, such detailed description is omitted. Where terms such as "includes," "has," or "is made up" are used in this specification, other parts may be added unless "only" is used. Where a component is expressed in the singular, it includes cases where it includes the plural unless specifically stated otherwise.

[0037] In this application, terms such as "comprising" or "consisting of" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0038] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0039] Terms such as "first" or "second" may be used to describe various components, but said components should not be limited by said terms. For the sole purpose of distinguishing one component from another, for example, without departing from the scope of rights according to the concept of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component.

[0040] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. Conversely, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between. Other expressions describing the relationship between components, such as "between" and "exactly between," or "adjacent to" and "directly adjacent to," should be interpreted in the same way.

[0041] In the case of describing positional relationships, for example, when the positional relationship between two parts is described using expressions such as 'on,' 'upper,' 'lower,' or 'next to,' one or more other parts may be located between the two parts unless 'immediately' or 'directly' is used.

[0042] When elements or layers are referred to as "on" another element or layer, this includes cases where another layer or element is placed directly on top of or in between. Throughout the specification, the same reference numerals refer to the same components.

[0043] The terms used in the examples are for illustrative purposes only and should not be interpreted as intended to be limiting. Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0044] In addition, when describing with reference to the attached drawings, identical components are assigned the same reference numeral regardless of drawing symbols, and redundant descriptions thereof are omitted. In describing the embodiments, if it is determined that a detailed description of related prior art could unnecessarily obscure the essence of the embodiments, such detailed description is omitted.

[0045] The size and thickness of each component shown in the drawings are illustrated for convenience of explanation, and the present invention is not necessarily limited to the size and thickness of the illustrated components.

[0046] Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the drawings.

[0048] FIG. 1 is a drawing for explaining an intelligent bird avoidance guidance system according to an embodiment of the present invention, and FIG. 2 is a drawing for explaining the arrangement state and field of view of a camera unit and a PTZ camera unit according to an embodiment of the present invention.

[0049] Referring to FIGS. 1 and 2, an intelligent bird avoidance guidance system (1000) according to an embodiment of the present invention may include a camera unit (100), an identical object determination unit (200), a PTZ camera unit (300), a bird analysis unit (400), an avoidance signal output unit (500), and a database (600).

[0050] The camera unit (100) can acquire real-time images of the surrounding environment in 360°. To this end, the camera unit (100) may be arranged such that four camera units (100) each secure a field of view at intervals of 90°. For example, a fixed-type camera may be used for the camera unit (100).

[0051] The camera unit (100) can detect birds in real-time video. As another example, the camera unit (100) may acquire real-time video of the surrounding environment, and the detection of birds in the acquired real-time video may be implemented through a separate bird detection unit (not shown).

[0052] The camera unit (100) can map the coordinates of the bird. For example, it can perform coordinate transformation to map the pixel coordinates (x,y) of each camera unit (100) to common PTZ coordinates (P,T,Z) in real time.

[0053] For example, bird coordinate mapping can be performed through the following.

[0054] 1) Arrangement of camera unit (100) and definition of individual coordinate system

[0055] - 4 fixed cameras (C k ): C East , C West , C South , C North

[0056] - Pixel coordinate system: Coordinates within each camera's image (u n ,v n )(Range of n: 0≤u≤3840, 0≤v≤2160)

[0057] - Integrated Virtual Map Coordinates: (X G ,Y G )(Actual ground or reference plane coordinates, which are plane coordinates in the unified coordinate system (Global coordinate system).)

[0058] 2) Precise projection formula considering high resolution (8MP) (For precise tracking in high-resolution images, a projection model including lens distortion correction is required before applying simple homography.)

[0059] - Undistortion: In real-time video, the pixel coordinates (u,v) of the image are normalized coordinates (x) from which distortion has been removed. n ,y n Convert to ) using [Mathematical Formula 1] below.

[0060] [Mathematical Formula 1]

[0061]

[0062] Here, (c x ,c y ) is the principal point near (1920,1080), which is the center point of the 8MP image.

[0063] - Homography matrix H by direction n apply

[0064] Four independent matrices to convert from each camera unit (100) in the east, west, south, and north into integrated coordinates , , Constitutes.

[0065] East Camera ( For example, integrated coordinates( The relationship with ) is as shown in [Equation 2] below.

[0066] [Mathematical Formula 2]

[0067]

[0068] - Calculation of driving values ​​for PTZ camera unit (300)

[0069] Virtual Map Integrated Coordinates (X G ,Y G When ) is determined, the pan and tilt angles of the centrally located PTZ camera unit (300) are calculated using the following [Equation 4] to match the precision of the 8MP resolution camera unit (100).

[0070] [Mathematical Formula 4]

[0071]

[0072] Here, X PTZ ,Y PTZ is the current X,Y coordinate of the PTZ camera unit (300), XG,YG are the integrated coordinates, Z PTZ is the zoom level (magnification) of the PTZ camera unit (300).

[0073] In this way, the pixel coordinates of each fixed camera unit (100) can be aligned with the Pan / Tilt / Zoom coordinate system of the PTZ camera (300), and the present invention can ensure tracking continuity by tracking birds on a 'global virtual map' rather than the view of individual camera units (100).

[0074] When multiple birds appear simultaneously, if the PTZ camera unit (300) frequently changes targeting, control becomes unstable, and when the birds move along the boundary of the camera unit (100), the ID changes or the birds are missed. However, the present invention [includes] fixed cameras installed at different positions and angles. pixel coordinates The coordinate system is unified into the pan, tilt, and zoom coordinate system of the PTZ camera unit (300), and the projection transformation matrix between the real-time image of each fixed camera unit (100) and the real-time image of the PTZ camera unit (300) By calculating ) and integrating the entire shooting area into a single virtual map, the efficiency of bird tracking can be increased.

[0075] The same object determination unit (200) can calculate the distance between the detected birds when birds are detected in different camera units (100) among the camera units (100).

[0076] The same object determination unit (200) can determine that the birds are the same object when the calculated distance between the birds is less than a certain distance and assign a global ID to the birds. By assigning a global ID, it can be confirmed that the birds detected by different camera units (100) are the same object.

[0077] Thus, the present invention allows even objects detected by different camera units (100) to have a common coordinate system distance of a threshold value ( If it is within ) it can be determined as the same object and the unique ID can be maintained (Hand-over), thus maintaining the continuity of bird tracking.

[0078] The PTZ camera unit (300) can target and track birds and zoom in on birds. The bird analysis unit (400) can analyze the real-time video of the bird zoomed in through the PTZ camera unit (300) to identify the species of the bird and calculate a targeting score based on the species of the bird.

[0079] An intelligent bird avoidance guidance system (1000) according to an embodiment of the present invention can initiate species analysis when a bird object enters within a first distance (R1), and output differentiated avoidance signals in stages according to species risk level, etc. when approaching within a second distance (R2), thereby outputting adaptive avoidance signals suitable for the bird species to very effectively guide avoidance.

[0080] For example, the bird analysis unit (400) can identify the species of bird when the bird enters within a first distance (R1) from the facility. The first distance can be set to a range of 600m to 700m, but can be varied depending on the characteristics of the facility and the operating environment.

[0081] For example, identification of bird species can be performed by inputting high-resolution real-time images obtained through the high-magnification zoom of the PTZ camera unit (300) into an AI analysis module, and can be configured to classify bird species in real-time using CNN and Transformer-based models. The results of bird species identification obtained in this way can be linked so that detailed parameters of bird data optimized for the ecological characteristics of each bird species are automatically applied.

[0082] For example, the first distance (R1) and the second distance (R2) can each be calculated by image-based distance estimation. For example, the actual height of the bird ( ), pixel size in the image( ) and camera focal length( Using ) distance( ) can be calculated as shown in [Equation 5] below.

[0083] [Mathematical Formula 5]

[0084]

[0085] For example, to improve the accuracy of calculating the first distance (R1) and the second distance (R2), the pixel-distance correlation can be corrected by placing a reference object with known physical size at a predefined distance. For example, the distance to the object can be calculated based on the total pixels of a bird detected at a distance of 100m and a WingSpan of 1.0m in advance and this information.

[0086] As another example, a distance correction factor can be calculated using a kite or a similar shaped body that mimics the shape of a bird.

[0087] For example, the PTZ camera unit (300) can target a bird to be filmed in real-time according to a targeting score and acquire a real-time video of the bird.

[0088] For example, the PTZ camera unit (300) tracks changes in acceleration and directionality of the bird using a Kalman filter, The expected coordinates of the viewpoint are calculated, and the error between the predicted coordinates and the current PTZ camera unit (300)'s aiming point is corrected using a PID control algorithm, thereby enabling control so that a high-speed moving object (such as a bird) is not missed and can be maintained in the center of the frame. PID control (Proportional-Integral-Derivative) is the most widely used feedback control algorithm that calculates the control amount by combining proportional (P), integral (I), and derivative (D) terms based on the error between the target value (Setpoint) and the current value (Process Value).

[0089] For example, a targeting score based on the bird species can be calculated as a score, and the targeting score (S) can be calculated as shown in [Equation 6] below by summing the risk level of the bird species, the bird's movement vector, and the distance between the bird and the facility. This is to distinguish which bird the PTZ camera unit (300) should target and track when various types of birds are detected through the camera unit (100), and the bird with a high targeting score can be given priority for targeting by the PTZ camera unit (300).

[0090] [Mathematical Formula 6]

[0091]

[0092] Here, S is the targeting score, and a is the risk level by species( It is a weight for ), and β is the approach speed and direction( It is a weight for ), and is the distance from the facility, is the risk level by bird species, and (Speed ​​and direction of currents) · (Facility Direction): This is the approach vector between the bird's direction of movement and the facility, and is the magnitude of the access vector, and is the current separation distance between birds and facilities.

[0093] As another example, to prevent mechanical wear and shaking of the real-time image caused by the vibration (chattering) of the control system of the PTZ camera unit (300) when the PTZ camera unit (300) switches the target of the bird being targeted, the PTZ camera unit (300) can switch the target of tracking only when the score of the new target is higher than the existing target by a threshold value (△S).

[0094] The avoidance signal output unit (500) can output an avoidance signal suitable for the identified bird species to cause the bird to evacuate outside the boundary of the facility. The avoidance signal can be output using bird data stored in the database (600).

[0095] For example, the avoidance signal output unit (500) can output avoidance signals of visual and auditory stimuli, and sound waves and lasers can be used as avoidance signals.

[0096] For example, the avoidance signal output unit (500) may be installed in the PTZ camera unit (300) and move together with the PTZ camera unit (300), but may also exist as a separate configuration.

[0097] The database (600) may store bird data including one or more of an identification code, risk level, avoidance signal, detailed parameters of the avoidance signal, and feedback intensity adjustment data suitable for the bird species. The bird data for variably setting the avoidance signal according to the bird species may be implemented as a database structure that can be updated according to the user environment or regional bird ecological characteristics.

[0098] Bird data can be organized as follows.

[0099] Identification code Bird species Risk (C) Key avoidance signals Detailed parameters (frequency / pattern) Feedback Strength Adjustment (Step-up) B-001 sparrow / small bird I High frequency range Ultra-high frequency above 25kHz Immediate blocking followed by movement monitoring B-002 seagulls middle Ultrasound + Laser 18~22kHz variable frequency / sweeping pattern 10% intensity amplification every 5 minutes B-003 Crow / Magpie go Predator cry + Flash Sounds of top predators such as hawks and owls / Strobe light source Irregular periodic changes B-004 birds of prey (hawks, eagles) best Complex visual stimulation Specific wavelength laser + rapid PTZ rotation Continuous output until trajectory deviation

[0100] The identification code is a code for distinguishing bird species, and bird species can be classified into low, medium, high, and highest levels of risk. The main avoidance signal is a general avoidance signal method suitable for the bird species, and the detailed parameters are a detailed avoidance signal output method suitable for the bird species. The feedback intensity adjustment relates to a stimulus method suitable for the bird species using an adaptive feedback control method to mitigate the habituation problem occurring in a single stimulus method and to improve the persistence of the avoidance response.

[0101] <Identification Code B-001, B-002> : Low Risk, Medium Risk

[0102] Scenario: Riparian birds such as seagulls, sparrows, and small birds (collective habitat type)

[0103] Step 1 (Caution) : Outputs variable ultrasound between 18~22kHz to create anxiety within the area. Step 2 (Warning) : Plays the cries of the seagull's 'natural predators (hawk, eagle owl)' at irregular intervals. Step 3 (Induction) : Outputs a laser of a specific wavelength (532nm, green) from the ground surface toward the birds to induce a physical sense of intimidation and induce them to move to the outer perimeter of the facility.

[0104] <Identification Code B-003> : High Risk

[0105] Scenario: Crows and Magpies (Intelligent Birds)

[0106] Variable pattern Instead of a fixed sound, for example, 5 to 10 different threat patterns are randomly selected and played. Visual stimulation : A high-intensity strobe light linked to a PTZ camera (300) flashes at irregular intervals to cause visual confusion. Prevention of habituation Execute in short intervals, and if ineffective, immediately shift the frequency band.

[0107] <Identification Code B-004> : Highest Risk

[0108] Scenario: Birds of prey and large birds (Aviation safety threat type)

[0109] Long-range response : As soon as detection occurs in the fixed camera, the PTZ camera is assigned the highest priority (maximum priority weight). For example, the PTZ camera unit (300) can target and track the bird with the highest priority when the risk level of the bird species is highest (highest risk level). Complex response : Uses a directional speaker to concentrate high-pressure unpleasant sound only on the target point. Trajectory forced : A laser wall pattern is generated in front of the bird's flight path to forcibly modify and guide its flight trajectory.

[0110] For example, the avoidance signal output unit (500) can output an avoidance signal suitable for the identified bird species when the bird enters within a second distance that is shorter than the first distance from the facility. The second distance (R2) can be set to a range of 400m to 500m, but can be varied depending on the characteristics of the facility and the operating environment.

[0111] The avoidance signal output unit (500) can output a customized avoidance signal in stages according to the risk level of the bird species, etc., when a bird approaches within a second distance.

[0112] For example, the avoidance signal output unit (500) may terminate the output of the avoidance signal when the bird moves outside the facility boundary after the avoidance signal is output, and may output the avoidance signal with variation when the bird is within the facility boundary. As with the scenarios described above, the avoidance signal output unit (500) may output the avoidance signal with variation according to the scenario by considering the degree of avoidance of the bird.

[0113] For example, the avoidance signal output unit (500) can quantitatively analyze the bird's reaction after the avoidance signal is output and output the avoidance signal in real time by varying it. For example, the avoidance value (η) can be calculated as shown in [Equation 7] below to determine whether the avoidance signal is varied.

[0114] [Mathematical Formula 7]

[0115]

[0116] By analyzing the change in velocity (ΔV) of the current before and after the generation of the avoidance signal and the angle of deviation (θ) of the current's direction of movement, and if the avoidance value (η) is below the threshold, adaptive control according to the above scenario, such as varying the frequency band of the sound wave or increasing the output intensity of the laser, can be performed to vary the avoidance signal.

[0118] Although embodiments according to the present invention have been described above, they are merely illustrative and those skilled in the art will understand that various modifications and equivalent embodiments are possible therefrom. Accordingly, the true technical scope of protection of the present invention should be determined by the following claims. Explanation of the symbols

[0120] 1000: Intelligent Bird Avoidance Guidance System 100: Camera Unit 200: Same object determination unit 300: PTZ camera unit 400: Bird Analysis Unit 500: Avoidance Signal Output Unit 600: Database

Claims

Claim 1 An intelligent bird avoidance guidance system comprising: four camera units arranged to secure a field of view at 90° intervals to acquire real-time images of a 360° surrounding environment, detecting birds in the real-time images, and mapping the coordinates of the birds; a same object determination unit that, when birds are detected by different camera units among the camera units, calculates the distance between the detected birds and, if the distance between the birds is less than a certain distance, determines them to be the same object and assigns a global ID to the birds; a PTZ camera unit that targets and tracks the birds and zooms in on the birds; a bird analysis unit that analyzes the real-time images of the birds zoomed in through the PTZ camera unit to identify the species of the birds and calculate a targeting score according to the species of the birds; and an avoidance signal output unit that outputs an avoidance signal corresponding to the identified bird species to cause the birds to avoid outside the boundary of the facility. Claim 2 In claim 1, the PTZ camera unit targets a bird with a high targeting score calculated by considering the risk level of the bird species, the movement vector of the bird, and the distance between the bird and the facility, in an intelligent bird avoidance guidance system. Claim 3 An intelligent bird avoidance guidance system according to claim 1, further comprising a database capable of storing bird data including one or more of an identification code suitable for the bird species, a risk level, an avoidance signal, detailed parameters of the avoidance signal, and feedback intensity adjustment data. Claim 4 An intelligent bird avoidance guidance system according to claim 1, wherein the avoidance signal output unit terminates the output of the avoidance signal when the bird moves outside the facility boundary after the avoidance signal is output, and outputs the avoidance signal in a variable manner when the bird exists within the facility boundary. Claim 5 In claim 1, the PTZ camera unit is an intelligent bird avoidance guidance system that prioritizes targeting and tracking the bird when the risk level of the bird species is highest (highest risk level). Claim 6 An intelligent bird avoidance guidance system according to claim 1, wherein the bird analysis unit identifies the species of the bird when the distance to the facility is within a first distance, and the avoidance signal output unit outputs an avoidance signal corresponding to the identified bird species when the distance to the facility is within a second distance shorter than the first distance.

Images