CN112314590A - Dynamic detection and sound wave driving method for aerial birds - Google Patents
Dynamic detection and sound wave driving method for aerial birds Download PDFInfo
- Publication number
- CN112314590A CN112314590A CN202011624328.2A CN202011624328A CN112314590A CN 112314590 A CN112314590 A CN 112314590A CN 202011624328 A CN202011624328 A CN 202011624328A CN 112314590 A CN112314590 A CN 112314590A
- Authority
- CN
- China
- Prior art keywords
- target
- aerial vehicle
- unmanned aerial
- pictures
- camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
- A01M29/18—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves using ultrasonic signals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Birds (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention relates to a dynamic detection and sound wave driving method for aerial birds, which belongs to the technical field of detection and comprises the following steps: carrying a radar, a camera, a communication module and an ultrasonic bird repeller on the unmanned aerial vehicle; the radar continuously monitors whether a target exists in a radiation area with the unmanned aerial vehicle as a sphere center, once the target exists, the camera continuously collects a plurality of pictures and transmits the pictures to the background through the communication module; the background superposes a plurality of continuous pictures, calculates whether the motion trend of the target is in a natural falling body state, if so, needs no processing, otherwise, starts a target tracking mode, enables the unmanned aerial vehicle to track the target, continuously approaches the collected pictures, continuously returns to the background, and has the time interval of collecting the pictures of 3-30 seconds; and judging whether the target is a bird, if so, starting the ultrasonic bird repeller to repel the bird towards the airport management and control space, and if not, continuing to detect without processing. The invention has the advantages of air navigation, flexible detection and more timely and accurate target discovery.
Description
Technical Field
The invention relates to a dynamic detection and sound wave driving method for aerial birds, and belongs to the technical field of detection.
Background
The collision of the airplane and the flying birds is a worldwide problem, and poses a threat to the flight safety of civil aircrafts and military aircrafts. The airplane is afraid of birds because the relative speed of the airplane is high, the force after the airplane collides with an object is high, and exceeds the bearing capacity of a certain part of the airplane, so that the airplane body or parts of the airplane can be damaged, and the flight safety can be threatened directly seriously.
Therefore, birds around airports need to be monitored at any time to prevent the birds from hitting the airplanes during the takeoff or landing of the airplanes, and nevertheless, about 2 million bird-hitting accidents occur worldwide each year, which results in about $ 9.5 million loss to the aviation industry each year.
At present, medium and low-altitude birds near airports mainly use radar monitoring as a main part, the radar monitoring has an obvious fatal defect that when an airplane passes through, the radar is greatly interfered, and because a positioning system and a communication system which are prepared by the airplane and a strong surrounding monitoring system can shield the radar, the radar is temporarily failed, however, during the failure, the airplane just passes through, the situation is equal to a zero control state of the birds, and the birds can not be effectively controlled to collide with the airplane.
Disclosure of Invention
In order to solve the technical problems, the invention provides a dynamic detection and sound wave driving method for aerial fowls, which has the following specific technical scheme:
a dynamic detection and sound wave driving method for aerial birds is characterized in that: the method comprises the following steps:
step 1: carrying an unmanned aerial vehicle: carrying a radar, a camera, a communication module and an ultrasonic bird repeller on the unmanned aerial vehicle, wherein the radar is connected with the camera to control whether the camera is started or not, the camera is connected with the communication module to transmit photos collected by the camera to a background, and the ultrasonic bird repeller is controlled by the background to control whether the ultrasonic bird repeller is started or not;
step 2: target detection: the radar continuously monitors whether a target exists in a radiation area with the unmanned aerial vehicle as a sphere center, and once the target exists, a camera is started;
and step 3: capturing pictures: once the camera is started, continuously acquiring N pictures, wherein N is a positive integer greater than 4, the time interval for continuously acquiring the pictures is 5-25 seconds, and transmitting the pictures to a background through a communication module;
and 4, step 4: picture analysis: superposing a plurality of continuous pictures, judging whether the motion trend of the target is in a natural falling body state, if so, returning to the step 2 without processing, and if not, entering the step 5;
and 5: target tracking: starting a target tracking mode, enabling the unmanned aerial vehicle to track a target, enabling the unmanned aerial vehicle to continuously approach the collected picture and continuously return to a background, and enabling the time interval of the picture collection to be 3-30 seconds;
step 6: and (3) target judgment: and 5, judging whether the target is a bird or not according to the continuously returned picture in the step 5, if so, starting the ultrasonic bird repeller to repel the bird towards the airport management and control space, and if not, returning to the step 2.
The specific process of picture analysis in the step 4 is as follows: removing the background from a plurality of pictures, directly overlapping the pictures, numbering according to the sequence of acquisition time, sequentially obtaining the distance between targets on two pictures adjacent in time, calculating the descending acceleration of the targets, judging the targets to fall naturally when the acceleration is between 9.1 and 10.5, and judging the targets to fall into the air and not birds.
When the camera continuously acquires the pictures in the step 3, the unmanned aerial vehicle keeps static, or the vertical speed of the unmanned aerial vehicle is uniform ascending/descending or uniform accelerating ascending/descending, and the horizontal angle and the distance between the camera and the target are measured;
if the vertical speed of the unmanned aerial vehicle is uniform speed ascending/descending or uniform acceleration ascending/descending, the calculated target descending acceleration increases the correction amount to be the real acceleration, and the correction amount is obtained by the vertical uniform speed or uniform acceleration conversion of the unmanned aerial vehicle.
3, grasping 3 continuous photos, keeping the unmanned aerial vehicle standing, and grasping at intervals of
t, when the picture is captured for three times, the distance between the unmanned aerial vehicle and the target is S machine-mark 1, S machine-mark 2 and S machine-mark 3 in sequence, the included angle between the target and the horizontal line where the unmanned aerial vehicle is located is alpha machine-mark 1, alpha machine-mark 2 and alpha machine-mark 3,
step 3.1: calculating the height difference between the horizontal height of the unmanned aerial vehicle and the target in sequence:
step 3.2: calculating the height difference between adjacent targets:
step 3.3: calculating a target acceleration:
step 3.4: and (3) judging: and 3.3, taking an absolute value of the value calculated in the step 3.3, judging that the bird falls naturally and is not a bird, and judging that the bird falls into the air.
If the unmanned plane is provided with
Ascending/descending at a constant speed, then the step 3.3 is:
if the unmanned plane is provided with
Acceleration up/down, then the true acceleration in step 3.4 is: addition of the absolute value of the acceleration in step 3.3
。
The invention has the beneficial effects that:
the method comprises the steps of taking a picture, analyzing a target on the picture to obtain the descending acceleration of the target, judging whether the target is a falling object or not, if the target is the falling object, judging that the target is a bird, and driving the bird out of a navigation domain through ultrasonic waves if the target does not have the descending acceleration rule.
According to the invention, the unmanned aerial vehicle is used for patrolling in the navigation field, so that the accuracy of detection at each corner in the detection area is increased, and the defects of insufficient sensitivity of remote detection or detection dead angles are avoided.
Detailed Description
The present invention will now be described in further detail with reference to specific examples.
The invention relates to a dynamic detection and sound wave driving method for aerial birds, which comprises the following steps:
step 1: carrying an unmanned aerial vehicle: carrying a radar, a camera, a communication module and an ultrasonic bird repeller on the unmanned aerial vehicle, wherein the radar is connected with the camera to control whether the camera is started or not, the camera is connected with the communication module to transmit photos collected by the camera to a background, and the ultrasonic bird repeller is controlled by the background to control whether the ultrasonic bird repeller is started or not; the radar can realize using unmanned aerial vehicle as the centre of sphere, the stroke that uses the radar to survey is the spherical space of radial whole fictitious, the camera can set up two, one is located the unmanned aerial vehicle top, one is located the unmanned aerial vehicle below, two cloud platforms all are provided with the cloud platform, the camera can be rotatory on respective cloud platform, rotatory radiation has been to the top or the below of the horizontal plane of unmanned aerial vehicle position, two camera cooperations, also radiate the radiation zone of radar, realize no matter what position was detected to the radar has the target, the camera all can rotate towards the target, take the photo.
Step 2: target detection: the radar continuously monitors whether a target exists in a radiation area with the unmanned aerial vehicle as a sphere center, once the target exists, the camera is started, rotates towards the target, and focuses;
and step 3: capturing pictures: continuously collecting N pictures, wherein N is a positive integer greater than 4, the time interval of continuously collecting the pictures is 5-25 seconds, and the pictures are transmitted to a background through a communication module; the background is a computer of the control room;
and 4, step 4: picture analysis: superposing a plurality of continuous pictures, judging whether the motion trend of the target is in a natural falling body state, if so, returning to the step 2 without processing, and if not, entering the step 5;
and 5: target tracking: starting a target tracking mode, enabling the unmanned aerial vehicle to track a target, enabling the unmanned aerial vehicle to continuously approach the collected picture and continuously return to a background, and enabling the time interval of the picture collection to be 3-30 seconds;
step 6: and (3) target judgment: and 5, judging whether the target is a bird or not according to the continuously returned picture in the step 5, if so, starting the ultrasonic bird repeller to repel the bird towards the airport management and control space, and if not, returning to the step 2.
The specific process of picture analysis in the step 4 is as follows: removing the background from a plurality of pictures, directly overlapping the pictures, numbering according to the sequence of acquisition time, sequentially obtaining the distance between targets on two pictures adjacent in time, calculating the descending acceleration of the targets, judging the targets to fall naturally when the acceleration is between 9.1 and 10.5, and judging the targets to fall into the air and not birds.
3, when the camera continuously acquires pictures, keeping the unmanned aerial vehicle still, or uniformly ascending/descending or uniformly accelerating the vertical speed of the unmanned aerial vehicle, and measuring the horizontal angle and the distance between the camera and a target;
if the vertical speed of the unmanned aerial vehicle is uniform speed ascending/descending or uniform acceleration ascending/descending, the calculated target descending acceleration increases the correction amount to be the real acceleration, and the correction amount is obtained by the vertical uniform speed or uniform acceleration conversion of the unmanned aerial vehicle.
3, grasping 3 continuous photos, keeping the unmanned aerial vehicle standing, and grasping at intervals of
t, when the picture is captured for three times, the distances between the unmanned aerial vehicle and the target are S machine-mark 1, S machine-mark 2 and S machine-mark 3 in sequence, and the included angle between the target and the horizontal line where the unmanned aerial vehicle is located is
，
Step 3.1: calculating the height difference between the horizontal height of the unmanned aerial vehicle and the target in sequence:
step 3.2: calculating the height difference between adjacent targets:
step 3.3: calculating a target acceleration:
step 3.4: and (3) judging: and 3.3, taking an absolute value of the value calculated in the step 3.3, judging that the bird falls naturally and is not a bird, and judging that the bird falls into the air.
If the unmanned plane is provided with
Ascending/descending at a constant speed, then the step 3.3 is:
if the unmanned plane is provided with
Acceleration up/down, then the true acceleration in step 3.4 is: addition of the absolute value of the acceleration in step 3.3
。
The camera has the functions of automatic focusing, judging the linear distance from a target object and giving the inclination angle of the camera head of the camera, and the camera is available in the industrial market, such as an OpenCV camera, and can be purchased directly, and a model, an Intel-Realsens-D435i depth camera, is given.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (6)
1. A dynamic detection and sound wave driving method for aerial birds is characterized in that: the method comprises the following steps:
step 1: carrying an unmanned aerial vehicle: carrying a radar, a camera, a communication module and an ultrasonic bird repeller on the unmanned aerial vehicle, wherein the radar is connected with the camera to control whether the camera is started or not, the camera is connected with the communication module to transmit photos collected by the camera to a background, and the ultrasonic bird repeller is controlled by the background to control whether the ultrasonic bird repeller is started or not;
step 2: target detection: the radar continuously monitors whether a target exists in a radiation area with the unmanned aerial vehicle as a sphere center, and once the target exists, a camera is started;
and step 3: capturing pictures: once the camera is started, continuously acquiring N pictures, wherein N is a positive integer greater than 4, the time interval for continuously acquiring the pictures is 5-25 seconds, and transmitting the pictures to a background through a communication module;
and 4, step 4: picture analysis: superposing a plurality of continuous pictures, judging whether the motion trend of the target is in a natural falling body state, if so, returning to the step 2 without processing, and if not, entering the step 5;
and 5: target tracking: starting a target tracking mode, enabling the unmanned aerial vehicle to track a target, enabling the unmanned aerial vehicle to continuously approach the collected picture and continuously return to a background, and enabling the time interval of the picture collection to be 3-30 seconds;
step 6: and (3) target judgment: and 5, judging whether the target is a bird or not according to the continuously returned picture in the step 5, if so, starting the ultrasonic bird repeller to repel the bird towards the airport management and control space, and if not, returning to the step 2.
2. The method for dynamically detecting airborne birds and acoustically repelling flying birds according to claim 1, wherein the method comprises the steps of: the specific process of picture analysis in the step 4 is as follows: removing the background from a plurality of pictures, directly overlapping the pictures, numbering according to the sequence of acquisition time, sequentially obtaining the distance between targets on two pictures adjacent in time, calculating the descending acceleration of the targets, judging the targets to fall naturally when the acceleration is between 9.1 and 10.5, and judging the targets to fall into the air and not birds.
3. The method for dynamically detecting airborne birds and acoustically repelling flying birds according to claim 1, wherein the method comprises the steps of: when the camera continuously acquires the pictures in the step 3, the unmanned aerial vehicle keeps static, or the vertical speed of the unmanned aerial vehicle is uniform ascending/descending or uniform accelerating ascending/descending, and the horizontal angle and the distance between the camera and the target are measured;
if the vertical speed of the unmanned aerial vehicle is uniform speed ascending/descending or uniform acceleration ascending/descending, the calculated target descending acceleration increases the correction amount to be the real acceleration, and the correction amount is obtained by the vertical uniform speed or uniform acceleration conversion of the unmanned aerial vehicle.
4. The method for dynamically detecting airborne birds and acoustically repelling flying birds according to claim 1, wherein the method comprises the steps of: 3, grasping 3 continuous photos, keeping the unmanned aerial vehicle standing, and grasping at intervals of
t, when the picture is captured for three times, the distances between the unmanned aerial vehicle and the target are S machine-mark 1, S machine-mark 2 and S machine-mark 3 in sequence, and the included angle between the target and the horizontal line where the unmanned aerial vehicle is located is
，
Step 3.1: calculating the height difference between the horizontal height of the unmanned aerial vehicle and the target in sequence:
step 3.2: calculating the height difference between adjacent targets:
step 3.3: calculating a target acceleration:
step 3.4: and (3) judging: and 3.3, taking an absolute value of the value calculated in the step 3.3, judging that the bird falls naturally and is not a bird, and judging that the bird falls into the air.
5. The method for dynamically detecting airborne birds and acoustically repelling them according to claim 4 wherein: if the unmanned plane is provided with
Ascending/descending at a constant speed, then the step 3.3 is:
6. root of herbaceous plantThe method for dynamically detecting airborne birds and acoustically repelling them according to claim 4 wherein: if the unmanned plane is provided with
Acceleration up/down, then the true acceleration in step 3.4 is: addition of the absolute value of the acceleration in step 3.3
。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011624328.2A CN112314590B (en) | 2020-12-31 | 2020-12-31 | Dynamic detection and sound wave driving method for aerial birds |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011624328.2A CN112314590B (en) | 2020-12-31 | 2020-12-31 | Dynamic detection and sound wave driving method for aerial birds |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112314590A true CN112314590A (en) | 2021-02-05 |
| CN112314590B CN112314590B (en) | 2021-03-30 |
Family
ID=74301884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011624328.2A Active CN112314590B (en) | 2020-12-31 | 2020-12-31 | Dynamic detection and sound wave driving method for aerial birds |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112314590B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104186458A (en) * | 2014-08-11 | 2014-12-10 | 江苏恒创软件有限公司 | Orchard bird trouble prevention and treatment method based on unmanned aerial vehicle |
| US20190152595A1 (en) * | 2017-11-17 | 2019-05-23 | Bigfoot Technologies Inc. | Apparatus for Sustained Surveillance and Deterrence with Unmanned Aerial Vehicles (UAV) |
| CN109799760A (en) * | 2019-01-30 | 2019-05-24 | 华通科技有限公司 | The bird-repellent robots control system and control method of power industry |
| CN109911222A (en) * | 2019-03-31 | 2019-06-21 | 苏顺财 | A kind of pre- anticollision cargo unmanned plane based on the setting of jungle birds |
-
2020
- 2020-12-31 CN CN202011624328.2A patent/CN112314590B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104186458A (en) * | 2014-08-11 | 2014-12-10 | 江苏恒创软件有限公司 | Orchard bird trouble prevention and treatment method based on unmanned aerial vehicle |
| US20190152595A1 (en) * | 2017-11-17 | 2019-05-23 | Bigfoot Technologies Inc. | Apparatus for Sustained Surveillance and Deterrence with Unmanned Aerial Vehicles (UAV) |
| CN109799760A (en) * | 2019-01-30 | 2019-05-24 | 华通科技有限公司 | The bird-repellent robots control system and control method of power industry |
| CN109911222A (en) * | 2019-03-31 | 2019-06-21 | 苏顺财 | A kind of pre- anticollision cargo unmanned plane based on the setting of jungle birds |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112314590B (en) | 2021-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20220003213A1 (en) | Unmanned Aerial Vehicle Wind Turbine Inspection Systems And Methods | |
| AU2021202277B2 (en) | Avian detection systems and methods | |
| US20230359227A1 (en) | Method and System for Providing Route of Unmanned Air Vehicle | |
| CN110764078B (en) | Low-altitude unmanned-machine comprehensive detection disposal method and device thereof | |
| JP7448384B2 (en) | In-service maintenance process using unmanned aircraft | |
| CN104168455A (en) | Air-based large-scene photographing system and method | |
| CN108593656B (en) | Structure detection method and device and unmanned aerial vehicle system for structure detection | |
| CN111596297B (en) | Detection device and method for unmanned aerial vehicle in air based on panoramic imaging and ultrasonic rotation | |
| CN109613934A (en) | A kind of method that unmanned plane captures black winged unmanned plane | |
| CN108168706B (en) | A kind of multispectral infrared imaging detecting and tracking system monitoring low-altitude unmanned vehicle | |
| CN111998832A (en) | Laser point cloud-based inspection method for accurately positioning target object by using unmanned aerial vehicle | |
| CN107450590A (en) | A kind of unmanned plane auxiliary landing method | |
| CN109597432B (en) | Unmanned aerial vehicle take-off and landing monitoring method and system based on vehicle-mounted camera unit | |
| KR20190004176A (en) | Apparatus and method for the obstacle collision avoidance of unmanned aerial vehicle | |
| CN114296483B (en) | Intelligent inspection method and electronic equipment for wind driven generator in non-stop state | |
| CN107783545A (en) | Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system based on OODA ring multi-sensor information fusions | |
| CN107481465A (en) | A kind of aerial unmanned plane infrared monitoring method for early warning of forest adaptive cruise | |
| CN107054679A (en) | A kind of high motor-driven anti-UAS of active capture type and method | |
| CN105388908A (en) | Machine vision-based unmanned aerial vehicle positioned landing method and system | |
| CN104715556A (en) | Fire alarm method based on aerial photography | |
| Zarandy et al. | A novel algorithm for distant aircraft detection | |
| CN111208534A (en) | Method for joint detection and identification of wind shear by using laser radar and wind profile radar | |
| US6559933B1 (en) | Method and apparatus for detecting a terrain-masked helicopter | |
| CN112314590B (en) | Dynamic detection and sound wave driving method for aerial birds | |
| CN205176663U (en) | System of falling is being fixed a position to unmanned aerial vehicle power line based on machine vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |