CN113935662A - Mobile bird repelling strategy generation method and system - Google Patents
Mobile bird repelling strategy generation method and system Download PDFInfo
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Abstract
The invention discloses a mobile bird repelling strategy generation method and a system, wherein the method comprises the steps of generating a bird repelling task, receiving a bird feeling track, and sequencing and screening bird feelings; allocating tasks for the bird repelling vehicles, including receiving the bird repelling tasks, calculating the time required by each bird repelling vehicle to execute the tasks according to the positioning of the bird repelling vehicles and the bird situation tracks, and allocating the tasks according to an optimal principle; and generating bird repelling parameters, and calculating the parameters of bird repelling equipment according to the bird condition track and the bird repelling vehicle positioning information. The bird situation detection and bird repelling control are organically combined through a bird repelling strategy, so that the system operates in a closed loop. Parameters of all links of the bird repelling strategy are adjustable, and manual intervention is supported by key control. The bird scarer displays the whole-process monitoring and intervention on the bird scaring task allocation, the bird scaring pan-tilt traction and the bird scaring equipment parameters through a bird scaring strategy, so that the bird scaring system is ensured to operate efficiently, safely and reliably.
Description
Technical Field
The invention relates to the technical field of airport bird group control, in particular to a mobile bird repelling strategy generation method and a mobile bird repelling strategy generation system.
Background
With the development of the aviation industry and the improvement of the ecological environment, the situation of birds in airports increases year by year, and bird repelling in airports becomes an important work for guaranteeing the flight of airports.
The traditional airport bird repelling means mainly comprises the modes of auditory bird repelling (omnidirectional sound waves, titanium gun and the like), visual bird repelling (lasers, laser guns and the like), physical bird repelling (bird sticking nets, shotguns and the like) and the like. The traditional bird repelling means mainly depends on bird watching whistles to find bird conditions by using telescopes, each bird repelling person is informed to execute a bird repelling task through an interphone, and a large number of bird repelling persons need to be equipped for manual bird repelling. The flight guarantee task of the airport is heavy, and the efficiency of manually driving birds is low.
In recent years, some airports are equipped with bird repelling vehicles, the bird repelling vehicles integrate various bird repelling devices, and mainly drive to patrol the site, discover bird conditions and execute bird repelling tasks by bird repellers. The bird situation is difficult to find timely and accurately by the mode, and a bird repelling technician selects bird repelling equipment by experience through rough estimation of the flying height and the flying speed of the birds. At night or in bad weather, bird repellers are more difficult to find and repel birds.
Disclosure of Invention
Aiming at the current situation that the bird repelling efficiency of an airport is low, the patent provides a mobile bird repelling strategy generation method and a system, so that a bird repelling task can be efficiently, safely and reliably carried out.
The first aspect of the invention provides a mobile bird repelling strategy generation method, which comprises the following steps of generating a bird repelling task, including receiving a bird situation track, and sequencing and screening bird situations; allocating tasks for the bird repelling vehicles, including receiving the bird repelling tasks, calculating the time required by each bird repelling vehicle to execute the tasks according to the positioning of the bird repelling vehicles and the bird situation tracks, and allocating the tasks according to an optimal principle; and generating bird repelling parameters, and calculating the parameters of bird repelling equipment according to the bird condition track and the bird repelling vehicle positioning information.
Further, the bird repelling task generation comprises receiving a bird situation track, and specifically, sequencing and screening the bird situations, namely S11, receiving the bird situation real-time track; s12, screening bird conditions according to the threat level; s13, sorting the screened bird conditions from high to low according to threat levels; and S14, generating the sorted bird situation into a task.
Further, the receiving the bird condition real-time track comprises automatically receiving the bird condition real-time track and manually creating a bird condition task.
Further, the time required by each bird repelling vehicle to execute the task is calculated according to the bird repelling vehicle positioning and the bird condition track, the task allocation is carried out according to the optimal principle,
s21, traversing the bird repelling task;
s22, traversing the bird repelling vehicle;
s23, setting the position of the bird repelling vehicle, if the bird repelling vehicle does not distribute tasks, setting the bird repelling parking space as the current positioning position, otherwise, setting the bird repelling parking space as the position of the bird situation track of the last task in the distributed tasks of the bird repelling vehicle;
s24, performing coordinate conversion, calculating and normalizing the relative distance between the bird repelling task bird condition track and the bird repelling vehicle position;
s25, calculating the total distance of the bird repelling vehicle for executing the distributed bird repelling tasks in an accumulated mode and normalizing the distance;
s26, multiplying the two distance normalization values by distance and time weight factors respectively, and calculating the final bird repelling cost;
s27, after traversing the bird repelling vehicle, allocating the task to the bird repelling vehicle with the lowest bird repelling cost;
and S28, generating all bird repelling vehicle task allocation results after traversing the bird repelling tasks.
Further, the parameters of the bird repelling device comprise bird repelling vehicle navigation parameters, a traction azimuth and a pitch angle of the bird repelling pan-tilt, and bird repelling device combination parameters; the bird repelling vehicle navigation parameter is the radius of a bird repelling area which can be reached by the power of bird repelling equipment, and the bird repelling equipment in the bird repelling equipment combination parameter comprises a directional strong sound emission device, an ultrasonic wave emission device, a laser emission device and a titanium bomb emission device.
The second aspect provides a mobile bird repelling system, which comprises a bird repelling task generating module, a bird repelling task generating module and a bird repelling task generating module, wherein the bird repelling task generating module is used for creating a bird repelling task according to a bird situation track; the bird repelling vehicle distribution module is used for receiving the bird repelling tasks and distributing the tasks according to the calculated time required by each bird repelling vehicle to execute the tasks; and the bird repelling parameter generating module is used for calculating parameters of the bird repelling equipment according to the bird condition track and the bird repelling vehicle positioning information.
Further, the bird repelling task generating module comprises an automatic generating task and a manual creating task, and the priority of the manual creating task is higher than that of the automatic generating task.
In a third aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the method described in any of the above-mentioned mobile bird repelling strategy generation methods when running.
In a fourth aspect, the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the method of any one of the above-mentioned mobile bird repelling strategy generation methods.
The bird repelling strategy organically combines bird situation detection and bird repelling control, so that the system operates in a closed loop. Parameters of all links of the bird repelling strategy are adjustable, and manual intervention is supported by key control. The bird scarer displays the whole-process monitoring and intervention on the bird scaring task allocation, the bird scaring pan-tilt traction and the bird scaring equipment parameters through a bird scaring strategy, so that the bird scaring system is ensured to operate efficiently, safely and reliably.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flow chart of bird repelling task generation in a mobile bird repelling strategy generation method according to an embodiment of the invention;
FIG. 2 is a flow chart of task allocation of the bird repelling vehicle in the embodiment of FIG. 1;
FIG. 3 is a flow chart of bird repelling parameter generation in the embodiment of FIG. 1;
fig. 4 is a connection diagram of modules of a mobile bird repelling system according to another embodiment.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the method for generating the mobile bird repelling strategy comprises the following steps,
and S1, generating a bird repelling task, including receiving a bird situation track, and sequencing and screening the bird situations.
The method specifically comprises the following steps: s11, receiving a bird condition real-time track; s12, screening bird conditions according to the threat level; s13, sorting the screened bird conditions from high to low according to threat levels; and S14, generating the sorted bird situation into a task.
The bird condition track can be set to be automatically received in real time, can also be set to be received at regular time, and can also be manually collected to recreate a task. The manually created tasks are added to the manual task list. The bird condition tracks automatically obtained enter a cache, then the bird condition tracks are screened according to a threat level threshold, the bird condition tracks with the threat level lower than the threshold are filtered, and the rest bird condition tracks are sorted according to the threat level, usually from high to low, to generate a bird repelling task. And if the bird repelling tasks are created manually, adding the bird repelling tasks into the sorted task list, wherein the priority of the manually created tasks is higher than that of the automatically generated tasks.
And then, cutting the bird repelling tasks in the list according to the task quantity requirement to obtain a task list meeting the requirement. The list is displayed on an output device, such as a screen in a command room. The detailed flow of the step S1 is shown in fig. 1.
And S2, allocating tasks for the bird repelling vehicles, including receiving the bird repelling tasks, calculating the time required by each bird repelling vehicle to execute the tasks according to bird repelling vehicle positioning and bird situation tracks, and allocating the tasks according to an optimal principle.
As shown in fig. 2, after the bird repelling task is generated, the bird repelling vehicle allocation module firstly counts the number of the bird repelling vehicles, if only one bird repelling vehicle is provided, the bird repelling vehicle directly issues the task to the bird repelling vehicle, otherwise, the distance required by each bird repelling vehicle to run for executing each task and the time required by each bird repelling vehicle to execute the task are calculated. And then distributing tasks to the bird repelling vehicles according to the principle of lowest distance and time cost, wherein the distribution result can be selectively displayed on a terminal screen.
Calculating the time required by each bird repelling vehicle to execute the task according to the bird repelling vehicle positioning and the bird condition track, and specifically distributing the tasks according to the optimal principle,
s21, traversing the bird repelling task;
s22, traversing the bird repelling vehicle;
s23, setting the position of the bird repelling vehicle, if the bird repelling vehicle does not distribute tasks, setting the bird repelling parking space as the current positioning position, otherwise, setting the bird repelling parking space as the position of the bird situation track of the last task in the distributed tasks of the bird repelling vehicle;
s24, performing coordinate conversion, calculating and normalizing the relative distance between the bird repelling task bird condition track and the bird repelling vehicle position;
s25, calculating the total distance of the bird repelling vehicle for executing the distributed bird repelling tasks in an accumulated mode and normalizing the distance;
s26, multiplying the two distance normalization values by distance and time weight factors respectively, and calculating the final bird repelling cost;
s27, after traversing the bird repelling vehicle, allocating the task to the bird repelling vehicle with the lowest bird repelling cost;
and S28, generating all bird repelling vehicle task allocation results after traversing the bird repelling tasks.
Optionally, the task allocation result of the bird repelling vehicle can be adjusted by manual intervention, and the allocation result is issued to the bird repelling vehicle after confirmation.
Optionally, the bird repelling vehicle is positioned through a Beidou positioning system or a GPS system.
And S3, generating bird repelling parameters, and calculating the parameters of bird repelling equipment according to the bird situation track and the bird repelling vehicle positioning information.
The bird repelling parameter generating module receives a bird repelling vehicle task execution instruction, calculates a preset area of the bird repelling vehicle according to the bird condition real-time flight path and bird repelling vehicle positioning, and guides the bird repelling vehicle to reach the preset area in real time. Calculating the traction position and the pitching of the bird repelling pan-tilt according to the bird condition real-time track and the positioning and orientation information of the bird repelling vehicle; and calculating the control parameters of the bird repelling equipment according to the use scene and the power range of the bird repelling equipment. The parameters of the bird repelling device comprise bird repelling vehicle navigation parameters, a traction azimuth and a pitch angle of the bird repelling pan-tilt, and bird repelling device combination parameters.
Further, the bird-driving vehicle navigation parameter of the embodiment: when a bird repelling task is executed, if the bird situation track height exceeds the maximum power range of all bird repelling devices of the bird repelling vehicle, prompting that the bird situation track height exceeds the power range; and if the bird condition track height is within the maximum power range of the bird repelling device, calculating the radius of a bird repelling area through a right-angle formula according to the maximum power of the bird repelling device and the bird condition track height to serve as a bird repelling vehicle navigation parameter.
The drive the orientation and the pitch angle of driving of bird cloud platform of this embodiment: after the bird condition track enters the power range of the bird repelling device, the position and the pitching of the bird condition relative to the bird repelling vehicle are calculated through coordinate conversion according to the bird condition track coordinate and the positioning position of the bird repelling vehicle, and the corrected position and the pitching value of the bird repelling vehicle are combined to serve as the final traction position and the final pitching angle of the bird repelling pan-tilt.
The bird repelling equipment of this embodiment combines the parameter: after the bird situation track enters the maximum power range of the bird repelling equipment, judging which bird repelling equipment is available according to the respective power ranges of different bird repelling equipment, such as directional strong sound, ultrasonic wave, laser and titanium gun, wherein the laser is only available at night, and finally giving the available combination of the bird repelling equipment as the combination parameter of the bird repelling equipment to recommend to a user.
Specifically, as shown in fig. 3, after the bird repelling vehicle receives the task, the bird repelling vehicle is guided to enter a power range according to the bird situation track in the task. And displaying the distance between the bird repelling vehicle and the target in real time according to the positioning of the bird repelling vehicle and the target track, when the target enters the power of bird repelling equipment, alarming by a target, generating bird repelling equipment combination parameters and calculating the traction value of the bird repelling pan-tilt. According to the conditions of bird repelling equipment position, bird group scale and the like, the cradle head traction value is sent to the bird repelling control component or a bird repelling cradle head traction instruction is sent, and then the bird repelling equipment is started. After the bird repelling pan-tilt locks a target, the bird repelling equipment transmitting parameters such as directional strong sound frequency, sound pressure, laser power and the like are automatically generated, and the system can automatically issue a bird repelling equipment control instruction and support manual issuing.
The parameters of the bird repelling equipment comprise bird repelling vehicle navigation parameters, a traction azimuth and a pitch angle of the bird repelling pan-tilt, and bird repelling equipment combination parameters. The navigation parameters of the bird repelling vehicle are updated in real time through a two-dimensional map, the system automatically calculates the bird repelling pan-tilt traction parameters and the bird repelling equipment combination parameters, and bird repelling work can be finished in one key.
It should be noted that each bird repelling vehicle can report BIT status information to the system background, and automatically eliminate the bird repelling vehicle with a fault.
The method for automatically generating the mobile bird repelling strategy provided by the embodiment is mainly based on an algorithm, the calculation result is displayed through the display and control terminal, a manual intervention interface is provided, and a diversified bird repelling mode combining automation and manual work is realized. Mainly comprises a bird repelling task, bird repelling vehicle task allocation and bird repelling parameter display.
Another embodiment of the present invention provides a mobile bird repelling system, as shown in fig. 4, including a bird repelling task generating module, configured to create a bird repelling task according to a bird situation track; the bird repelling vehicle distribution module is used for receiving the bird repelling tasks and distributing the tasks according to the calculated time required by each bird repelling vehicle to execute the tasks; and the bird repelling parameter generating module is used as a task executing module, distributed on each bird repelling vehicle and used for calculating the parameters of the bird repelling equipment according to the bird situation track and the positioning information of the bird repelling vehicles.
The bird repelling task generating module receives the bird condition real-time flight path by establishing a network data receiving thread, sorts the bird conditions according to the threat level, sends the sorted bird repelling tasks to the bird repelling vehicle task distributing module and displays the bird repelling task list. And the manual selection of the target is supported to create the bird repelling task, and the priority of the manually selected target is higher than that of the bird repelling task automatically generated by the system.
The bird repelling vehicle task allocation module receives the bird repelling task, respectively calculates the driving distance and the total bird repelling time of each bird repelling vehicle for executing the task according to the positioning of the bird repelling vehicle and the target track information, and completes the optimal allocation of the bird repelling vehicle task by combining the distance cost and the time cost factor weight which are scored by experts.
The bird repelling parameter generating module receives a bird repelling vehicle task execution instruction, calculates a preset area of the bird repelling vehicle according to the bird condition real-time flight path and bird repelling vehicle positioning, and guides the bird repelling vehicle to reach the preset area in real time. Calculating the traction position and the pitching of the bird repelling pan-tilt according to the bird condition real-time track and the positioning and orientation information of the bird repelling vehicle; and calculating the control parameters of the bird repelling equipment according to the use scene and the power range of the bird repelling equipment.
The invention also provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the method described in any of the above-mentioned mobile bird-repelling strategy generation methods when running.
The invention provides an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the method in any one of the mobile bird repelling strategy generation methods.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. A mobile bird repelling strategy generation method is characterized by comprising the following steps,
generating a bird repelling task, including receiving a bird condition track, and sequencing and screening the bird conditions;
allocating tasks for the bird repelling vehicles, including receiving the bird repelling tasks, calculating the time required by each bird repelling vehicle to execute the tasks according to the positioning of the bird repelling vehicles and the bird situation tracks, and allocating the tasks according to an optimal principle;
and generating bird repelling parameters, and calculating the parameters of bird repelling equipment according to the bird condition track and the bird repelling vehicle positioning information.
2. The method for generating the mobile bird repelling strategy according to claim 1, wherein the generating of the bird repelling task comprises receiving a bird situation track, sorting and screening bird situations,
s11, receiving a bird condition real-time track;
s12, screening bird conditions according to the threat level;
s13, sorting the screened bird conditions from high to low according to threat levels;
and S14, generating the sorted bird situation into a task.
3. The mobile bird repelling strategy generation method of claim 2, wherein the receiving the bird condition real-time trajectory comprises automatically receiving the bird condition real-time trajectory and manually creating a bird condition task.
4. The mobile bird repelling strategy generation method according to claim 1, wherein the time required for each bird repelling vehicle to execute the task is calculated according to bird repelling vehicle positioning and bird situation track, and the task allocation is specifically performed according to an optimal principle,
s21, traversing the bird repelling task;
s22, traversing the bird repelling vehicle;
s23, setting the position of the bird repelling vehicle, if the bird repelling vehicle does not distribute tasks, setting the bird repelling parking space as the current positioning position, otherwise, setting the bird repelling parking space as the position of the bird situation track of the last task in the distributed tasks of the bird repelling vehicle;
s24, performing coordinate conversion, calculating and normalizing the relative distance between the bird repelling task bird condition track and the bird repelling vehicle position;
s25, calculating the total distance of the bird repelling vehicle for executing the distributed bird repelling tasks in an accumulated mode and normalizing the distance;
s26, multiplying the two distance normalization values obtained in S24 and S25 by distance and time weight factors respectively, and calculating the final bird repelling cost;
s27, after traversing the bird repelling vehicle, allocating the task to the bird repelling vehicle with the lowest bird repelling cost;
and S28, generating all bird repelling vehicle task allocation results after traversing the bird repelling tasks.
5. The mobile bird repelling strategy generation method according to claim 1, wherein the parameters of the bird repelling device comprise bird repelling vehicle navigation parameters, a traction azimuth and a pitch angle of a bird repelling pan-tilt, and bird repelling device combination parameters; the bird repelling vehicle navigation parameter is the radius of a bird repelling area which can be reached by the power of bird repelling equipment, and the bird repelling equipment in the bird repelling equipment combination parameter comprises a directional strong sound emission device, an ultrasonic wave emission device, a laser emission device and a titanium bomb emission device.
6. A mobile bird repelling system is characterized by comprising,
the bird repelling task generating module is used for creating a bird repelling task according to the bird condition track;
the bird repelling vehicle distribution module is used for receiving the bird repelling tasks and distributing the tasks according to the calculated time required by each bird repelling vehicle to execute the tasks;
and the bird repelling parameter generating module is used for calculating parameters of the bird repelling equipment according to the bird condition track and the bird repelling vehicle positioning information.
7. The mobile bird repelling system of claim 6, wherein the bird repelling task generating module comprises an automatic generation task and a manual creation task, the manual creation task having a higher priority than the automatic generation task.
8. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to carry out the method of any one of claims 1 to 5 when executed.
9. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 5.
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