基于ROS的机场智能驱鸟系统仿生学总线仿真分析

Simulation Analysis of Bionic Bus in ROS-Based Intelligent Bird Repelling System at Airports

摘要: 智能驱鸟系统对实时性要求高，本文研究了基于ROS (Robot Operating System)的机场智能驱鸟系统的设计与实现。其中，关注点集中在仿生学总线的设计与仿真分析上。首先，通过收集和分析现有的驱鸟系统和仿生学总线相关领域的研究，建立了机场智能驱鸟系统的基本原理和需求。然后，提出了一种以ROS作为基础的仿生学总线设计方案，并利用仿真工具评估了该设计方案的性能。采用光电、雷达采集机场鸟群的图像信息，声采集传感器采集声音信息，图像信息通过UVC仿生学协议交互，声音信息通过UDP仿生学协议交互，通过仿生学协议在终端计算机之间远程传输并解码的形式完成鸟类信号的图像和声音特征性传输。鸟群目标检测图像和视频数据传输给上位机，上位机软件显示采集的图像，并将图像数据经过存储，通过UVC仿生学协议将采集的图像的参数传输，包括鸟类的体积、大小、出现频率、危险系数以及标定等信息，从而减少图像或视频的识别辨析过程，提高系统快速识别的速率。声音信息通过UDP仿生学协议交互，将南北方鸟类、鸟类攻击性及鸟类其它信息进行传输，并将有针对性的播放目标鸟群的天敌叫声，同类惨叫声、噪声及枪炮声控制指令发送到强声设备，快速有效实现目标鸟群的驱离。

Abstract: The intelligent bird repellent system has high requirements for real-time performance. This article studies the design and implementation of an intelligent bird repelling system at airports based on ROS (Robot Operating System). The focus is on the design and simulation analysis of a bionic bus. Firstly, by collecting and analyzing existing research on bird repelling systems and bionic buses, the basic principles and requirements of the intelligent bird repelling system at airports are estab-lished. Then, a bionic bus design scheme based on ROS is proposed, and the performance of this de-sign scheme is evaluated using simulation tools. The image information of the airport bird flock is collected through photoelectric and radar sensors, and the sound information is collected through sound acquisition sensors. The image information is transmitted using the UVC bionic protocol, and the sound information is transmitted using the UDP bionic protocol. The bird signals, including im-age and sound characteristics, are transmitted remotely between terminal computers through bi-onic protocols and decoded. The bird target detection images and video data are transferred to the host computer, where the software displays the collected images and transmits the parameters of the images through the UVC bionic protocol, including the volume, size, frequency of occurrence, danger coefficient, and calibration information of the birds. This reduces the image or video recog-nition process and improves the rate of rapid identification. The sound information is transmitted using the UDP bionic protocol, conveying information about bird species, bird aggressiveness, and other bird-related information. Target bird flock repelling instructions, such as predator calls, same-species distress calls, noise, and gunshot sounds, are sent to the sound device for quick and effective bird repelling.