CN113014866A - Airport low-altitude bird activity monitoring and risk alarming system - Google Patents
Airport low-altitude bird activity monitoring and risk alarming system Download PDFInfo
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Abstract
The invention provides an airport low-altitude bird activity monitoring and risk alarming system, which comprises a radar detection unit: the system is used for detecting the low-altitude flying object and transmitting the coordinates of the detected target to the information processing center in real time; the information processing center: the system comprises a video tracking shooting unit, a coordinate acquisition unit and a coordinate acquisition unit, wherein the video tracking shooting unit is used for acquiring the coordinates of a target; the information processing center is also used for analyzing the coordinates of the target and the shot video to obtain bird activity risks, and sending the bird activity risks to the mobile display terminal; video tracking shooting unit: the bird detection device is used for identifying whether the target is a bird or not within a preset detection error range according to the coordinates of the target; if the birds are the birds, tracking shooting is carried out, and the shot video is transmitted to an information processing center; the mobile display terminal: for the staff to look over the birds activity risk received. The system can timely cope with the potential safety hazard of bird strike, and the accuracy and timeliness of high-risk bird activity detection are improved.
Description
Technical Field
The invention belongs to the technical field of airport low-altitude monitoring, and particularly relates to an airport low-altitude bird activity monitoring and risk alarming system.
Background
Collision of an aircraft with birds (bird strike for short) is a problem that people face after flying to a blue sky. With the improvement of ecological environment, the number of birds moving around airports increases year by year, and the number of bird-strike aircraft events also increases year by year. Bird strike is the first major accident sign type of civil aviation, and bird strike prevention is one of the main works of airport safety management. The takeoff and landing process of the airplane is the most easy time when the bird strike happens, so the airport and the airspace nearby the airport are the key areas for preventing and controlling the bird strike accident.
The prevention and control of bird strike accidents need to discover the activities of high-risk birds in real time, so that the birds can deal with and process the activities in time. However, detection of high-risk bird activity faces a number of difficulties: first, sensor installation is subject to regulatory restrictions, requiring detection of bird activity in large areas of airports within a limited sensor installation range. Second, there is a great deal of bird activity in airports, only a small percentage of which are high risk activities. In order to achieve reliable judgment, detailed and accurate information needs to be acquired as much as possible. Thirdly, birds are animals with higher intelligence degree, the activity mode changes frequently, and the activity prediction is difficult. And the accuracy of bird prejudgment directly influences the reliability of risk prejudgment.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the airport low-altitude bird activity monitoring and risk alarming system, which improves the accuracy and timeliness of high-risk bird activity detection.
An airport low-altitude bird activity monitoring and risk alerting system comprising:
at least one radar detection unit: the system is used for detecting the low-altitude flying object and transmitting the coordinates of the detected target to the information processing center in real time;
the information processing center: the system comprises a video tracking shooting unit, a coordinate acquisition unit and a coordinate acquisition unit, wherein the video tracking shooting unit is used for acquiring the coordinates of a target; the information processing center is also used for analyzing the coordinates of the target and the shot video to obtain bird activity risks, and sending the bird activity risks to the mobile display terminal;
at least one video tracking capture unit: the bird detection device is used for identifying whether the target is a bird or not within a preset detection error range according to the coordinates of the target; if the birds are the birds, tracking shooting is carried out, and the shot video is transmitted to an information processing center;
at least one mobile display terminal: for the staff to look over the birds activity risk received.
Preferably, the information processing center is specifically configured to:
associating the coordinates detected by the same target for multiple times to obtain a flight track;
associating the flight track with the corresponding video shot by the video tracking shooting unit to obtain identification information, and identifying the activity mode of the birds according to the identification information;
inputting the identification information into a risk pre-judging function corresponding to the activity mode to obtain the bird activity risk;
calculating the regional risk;
and when the bird activity risk or the area risk is higher than a preset alarm threshold value, carrying out high-risk bird activity risk alarm or high-risk area risk alarm.
Preferably, the information processing center is specifically configured to:
respectively calculating the similarity of various activity modes according to the identification information;
judging whether the similarity of all the activity modes is lower than a preset similarity threshold value or not; if so, defining the activity pattern of the bird as a non-high risk activity pattern; and if not, defining the activity mode of the birds as the activity mode corresponding to the maximum similarity.
Preferably, the activity pattern comprises a long range migration; the information processing center is specifically configured to:
according to the flight track T, extracting a plurality of regional images A where birds are located from the corresponding video and accumulating the total number N of detected coordinates; respectively calculating the corresponding track similarity f of long-distance migration1-T(T) appearance similarity f1-A(A) And data confidence f1-N(N)；
Defining the similarity of long-distance migration as the track similarity f1-T(T) appearance similarity f1-A(A) And data confidence f1-N(N) the product of the three;
wherein, the track similarity f1-T(T) calculating according to the flying height, the flying speed and the flying direction change amplitude; degree of appearance similarity f1-A(A) Calculating according to the maximum value of the long-distance migration similarity and the maximum span width, or calculating according to the maximum value of the long-distance migration similarity and the body length, wherein the maximum value of the long-distance migration similarity is the maximum value of a plurality of similarities calculated under the long-distance migration; calculating the maximum span width or the length according to the width and the distance of the area image A; data confidence f1-N(N) is calculated according to the total number N of the accumulated detected coordinates.
Preferably, the risk prejudging function f of long-distance migration1-R(D1A) according to the distance D1And the maximum span width is calculated, wherein the distance D1And the distance between a straight line which is fitted through the flight path and the aircraft taking and landing route.
Preferably, the activity pattern comprises a continuous hover in the air; the information processing center is specifically configured to:
according to the flight track T, extracting a plurality of regional images A where birds are located from the corresponding video and accumulating the total number N of detected coordinates; respectively calculating the track similarity f corresponding to the continuous spiral in the air2-T(T) appearance similarity f2-A(A) And data confidence f2-N(N)；
Defining the similarity of continuous spiral in the air as the track similarity f2-T(T) appearance similarity f2-A(A) And data confidence f2-N(N) the product of the three;
wherein, the track similarity f2-T(T) calculating according to the flying height, the flying speed and the activity range dispersion amplitude; degree of appearance similarity f2-A(A) According to the maximum value of the aerial continuous hover similarity and the maximum span widthCalculating the degree or calculating the degree according to the maximum value of the air continuous spiral similarity and the body length, wherein the maximum value of the air continuous spiral similarity is the maximum value of a plurality of similarities obtained by calculation under the air continuous spiral; calculating the maximum span width or the length according to the width and the distance of the area image A; data confidence f2-N(N) is calculated according to the total number N of the accumulated detected coordinates.
Preferably, the risk pre-judging function f of the continuous hovering in the air2-R(D2A) according to an integration factor D2And the maximum span width is calculated, wherein the integral factor D2The method is obtained by calculating the spatial range of the aircraft taking-off and landing route through a probability model of the distribution space.
Preferably, the activity pattern comprises low-altitude frequent flashes; the information processing center is specifically configured to:
according to the flight track T, extracting a plurality of regional images A where birds are located from the corresponding video and accumulating the total number N of detected coordinates; respectively calculating the track similarity f corresponding to the low-altitude frequent flash3-T(T) population number similarity f3-A(A) And data confidence f3-N(N)；
Defining the similarity of low-altitude frequent flash as a track similarity f3-T(T) population number similarity f3-A(A) And data confidence f3-N(N) the product of the three;
wherein, the track similarity f3-T(T) screening out starting and stopping spaces or time approximation degrees of all flight tracks at preset screening time by taking the flight height and the flight distance as limiting conditions; population number similarity f3-A(A) Calculating according to the number of birds in the area image A; data confidence f3-N(N) is calculated according to the total number N of the accumulated detected coordinates.
Preferably, the risk prediction function f of low-altitude frequent flashing3-R(D3,D4A) according to the distance D3Activity factor D4And the number of birds in the area image A is calculated, wherein the distance D3Distance between the activity distribution range and the runway, activity factor D4And calculating according to the takeoff times of the bird group in unit time.
Preferably, the information processing center is further configured to:
and calculating the accumulated value of the bird activity risks in each activity mode in unit time in the region to obtain the region risk.
According to the technical scheme, the airport low-altitude bird activity monitoring and risk alarming system provided by the invention has the advantages that the detection of large-range low-altitude small flyers is realized through the radar, the confirmation of birds and the acquisition of detailed information are realized through video intelligent tracking shooting, the bird species and bird activity modes are finally identified through intelligent analysis, the current and future bird activity risks are judged, the high-risk bird activities are transmitted to related working personnel in real time, the potential safety hazards of bird strikes can be timely responded, and the accuracy and timeliness of high-risk bird activity detection are improved.
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In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a block diagram of an airport low-altitude bird activity monitoring and risk warning system according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby. It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
The first embodiment is as follows:
an airport low-altitude bird activity monitoring and risk alerting system, see fig. 1, comprising:
at least one radar detection unit: the system is used for detecting the low-altitude flying object and transmitting the coordinates of the detected target to the information processing center in real time;
the information processing center: for distributing the coordinates of the target to the video tracking capture unit.
Specifically, the information processing center may integrate coordinates from a plurality of the radar detection units, distribute the coordinates to each video tracking shooting unit according to a closest distance principle, and distribute a target to a video tracking shooting unit closest to the target, so that a clearer target can be shot.
At least one video tracking capture unit: the bird detection device is used for identifying whether the target is a bird or not within a preset detection error range according to the coordinates of the target; if the birds are the birds, tracking shooting is carried out, and the shot video is transmitted to an information processing center;
specifically, the video tracking shooting unit considers that the target is not a bird when the target cannot be identified as a bird within a preset detection time (generally 2 to 10 seconds); if the target is identified to be a bird within the preset detection time, the focal length of a lens in the video tracking shooting unit is increased, the target is tracked and shot, so that a clearer target can be shot, the acquired video is sent to the information processing center, and then the next target is continuously detected.
The information processing center is also used for analyzing the coordinates of the target and the shot video to obtain bird activity risks, and sending the bird activity risks to the mobile display terminal;
at least one mobile display terminal: for the staff to look over the birds activity risk received.
Specifically, the signal processing center transmits the bird activity risk to the mobile display terminal in real time for display. In case detect birds activity risk and when the high risk, signal processing center will remind the staff through sound and image, guide the staff in time to deal with.
This low-altitude birds activity in airport is kept watch on and risk alarm system, realize the detection of low-altitude little flyer on a large scale through the radar, further follow tracks of shooting through video intelligence, realize the affirmation of birds and detailed information's collection, finally discern bird species and birds activity pattern through intelligent analysis, judge the risk of present and future birds activity, convey relevant staff with high-risk birds activity in real time, can in time deal with the potential safety hazard of bird attack, the accuracy and the promptness of high-risk birds activity detection have been improved.
Example two:
the second embodiment is added with the following contents on the basis of the first embodiment:
the information processing center is specifically configured to:
associating the coordinates detected by the same target for multiple times to obtain a flight track;
associating the flight track with the corresponding video shot by the video tracking shooting unit to obtain identification information, and identifying the activity mode of the birds according to the identification information;
and inputting the identification information into a risk pre-judging function corresponding to the activity mode to obtain the bird activity risk.
Specifically, the information processing center associates the coordinates detected by the target for multiple times to form a flight track, and then associates the flight track with the video to form identification information. And identifying the activity pattern of the birds according to the identification information, prejudging the future activity of the birds according to the identified activity pattern, and analyzing the activity risk of the birds.
Calculating the regional risk;
and when the bird activity risk or the area risk is higher than a preset alarm threshold value, carrying out high-risk bird activity risk alarm or high-risk area risk alarm.
Specifically, the system not only warns birds activity risks, but also warns regional risks.
Wherein, when identifying the activity pattern of birds, the information processing center is specifically configured to:
respectively calculating the similarity of various activity modes according to the identification information;
judging whether the similarity of all the activity modes is lower than a preset similarity threshold value or not; if so, defining the activity pattern of the bird as a non-high risk activity pattern; and if not, defining the activity mode of the birds as the activity mode corresponding to the maximum similarity.
Specifically, the high-risk bird activity modes comprise three modes of long-distance migration, continuous hovering in the air and frequent flashing in the low air, so that the system mainly identifies the high-risk bird activity through the three activity modes. And when the activity modes are identified, calculating the similarity of the three activity modes respectively. If the obtained similarity of the three activity modes is lower than the similarity threshold value, the activity mode of the current birds is not considered to belong to the three modes and is not high-risk activity, otherwise, the activity mode is judged to be the mode corresponding to the maximum value of the three similarities.
1. Long-distance migration
Respectively calculating the track similarity f according to the flight track T, the area images A of the birds extracted from the video and the accumulated total number N of the detected coordinates1-T(T) appearance similarity f1-A(A) And data confidence f1-N(N)。
Wherein the trajectory similarity f of the long-range migration1-T(T) calculating according to the flying height, the flying speed and the flying direction change amplitude; degree of appearance similarity f1-A(A) Calculating according to the maximum value of the long-distance migration similarity and the maximum span width, or calculating according to the maximum value of the long-distance migration similarity and the body length, wherein the maximum value of the long-distance migration similarity is the maximum value of a plurality of similarities calculated under the long-distance migration; calculating the maximum span width or the length according to the width and the distance of the area image A; data confidence f1-N(N) the method is calculated according to the total number N of the accumulated detected coordinates, wherein the larger N is, the higher the data confidence coefficient is.
The product of the three is the similarity S1, S of the long-distance migration mode1＝f1-T(T)f1-A(A)f1-N(N)。
2. Continuous spiral in the air
Respectively calculating the track similarity f according to the flight track T, the area images A of the birds extracted from the video and the accumulated total number N of the detected coordinates2-T(T) appearance similarity f2-A(A) And data confidence f2-N(N)。
The similarity f of the continuous spiral track in the air2-T(T) calculating according to the flying height, the flying speed and the activity range dispersion amplitude; degree of appearance similarity f2-A(A) Calculating according to the maximum value of the aerial continuous spiral similarity and the maximum span width, or calculating according to the maximum value of the aerial continuous spiral similarity and the body length, wherein the maximum value of the aerial continuous spiral similarity is the maximum value of a plurality of similarities calculated under the aerial continuous spiral; data confidence f2-N(N) the method is calculated according to the total number N of the accumulated detected coordinates, wherein the larger N is, the higher the data confidence coefficient is.
The product of the three is the similarity S2, S of the continuous spiral mode in the air2＝f2-T(T)f2-A(A)f2-N(N)。
3. Low altitude, frequent flash
Respectively calculating the track similarity f according to the flight track T, the area images A of the birds extracted from the video and the accumulated total number N of the detected coordinates3-T(T) similarity of population number f3-A(A) And data confidence f3-N(N)。
Wherein the low-altitude frequently-flashing track similarity f3-T(T) screening out starting and stopping spaces or time approximation degrees of all flight trajectories within preset screening time (which can be in the near term) by taking the flight height and the flight distance as limiting conditions; population number similarity f3-A(A) Calculating according to the number of birds in the area image A; data confidence f3-N(N) the method is calculated according to the total number N of the accumulated detected coordinates, wherein the larger N is, the higher the data confidence coefficient is.
The product of the three is the similarity S3, S of the low-altitude frequent flash mode3＝f3-T(T)f3-A(A)f3-N(N)。
When the activity mode of the birds is identified, the system inputs the identification information into the risk prejudging function corresponding to the activity mode to obtain the activity risk of the birds.
Risk prejudging function f of long-distance migration1-R(D1A) according to the distance D1And the maximum span width is calculated, wherein the distance D1The distance between a straight line which is fitted through the flight track and an aircraft taking and landing route;
risk prejudging function f for continuous hovering in air2-R(D2A) according to an integration factor D2And the maximum span width is calculated, wherein the integral factor D2The method is obtained by calculating the spatial range of the aircraft taking-off and landing route through a probability model of a distribution space;
risk prejudging function f of low-altitude frequent flashing3-R(D3,D4A) according to the distance D3Activity factorD4And the number of birds in the area image A is calculated, wherein the distance D3Distance between the activity distribution range and the runway, activity factor D4And calculating according to the takeoff times of the bird group in unit time.
Preferably, the information processing center is further configured to:
and calculating the accumulated value of the bird activity risks in each activity mode in unit time in the region to obtain the region risk.
Specifically, the system accumulates bird activity risks of three activity modes in a certain time length in an area to obtain an area risk expressed as Σ f1-R(D1,A)+∑f2-R(D2,A)+∑f3-R(D3,D4,A)。
For the sake of brief description, the system provided by the embodiment of the present invention may refer to the corresponding content in the foregoing embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. An airport low-altitude bird activity monitoring and risk alerting system, comprising:
at least one radar detection unit: the system is used for detecting the low-altitude flying object and transmitting the coordinates of the detected target to the information processing center in real time;
the information processing center: the system comprises a video tracking shooting unit, a coordinate acquisition unit and a coordinate acquisition unit, wherein the video tracking shooting unit is used for acquiring the coordinates of a target; the information processing center is also used for analyzing the coordinates of the target and the shot video to obtain bird activity risks, and sending the bird activity risks to the mobile display terminal;
at least one video tracking capture unit: the bird detection device is used for identifying whether the target is a bird or not within a preset detection error range according to the coordinates of the target; if the birds are the birds, tracking shooting is carried out, and the shot video is transmitted to an information processing center;
at least one mobile display terminal: for the staff to look over the birds activity risk received.
2. The airport low-altitude bird activity monitoring and risk alerting system of claim 1, wherein the information processing center is specifically configured to:
associating the coordinates detected by the same target for multiple times to obtain a flight track;
associating the flight track with the corresponding video shot by the video tracking shooting unit to obtain identification information, and identifying the activity mode of the birds according to the identification information;
inputting the identification information into a risk pre-judging function corresponding to the activity mode to obtain the bird activity risk;
calculating the regional risk;
and when the bird activity risk or the area risk is higher than a preset alarm threshold value, carrying out high-risk bird activity risk alarm or high-risk area risk alarm.
3. The airport low-altitude bird activity monitoring and risk alerting system of claim 2, wherein the information processing center is specifically configured to:
respectively calculating the similarity of various activity modes according to the identification information;
judging whether the similarity of all the activity modes is lower than a preset similarity threshold value or not; if so, defining the activity pattern of the bird as a non-high risk activity pattern; and if not, defining the activity mode of the birds as the activity mode corresponding to the maximum similarity.
4. The airport low-altitude bird activity monitoring and risk alerting system of claim 3, wherein the activity pattern comprises long range migration; the information processing center is specifically configured to:
according to the flight track T, extracting a plurality of regional images A where birds are located from the corresponding video and accumulating the total number N of detected coordinates; respectively calculating the corresponding track similarity f of long-distance migration1-T(T) appearance similarity f1-A(A) And data confidence f1-N(N)；
Defining the similarity of long-distance migration as the track similarity f1-T(T) appearance similarity f1-A(A) And data confidence f1-N(N) the product of the three;
wherein, the track similarity f1-T(T) calculating according to the flying height, the flying speed and the flying direction change amplitude; degree of appearance similarity f1-A(A) Calculating according to the maximum value of the long-distance migration similarity and the maximum span width, or calculating according to the maximum value of the long-distance migration similarity and the body length, wherein the maximum value of the long-distance migration similarity is the maximum value of a plurality of similarities calculated under the long-distance migration; calculating the maximum span width or the length according to the width and the distance of the area image A; data confidence f1-N(N) is calculated according to the total number N of the accumulated detected coordinates.
5. The airport low-altitude bird activity monitoring and risk alerting system of claim 4,
risk prejudging function f of long-distance migration1-R(D1A) according to the distance D1And the maximum span width is calculated, wherein the distance D1And the distance between a straight line which is fitted through the flight path and the aircraft taking and landing route.
6. The airport low-altitude bird activity monitoring and risk alerting system of claim 3, wherein the activity pattern includes continuous hovering in the air; the information processing center is specifically configured to:
according to the flight track T, extracting a plurality of regional images A where birds are located from the corresponding video and accumulating the total number N of detected coordinates; respectively calculating the track similarity f corresponding to the continuous spiral in the air2-T(T) appearance similarity f2-A(A) And data confidence f2-N(N)；
Defining the similarity of continuous spiral in the air as the track similarity f2-T(T) appearance similarity f2-A(A) And data confidence f2-N(N) the product of the three;
wherein, the track similarity f2-T(T) calculating according to the flying height, the flying speed and the activity range dispersion amplitude; degree of appearance similarity f2-A(A) Calculating according to the maximum value of the aerial continuous spiral similarity and the maximum span width, or calculating according to the maximum value of the aerial continuous spiral similarity and the body length, wherein the maximum value of the aerial continuous spiral similarity is the maximum value of a plurality of similarities calculated under the aerial continuous spiral; calculating the maximum span width or the length according to the width and the distance of the area image A; data confidence f2-N(N) is calculated according to the total number N of the accumulated detected coordinates.
7. The airport low-altitude bird activity monitoring and risk alerting system of claim 6,
risk prejudging function f for continuous hovering in air2-R(D2A) according to an integration factor D2And the maximum span width is calculated, wherein the integral factor D2The method is obtained by calculating the spatial range of the aircraft taking-off and landing route through a probability model of the distribution space.
8. The airport low-altitude bird activity monitoring and risk alerting system of claim 3, wherein the activity pattern includes low-altitude frequent flashes; the information processing center is specifically configured to:
according to the flight track T, extracting a plurality of regional images A where birds are located from the corresponding video and accumulating the total number N of detected coordinates; respectively calculating the track similarity corresponding to the low-altitude frequent flashf3-T(T) population number similarity f3-A(A) And data confidence f3-N(N)；
Defining the similarity of low-altitude frequent flash as a track similarity f3-T(T) population number similarity f3-A(A) And data confidence f3-N(N) the product of the three;
wherein, the track similarity f3-T(T) screening out starting and stopping spaces or time approximation degrees of all flight tracks at preset screening time by taking the flight height and the flight distance as limiting conditions; population number similarity f3-A(A) Calculating according to the number of birds in the area image A; data confidence f3-N(N) is calculated according to the total number N of the accumulated detected coordinates.
9. The airport low-altitude bird activity monitoring and risk alerting system of claim 8,
risk prejudging function f of low-altitude frequent flashing3-R(D3,D4A) according to the distance D3Activity factor D4And the number of birds in the area image A is calculated, wherein the distance D3Distance between the activity distribution range and the runway, activity factor D4And calculating according to the takeoff times of the bird group in unit time.
10. The airport low-altitude bird activity monitoring and risk alerting system of claim 3, wherein the information processing center is further configured to:
and calculating the accumulated value of the bird activity risks in each activity mode in unit time in the region to obtain the region risk.
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| CN116050842A (en) * | 2023-02-01 | 2023-05-02 | 东华理工大学 | Dynamic control method and system for urban underground engineering construction safety risk |
| CN116086408A (en) * | 2023-04-10 | 2023-05-09 | 山东省青东智能科技有限公司 | Intelligent mapping system based on industrial camera |
| CN116148862A (en) * | 2023-01-16 | 2023-05-23 | 无锡市雷华科技有限公司 | Comprehensive early warning and evaluating method for bird detection radar flying birds |
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| CN116086408A (en) * | 2023-04-10 | 2023-05-09 | 山东省青东智能科技有限公司 | Intelligent mapping system based on industrial camera |
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