CN102726358A - Laser mosquito killer - Google Patents
Laser mosquito killer Download PDFInfo
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- CN102726358A CN102726358A CN2012101761388A CN201210176138A CN102726358A CN 102726358 A CN102726358 A CN 102726358A CN 2012101761388 A CN2012101761388 A CN 2012101761388A CN 201210176138 A CN201210176138 A CN 201210176138A CN 102726358 A CN102726358 A CN 102726358A
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Abstract
The invention relates to a laser mosquito killer which adopts laser as an energy source for killing mosquitoes and increases a function of alluring the mosquitoes by utilizing sound waves on the basis so as to improve the density of the mosquitoes in the vicinity of the mosquito killing device and further improve the killing efficiency. The device comprises a camera, a microcontroller, a laser device and an alignment system, wherein the camera is electrically connected with the microcontroller, the microcontroller is electrically connected with the laser device, the microcontroller is electrically connected with the alignment system, and the laser device is mechanically connected with the alignment system; and in addition, the device further comprises a sound wave mosquito alluring device which is connected with the microcontroller.
Description
Technical field: this is a kind of kill mosquito equipment.
Background technology:
Existing kill mosquito method comprises that chemistry is killed, physical killing, and physical killing comprises that high-tension electricity kills, and laser is killed etc.Wherein laser kill be with laser as killing weapon, relevant technologies can be with reference to Chinese patent 200410081488.1 laser mosquito eradication machines, with the similar design in 2008 of U.S. knowledge risk company.The objective of the invention is to make on this basis an improvement, promptly increase near the mosquito density of kill mosquito equipment, to improve kill efficiency.
Technical scheme:
The present invention adopts the energy source of laser as kill mosquitoes, increases a kind of function with the sonic attraction mosquito on this basis, gathers near equipment to attract mosquito, then kills.
Product class scheme:
1 one kinds of laser mosquito eradication devices of scheme comprise two or more cameras, microcontroller; Laser instrument, alignment system, camera is electrically connected with microcontroller; Microcontroller is electrically connected with laser instrument, and microcontroller is electrically connected with alignment system, and laser instrument is with the alignment system mechanical connection; Characteristic is that it comprises that also sound wave draws the mosquito device.
The benefit of this programme is to have improved kill efficiency.
Scheme 2 is like 1 said device, and characteristic is that said sound wave draws the mosquito device and comprises Waveform generating circuit, sounding component, and the Waveform generating circuit sounding component connects.
Benefit is that Waveform generating circuit produces acoustic waveform, drives the sounding component sounding, reaches the effect that attracts mosquito.
Scheme 3 is like 1 said device, and characteristic is that said Waveform generating circuit is oscillating circuit, single-chip microcomputer, PLD or ASIC.
The oscillating circuit simple in structure and low in cost, single-chip microcomputer, programmable circuit, ASIC can realize dynamic system configuration, or store multiple voice data, realize function flexibly.
Scheme 4 is like 1 said device, and characteristic is that said single-chip microcomputer, PLD or ASIC are programmed for the device that can produce square wave or PWM ripple in advance.
Square wave generates simple, and PWM ripple harmonic components is less.
Scheme 5 is like 2,3 or 4 said devices, and characteristic is that said sounding component is loudspeaker or piezo-electric ceramic sounding sheet.
Loudspeaker is good in the frequency response of audio frequency medium and low frequency, and the piezoelectric ceramic piece volume is little, power is little, can select according to the concrete occasion of product.
Scheme 6 is like 1 said device, and characteristic is that the fundamental frequency that said sound wave draws the sounding of mosquito device is 300 ~ 400Hz.
The benefit of this programme is that this frequency range is more effective to mosquito.
Scheme 7 is like 1 said device, and characteristic is that said alignment system is the The Cloud Terrace system, comprises two rotation shaft regulated parts, and two rotating shafts are not parallel, and each rotating shaft and laser beam axis are also not parallel.
The benefit of this programme is to regulate the direction of sending laser, so that aim at the mark.
Scheme 8 is like 7 said devices, and characteristic is that two rotating shafts of regulating part are vertical in twos with laser beam axis.
The benefit of this programme is the rotating shaft sighting angle easy for calculation of quadrature, is convenient to the anglec of rotation parameter that microcontroller provides the The Cloud Terrace rotating shaft.
Scheme 9 is like 1 said device, and characteristic is that said alignment system is the pendulum mirror system, comprises 2 pendulum mirrors, and its balance staff is not parallel, and each balance staff and laser beam axis are also not parallel.
The benefit of this programme is that pendulum mirror inertia is little, regulates than is easier to, and fast, can realize aiming at faster.
Scheme 10 is like 9 said devices, and characteristic is that respectively to put the mirror balance staff vertical in twos with laser beam axis.
The benefit of this programme is, the rotation shaft regulated angle easy for calculation of the pendulum mirror of quadrature, and, be convenient to the anglec of rotation parameter that microcontroller provides the rotating shaft of pendulum mirror.
Method class scheme:
11 1 kinds of laser mosquito eradication methods of scheme; Characteristic is to attract mosquito through sound wave, and takes the mosquito image with two or more cameras, confirms its space coordinates through image recognition afterwards; And through the aiming of alignment system control laser instrument, emission laser kills or kills and wounds mosquito.
The benefit of this programme is to have improved kill efficiency.
The oscillating circuit simple in structure and low in cost, single-chip microcomputer, programmable circuit, ASIC can realize dynamic system configuration, or store multiple voice data, realize function flexibly.
Square wave generates simple, and PWM ripple harmonic components is less.
The benefit of this programme is that this frequency range is more effective to mosquito.
The benefit of this programme is to regulate the direction of sending laser, so that aim at the mark.
Scheme 17 is like 16 said methods, and characteristic is that the rotating shaft of described The Cloud Terrace diaxon adjusting part is vertical in twos with laser beam axis.
The benefit of this programme is the rotation shaft regulated easy for calculation of the angle of quadrature, is convenient to the anglec of rotation parameter that microcontroller provides the The Cloud Terrace rotating shaft.
Scheme 18 is like 11 said methods, and characteristic is that said alignment system is the pendulum mirror system, comprises 2 pendulum mirrors, and its balance staff is not parallel, and two balance staffs and laser beam axis are also not parallel.
The benefit of this programme is that the adjusting ratio of pendulum mirror is easier to, and fast, can realize aiming at faster.
Scheme 19 is like 18 said methods, and characteristic is that two balance staffs are vertical in twos with laser beam axis.
The benefit of this programme is that the rotation shaft regulated easy for calculation of pendulum mirror of quadrature is convenient to the anglec of rotation parameter that microcontroller provides the rotating shaft of pendulum mirror.The balance staff here refers to " rotating shaft of pendulum mirror ".
Scheme 20 is like 11 said methods, and characteristic is Continuous Tracking target a period of time to obtain its speed parameter, during aiming target is done the lead correction.
This method benefit is to improve hit rate.
Description of drawings:
Fig. 1 kill mosquito equipment work sketch map
11 microcontrollers, 12 laser instruments, 13 The Cloud Terrace systems, 14 video cameras, 15 sound waves draw the mosquito module, 16 mosquitoes.
Fig. 2 spatial coordinate calculates principle schematic
Space coordinates T in the visual field of 21 visual fields, 22 targets (X, Y, Z); 23 No. 2 video camera imaging optical axises, 24 No. 2 camera lens groups, 25 No. 2 video camera imaging T2 (x2, y2; Z2), the coordinate of 26 targets in No. 2 video camera imagings, 27 No. 1 video camera imaging optical axises, 28 No. 1 camera lens groups; 29 No. 1 video camera imaging T1 (x1, y1, z1), the coordinate of 210 targets in No. 1 video camera imaging.
O is the origin of coordinates in the visual field, and O1 is No. 1 origin of coordinates in the video camera imaging, and O2 is No. 2 origins of coordinates in the video camera imaging, and d is the half the of two optical axis spacings, and Z is the distance of set of lenses to the visual field, and Z0 is the distance that set of lenses arrives imaging plane.
Fig. 3 kill mosquito step block diagram
Fig. 4 aim-off sketch map
Fig. 5 The Cloud Terrace system perspective is calculated principle schematic
Fig. 6 microcontroller software block diagram
Embodiment:
Sound wave attracts part:
Biological Principles:
Male mosquito can be by the deception of the sound wave of 300 ~ 400Hz, and they can take for is the sound wave that female mosquito sends, thereby assembles to sound source, utilizes these characteristics to concentrate and kills male mosquito, destroys its population balance, destroys its [, thereby reaches ecocidal effect.
Circuit theory:
At first using waveform generator, produce the waveform of this frequency, can be sinusoidal wave, triangular wave, and multi-harmonic-oscillations waveforms such as square wave, the rate of doing work is amplified then, drives sounding component.Waveform generator can be the triode oscillating circuit, also can use the multivibrator integrated circuit, can also be with synthetic (DDS) technology of numerical frequency.
Waveform generator preferably can be realized the Field adjustment to frequency, and the responsive frequency of the mosquito of (region of exceeding with hundreds of km) is slightly different because different region, and the Field adjustment frequency can realize better drawing the mosquito effect.
To the frequency adjustment of triode oscillating circuit, can pass through control capacittance, resistance realization,
Can realize through regulating its external RC multivibrator integrated circuit (for example 555 time-base integrated circuits),
To the DDS circuit, can realize that these all are known technologies through its stepping phase place is set.
Sounding component can be used coil-moving speaker, also can use the piezo-electric ceramic sounding sheet, or other sounding components, on the unessential basis of other term restrictions, preferentially selects in 300 ~ 400Hz frequency response sounding component preferably.
Laser is killed part:
As shown in Figure 1, when mosquito aloft danced in the air, microcontroller 11 was through camera 14 shootings; Can discern mosquito 16; And extract its three-dimensional coordinate, even can accurately locate its wing, control the The Cloud Terrace 13 adjustment attitudes of laser instrument 12 then and aim at mosquito; And to its emission laser; Heat effect moment of laser is destroyed mosquito bodily tissue (mainly being moisture and carbohydrate), or only burns the wing of mosquito--and this needs more accurate identification and control, lets it no longer include to bite, the harm of transmitted virus.
Image recognition: two cameras, aim at an aerial zone, they synchronously make video acquisition, form the vision signal on two-way plane; Every road signal is made moving object detection, for example use calculus of finite differences, and make Target Recognition; This is through setting up the graphic feature of mosquito, and these characteristics can be areas, texture; Gray scale, flying speeds etc. are judged in the Real time identification algorithm then whether target meets to realize; After being identified as the mosquito target; Calculate the real-time center-of-mass coordinate of target, two paths of signals can obtain two center-of-mass coordinates, combines to calculate the three dimensional space coordinate of mosquito with respect to camera; And then calculate the direction that laser instrument should be aimed at; Alignment system according to this result of calculation adjusting laser instrument aims at the mark in view of the above, the destruction of emission laser beam.
Mosquito coordinate Calculation method is as shown in Figure 2:
Z0 is the physical parameter of video camera, also can obtain with a known distance u, the big or small v0 of picture that is of a size of the thing of v: u/Z0=v/v0.
Here it is parallel to establish two optical axises, two set of lenses and visual field 21 equidistance, and wherein the coordinate of corresponding target has following relation
(X+d)/x1=(X-d)/x2=Y/y1=Z/Z0,?y1=y2,?z1=z2=Z0,
Explain: when x1=0, X=-d;
When x2=0, X=d;
When y1=0, Y=0.
Separate this equation group, (Z), this is the coordinate of mosquito in the space for X, Y can to obtain the coordinate of T.This coordinate origin is at two set of lenses line mid points.
Alignment system can be the The Cloud Terrace system, also can be the pendulum mirror system.
The Cloud Terrace comprises at least two regulating shafts, and is not parallel each other, and also not parallel, preferably orthogonal with optical axis, laser instrument can be regulated arbitrarily in a solid angle scope like this.Certainly, if diaxon is not parallel, also can realize the twin shaft adjusting, just formula is slightly different.
Through the direction that the angle of regulating two axles is regulated the laser instrument aiming, the calculating of angle is as shown in Figure 5:
Two regulating shaft axis might as well establishing The Cloud Terrace with laser beam axis intersect at fixing some L (x3, y3, z3),
(in the time of Z), the level angle of laser (laser on horizontal plane xOz plane inner projection with z axle positive direction angle) φ=arctg ((X-x3)/(Y-y3)) might as well establish this angle here between positive and negative 90 degree for X, Y at T when target.The calculating of other angular ranges can similarly be derived;
Laser might as well be established this angle here between positive and negative 90 degree at angle (laser and its angle at the horizontal plane xOz plane inner projection) θ=arctg (Y-y3)/Sqrt ((Z-z3) ^2+ (X-x3) ^2) of vertical direction.The calculating of other angular ranges can similarly be derived;
Here it is regulates the angle parameter of The Cloud Terrace.
The pendulum mirror system comprises two pendulum mirrors, and two balance staffs, laser optical axis pairwise orthogonal after laser is sent by resonator like this, can be implemented in the interior quick adjustment of a solid angle scope.
It regulates the computational methods that parameter is similar to the The Cloud Terrace system.
The microcontroller software block diagram is as shown in Figure 6:
Getting into wait state through initialization after main program main starts, promptly do not stop scanning " view data ready flag ", find whether go to discern it after its set is target, and this sign that resets, is that the words of target are calculated its (barycenter) coordinate, aiming, shoots;
The view data of camera acquisition drives microcontroller and produces interrupt signal; Interrupt Service Routine ISR is by this signal enabling, then initialization and transmit data (when also possibly produce interrupt signal one frame data end of transmission), every transmission one piece of data; For example each image channel is gathered after the frame data; Be provided with " view data ready flag ", from ISR, return, continue to carry out main program.
Preferably, can make aim-off calculates:
Emission laser will be through a delay because make a video recording, and this delay possibly cause launching light beam misses the target, so aiming will be included the consideration of lead in.Might as well establish the mosquito flight path is linear track, in the relatively short time, is rectilinear flight promptly, and drawing its velocity through the tracking to a period of time of mosquito is (Vx; Vy, Vz)--notice that this is a variable, and the time of the emission laser experience of making a video recording is t; Obtain image when 0 moment, can predict that so mosquito has flown to T1 (X+Vx.t, Y+Vy.t; Z+Vz.t), should aim at T1 during aiming.Similarly, can do the prediction of other models to the flight path of mosquito, for example high-order prediction, for example acceleration also is foreseeable.
Whole:
Behind the system boot, sonic generator is started working, and attracts male mosquito sudden; Camera begins to gather vision signal simultaneously; Video processing unit also begins to distinguish the target that flies, and when identification result is mosquito, begins to follow the tracks of, and regulates the laser gun direction; Accomplish emission laser pulse when regulating, kill and wound mosquito or destroy the mosquito wing.Entire equipment can be placed on the The Cloud Terrace, to increase operating angle.
Claims (21)
1. a laser mosquito eradication device comprises two or more cameras, microcontroller; Laser instrument, alignment system, camera is electrically connected with microcontroller; Microcontroller is electrically connected with laser instrument, and microcontroller is electrically connected with alignment system, and laser instrument is with the alignment system mechanical connection; Characteristic is that it comprises that also sound wave draws the mosquito device.
2. device according to claim 1, characteristic is that said sound wave draws the mosquito device and comprises Waveform generating circuit, sounding component, Waveform generating circuit is connected with sounding component.
3. install according to claim 1, characteristic is that said Waveform generating circuit is oscillating circuit, single-chip microcomputer, PLD or ASIC.
4. install according to claim 1, characteristic is that said single-chip microcomputer, PLD or ASIC are programmed for the device that can produce square wave or PWM ripple in advance.
5. like claim 2,3 or 4 said devices, characteristic is that said sounding component is loudspeaker or piezo-electric ceramic sounding sheet.
6. device according to claim 1, characteristic is that the fundamental frequency that said sound wave draws the sounding of mosquito device is 300 ~ 400Hz.
7. install according to claim 1, characteristic is that said alignment system is the The Cloud Terrace system, comprises two rotation shaft regulated parts, and two rotating shafts are not parallel, and each rotating shaft and laser beam axis are also not parallel.
8. like the said device of claim 7, characteristic is that two rotating shafts of regulating part are vertical in twos with laser beam axis.
9. install according to claim 1, characteristic is that said alignment system is the pendulum mirror system, comprises 2 pendulum mirrors, and its balance staff is not parallel, and each balance staff and laser beam axis are also not parallel.
10. like the said device of claim 9, characteristic is that respectively to put the mirror balance staff vertical in twos with laser beam axis.
11. laser mosquito eradication method; Characteristic is to attract mosquito through sound wave, and takes the mosquito image with two or more cameras, confirms its space coordinates through image recognition afterwards; And through the aiming of alignment system control laser instrument, emission laser kills or kills and wounds mosquito.
12. like the said method of claim 11, characteristic be said sound wave to draw mosquito be to realize with following steps, produce waveform signal with Waveform generating circuit, drive the sounding component sounding with waveform signal again.
13. like the said method of claim 12, characteristic is that the method for said Waveform generating circuit generation waveform can produce through oscillating circuit, single-chip microcomputer, PLD or ASIC.
14. like the said method of claim 13, characteristic is that the waveform signal that produces through single-chip microcomputer, PLD, ASIC or oscillating circuit is square wave or PWM ripple.
15. like the said method of claim 11, characteristic is that the sound wave fundamental frequency that produces is 300 ~ 400Hz.
16. the benefit of this programme is that this frequency range is more effective to mosquito.
17. like the said method of claim 11, characteristic is that said aligning realizes that by two axial angular adjustment diaxon is not parallel, diaxon and laser beam axis are also not parallel.
18. like the said method of claim 16, characteristic is that the rotating shaft of described The Cloud Terrace diaxon adjusting part is vertical in twos with laser beam axis.
19. like the said method of claim 11, characteristic is that said alignment system is the pendulum mirror system, comprises 2 pendulum mirrors, its balance staff is not parallel, and two balance staffs and laser beam axis are also not parallel.
20. like the said method of claim 18, characteristic is that two balance staffs are vertical in twos with laser beam axis.
21. like the said method of claim 11, characteristic is Continuous Tracking target a period of time to obtain its speed parameter, during aiming target is done the lead correction.
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103027030A (en) * | 2013-01-10 | 2013-04-10 | 厦门大学 | Intelligent laser mosquito killing robot |
| CN103783016A (en) * | 2013-04-07 | 2014-05-14 | 北京志光伯元科技有限公司 | Laser disinsectization equipment |
| CN104872098A (en) * | 2015-06-08 | 2015-09-02 | 顾瑞芳 | Handheld laser mosquito killing swatter |
| CN106376539A (en) * | 2016-08-31 | 2017-02-08 | 薛凯 | Portable laser insect killing device and method thereof |
| CN106804560A (en) * | 2016-12-16 | 2017-06-09 | 东莞市万科建筑技术研究有限公司 | Laser mosquito eradication device and method |
| CN106942196A (en) * | 2017-03-31 | 2017-07-14 | 重庆光电信息研究院有限公司 | A kind of active mosquito repellent method and device |
| WO2017152737A1 (en) * | 2016-03-11 | 2017-09-14 | 深圳市镭神智能系统有限公司 | Device for smartly killing mosquito by laser, and robot |
| CN107549140A (en) * | 2017-08-28 | 2018-01-09 | 苏州亿丰新技农林装备科技有限公司 | A kind of granary insecticide circuit and granary insecticide device |
| CN107589785A (en) * | 2017-09-19 | 2018-01-16 | 深圳传音通讯有限公司 | Mosquito eradication method, electronic equipment and computer-readable recording medium |
| CN107836429A (en) * | 2017-03-01 | 2018-03-27 | 岭南师范学院 | A kind of Intelligent Laser insect killing device and its application method based on parallel mechanism structure |
| CN107996540A (en) * | 2018-01-25 | 2018-05-08 | 华东交通大学 | One kind becomes light flying insect killing trapping device |
| CN108703126A (en) * | 2018-07-04 | 2018-10-26 | 华南理工大学 | Automatically move laser mosquito killer |
| CN109430205A (en) * | 2018-12-07 | 2019-03-08 | 金同磊 | Active mosquito killer and its corresponding mosquito eradication method |
| CN110191635A (en) * | 2017-01-22 | 2019-08-30 | 塞纳科有限公司 | For carrying out the method and device thereof of sex sorting to mosquito |
| CN110347187A (en) * | 2019-08-09 | 2019-10-18 | 北京机械设备研究所 | A kind of target detection tracing System and method for based on sound and image information |
| CN110392525A (en) * | 2017-01-19 | 2019-10-29 | 科尔哲集团有限公司 | Insect trap and method |
| CN111988495A (en) * | 2019-05-23 | 2020-11-24 | 阿里巴巴集团控股有限公司 | Method, device, equipment and system for controlling light beam projection |
| CN112806339A (en) * | 2020-12-31 | 2021-05-18 | 深圳市商汤科技有限公司 | Laser emission control device, method and computer-readable storage medium |
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| CN103027030A (en) * | 2013-01-10 | 2013-04-10 | 厦门大学 | Intelligent laser mosquito killing robot |
| CN103027030B (en) * | 2013-01-10 | 2014-09-03 | 厦门大学 | Intelligent laser mosquito killing robot |
| CN103783016A (en) * | 2013-04-07 | 2014-05-14 | 北京志光伯元科技有限公司 | Laser disinsectization equipment |
| CN103783016B (en) * | 2013-04-07 | 2016-03-16 | 北京志光伯元科技有限公司 | A kind of laser vermin exterminating apparatus |
| CN104872098A (en) * | 2015-06-08 | 2015-09-02 | 顾瑞芳 | Handheld laser mosquito killing swatter |
| WO2017152737A1 (en) * | 2016-03-11 | 2017-09-14 | 深圳市镭神智能系统有限公司 | Device for smartly killing mosquito by laser, and robot |
| CN106376539A (en) * | 2016-08-31 | 2017-02-08 | 薛凯 | Portable laser insect killing device and method thereof |
| CN106804560A (en) * | 2016-12-16 | 2017-06-09 | 东莞市万科建筑技术研究有限公司 | Laser mosquito eradication device and method |
| CN110392525A (en) * | 2017-01-19 | 2019-10-29 | 科尔哲集团有限公司 | Insect trap and method |
| CN110191635A (en) * | 2017-01-22 | 2019-08-30 | 塞纳科有限公司 | For carrying out the method and device thereof of sex sorting to mosquito |
| CN110191635B (en) * | 2017-01-22 | 2022-03-15 | 塞纳科有限公司 | Method and device for sex sorting of mosquitoes |
| CN107836429A (en) * | 2017-03-01 | 2018-03-27 | 岭南师范学院 | A kind of Intelligent Laser insect killing device and its application method based on parallel mechanism structure |
| CN106942196A (en) * | 2017-03-31 | 2017-07-14 | 重庆光电信息研究院有限公司 | A kind of active mosquito repellent method and device |
| CN107549140A (en) * | 2017-08-28 | 2018-01-09 | 苏州亿丰新技农林装备科技有限公司 | A kind of granary insecticide circuit and granary insecticide device |
| CN107589785A (en) * | 2017-09-19 | 2018-01-16 | 深圳传音通讯有限公司 | Mosquito eradication method, electronic equipment and computer-readable recording medium |
| CN107996540A (en) * | 2018-01-25 | 2018-05-08 | 华东交通大学 | One kind becomes light flying insect killing trapping device |
| CN108703126A (en) * | 2018-07-04 | 2018-10-26 | 华南理工大学 | Automatically move laser mosquito killer |
| CN109430205A (en) * | 2018-12-07 | 2019-03-08 | 金同磊 | Active mosquito killer and its corresponding mosquito eradication method |
| CN111988495A (en) * | 2019-05-23 | 2020-11-24 | 阿里巴巴集团控股有限公司 | Method, device, equipment and system for controlling light beam projection |
| CN110347187A (en) * | 2019-08-09 | 2019-10-18 | 北京机械设备研究所 | A kind of target detection tracing System and method for based on sound and image information |
| CN112806339A (en) * | 2020-12-31 | 2021-05-18 | 深圳市商汤科技有限公司 | Laser emission control device, method and computer-readable storage medium |
| CN112806339B (en) * | 2020-12-31 | 2023-01-20 | 深圳市商汤科技有限公司 | Laser emission control device, method and computer-readable storage medium |
| WO2023197042A1 (en) * | 2022-04-14 | 2023-10-19 | Commonwealth Scientific And Industrial Research Organisation | Sex based arthropod sorting system and method |
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Application publication date: 20121017 |