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A binocular stereo visual servo system for bird repellent in substations

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Abstract

Bird damage has become one of the main threats to the safety of substations, and the accidents (short circuit, grounding failure and insulation flashover) caused by birds are increasing year by year. However, most existing devices and methods have little effect on intimidating birds in the substation, so they cannot meet the requirements for repelling birds in a high-efficiency and accurate way. In this paper, a binocular stereo visual servo system for bird repellent in substations is developed to detect, locate and repel birds in real-time. The system consists of a small processing computer, a rotatable Pan-tilt based on visual servo and the remote monitoring PC. In order to realize better real-time detection tasks, we improve the YOLOv3-tiny model by reducing the number of convolution kernels to reduce the parameters in the model and make the algorithm faster. And based on the bird detection results, we adopt binocular stereo vision and the coordinate conversion to obtain the distance and the angles of the bird relative to the laser. Experimental results in the actual working environment (the 220 kV substation) reveal that the proposed system could meet the real-time and accuracy requirements of detecting, locating and repelling the bird in practical substation application.

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Acknowledgments

This work was supported in part by National Natural Science Foundation of China under Grant (62001156), the Key Research and Development Program of Jiangsu Province under Grant (BE2021042, BE2020092 and BE2020649) and Project from Jiangsu Key Laboratory of Power Transmission and Distribution Equipment Technology (2021JSSPD04).

Funding

The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This study is funded by National Natural Science Foundation of China under Grant (62001156), the Key Research and Development Program of Jiangsu Province under Grant (BE2021042, BE2020092 and BE2020649) and Project from Jiangsu Key Laboratory of Power Transmission and Distribution Equipment Technology (2021JSSPD04).

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Authors and Affiliations

  1. College of Internet of Things Engineering, Hohai University, Changzhou, 213022, China

    Zhihong Yu, Yunpeng Ma, Yaqin Zhou, Chunkuan Wang & Qingwu Li

  2. Jiangsu Key Laboratory of Power Transmission and Distribution Equipment Technology, Hohai University, Changzhou, 213022, China

    Yunpeng Ma, Yaqin Zhou & Qingwu Li

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  1. Zhihong Yu
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Correspondence to Qingwu Li.

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Yu, Z., Ma, Y., Zhou, Y. et al. A binocular stereo visual servo system for bird repellent in substations. Multimed Tools Appl 82, 29353–29377 (2023). https://doi.org/10.1007/s11042-023-14667-9

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