CN109168831A - Bird-repellent robots - Google Patents
Bird-repellent robots Download PDFInfo
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- CN109168831A CN109168831A CN201810959057.2A CN201810959057A CN109168831A CN 109168831 A CN109168831 A CN 109168831A CN 201810959057 A CN201810959057 A CN 201810959057A CN 109168831 A CN109168831 A CN 109168831A
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- bird
- repellent
- birds
- robots
- target birds
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
- A01G13/10—Devices for affording protection against animals, birds or other pests
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
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- Life Sciences & Earth Sciences (AREA)
- Birds (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of bird-repellent robots, and there are when birds in reconnaissance range, processor tracks the position of target birds by infrared ray range sensor；When target birds are stationary state; according to the position of the position of target birds and preset crop protection region; determine the direction for driving target birds; and keep track the position of target birds; when target birds fly into the control range of other bird-repellent robots; the instruction for driving target birds that bird-repellent robots of the communication module near target birds are sent is controlled, similarly also can receive the instruction for driving target birds of other bird-repellent robots transmission.To solve often to be limited due to the sphere of action of scarer, and since the direction driven not can determine that, the problem of birds may be made to fly into the intensive region of crop planting, cause bigger damage to crops.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of bird-repellent robots.
Background technique
In outdoor plantation crops, it is easy to be pecked at by birds, makes crops by different degrees of damage.It is existing
The method for driving birds for crops be by device issue illumination and sound etc. drive birds.But due to scarer
Sphere of action be often limited, and since the direction driven not can determine that, birds may be made to fly into the intensive area of crop planting
Bigger damage is caused to crops in domain.
Summary of the invention
The main purpose of the present invention is to provide a kind of orientation bird repellent control method, bird-repellent robots and computer-readable deposit
Storage media to solve often to be limited due to the sphere of action of scarer, and since the direction driven not can determine that, may make bird
The problem of class flies into the intensive region of crop planting, causes bigger damage to crops.
To achieve the above object, the present invention provides a kind of orientation bird repellent control method for bird-repellent robots, bird repellents
Robot includes robot body, and infrared camera, camera and infrared ray range sensor on the body is arranged, can turn
The loudspeaker of dynamic setting on the body, control circuit plate module, movable pulley and power module, orientation bird repellent control method include
Step:
Obtain the infrared view and ambient image in bird-repellent robots reconnaissance range；
According to infrared view and ambient image, judge in reconnaissance range with the presence or absence of birds；
There are when birds in reconnaissance range, the position of target birds is tracked by infrared ray range sensor；
When target birds are stationary state, according to the position of the position of target birds and preset crop protection region
Set, determine target birds drive Direction interval and determine target birds position driven with respect to whether bird-repellent robots are located at
In Direction interval；
When the position of target birds is located at respect to bird-repellent robots and drives in Direction interval, control loudspeaker turns to drive
The direction in Direction interval is caught up with, and controls loudspeaker and plays bird repellent audio in such a way that volume is gradually incremented by；
When the position of target birds deviates from respect to bird-repellent robots and drives in Direction interval, relative target birds are judged
The position for being located proximate to preset crop protection region side pre-determined distance in the presence or absence of other bird repellent machines
People；
When there are other bird-repellent robots in pre-determined distance, the first bird repellent is sent to other bird-repellent robots and is asked
It asks, issues bird repellent audio to control other bird-repellent robots to the direction driven in Direction interval；
There is no when other bird-repellent robots in pre-determined distance, the direction of heavenwards issues volume and is greater than preset value
Bird repellent audio.
Wherein, orientation bird repellent control method further comprises the steps of:
The second bird repellent request that other bird-repellent robots are sent is received, the second bird repellent request includes the position of target birds
It sets；
According to Direction interval is driven, control loudspeaker turns to the direction driven in Direction interval and plays bird repellent sound
Frequently.
Wherein, the step of control loudspeaker turns to the direction for driving Direction interval and plays bird repellent audio, specifically includes:
Second bird repellent request includes the position of target birds, according to the position of target birds, controls loudspeaker rotation, direction
The position of target birds simultaneously plays bird repellent audio.
Wherein, bird repellent control method is oriented further include:
There are when birds in reconnaissance range, the direction of motion of target birds is tracked by infrared ray range sensor；
When the position of target birds deviates from respect to bird-repellent robots and drives in Direction interval, relative target birds are judged
The direction of motion whether with drive Direction interval and match；
When the direction of motion of target birds is with driving Direction interval and matching, the location information of target birds is persistently obtained,
When the position of target birds is located at respect to bird-repellent robots and drives in Direction interval, the side of driving is turned into control loudspeaker
A direction into section, and control the step of loudspeaker plays bird repellent audio in such a way that volume is gradually incremented by；
When the direction of motion of target birds is with Direction interval mismatch is driven, into the position for judging relative target birds
With the presence or absence of the step of other bird-repellent robots in the pre-determined distance of the side of the position in preset crop protection region
Suddenly.
Wherein, according to infrared view and ambient image, judge to go back after the step of whether there is birds in reconnaissance range
Include:
It is mobile according to preset patrol route when birds being not present in reconnaissance range.
Wherein, when there are other bird-repellent robots in pre-determined distance, first is sent to other bird-repellent robots and is driven
Bird is requested, and includes: to control the step of other bird-repellent robots issue bird repellent audio to the direction driven in Direction interval
When there are other bird-repellent robots in pre-determined distance, judge whether the number of other bird-repellent robots is more
It is a；
When to be multiple, calculate separately the positions of multiple other bird-repellent robots between the position of target birds away from
From；
According to the position of multiple other bird-repellent robots to the distance between the position of target birds, in multiple others
In bird-repellent robots people, the other bird-repellent robots of the position of distance objective birds recently are selected；
The other bird-repellent robots nearest to the position of distance objective birds send the first bird repellent request, to control other
Bird-repellent robots to drive direction issue bird repellent audio.
Wherein, the first bird repellent request is sent to the nearest other bird-repellent robots in the position of distance objective birds, with control
Other bird-repellent robots are made to after the step of driving direction sending bird repellent audio further include:
The position for persistently obtaining target birds judges whether target birds are mobile to the direction driven in Direction interval；
When target birds are mobile to the direction driven in Direction interval, and in the position of target birds with respect to bird repellent machine
People is located at when driving in Direction interval, turns into control loudspeaker and drives one in Direction interval and drive direction, and controls
Loudspeaker plays the step of bird repellent audio in such a way that volume is gradually incremented by；
When target birds deviate the direction movement driven in Direction interval, choosing is reselected according to the position of target birds
Select the nearest other bird-repellent robots in the position of distance objective birds.
Wherein, the audio for driving target birds is the day of the recording or corresponding target birds when target birds are driven
The recording of enemy.
The present invention also provides a kind of bird-repellent robots, the bird-repellent robots include robot body, are arranged in ontology
On infrared camera, camera and infrared ray range sensor, the loudspeaker being rotatably provided on the ontology, control
Circuit board module, movable pulley and power module, wherein the control circuit plate module include communication module, memory and
Processor, the memory is for storing executable computer program and data, and the processor is for calling the calculating
Machine program simultaneously executes following steps:
Obtain the infrared view and ambient image in the bird-repellent robots reconnaissance range；
According to the infrared view and ambient image, judge in the reconnaissance range with the presence or absence of birds；
There are when birds in the reconnaissance range, the position of target birds is tracked by the infrared ray range sensor
It sets；
When the target birds are stationary state, according to the position of the target birds and preset crop protection area
The position in domain determines the relatively described bird repellent in position of the target birds driven Direction interval and determine the target birds
Whether robot is located at described drive in Direction interval；
When the relatively described bird-repellent robots are located at described drive in Direction interval in the position of the target birds, institute is controlled
It states loudspeaker and turns to the direction driven in Direction interval, and control the loudspeaker in such a way that volume is gradually incremented by
Play bird repellent audio；
When in the position of the target birds, the relatively described bird-repellent robots deviate from described drive in Direction interval, judgement
It is in the pre-determined distance of the side of the position for being located proximate to the preset crop protection region of the relatively described target birds
It is no to there are other bird-repellent robots；
When there are other bird-repellent robots in the pre-determined distance, the communication module is controlled to other drives
Bird robot sends the first bird repellent request, to control other bird-repellent robots to the side driven in Direction interval
To sending bird repellent audio；
There is no when other bird-repellent robots in the pre-determined distance, the direction of the communication module heavenwards is controlled
Issue the bird repellent audio that volume is greater than preset value.
Preferably, the processor is also used to call the computer program and executes following steps:
It controls the communication module and receives the second bird repellent request that other bird-repellent robots are sent, described second drives
Bird request includes the position of target birds；
Direction interval is driven according to described, the loudspeaker is controlled and turns to the direction driven in Direction interval simultaneously
Play bird repellent audio.
Preferably, the processor, which controls the loudspeaker and turns to, described drive the direction of Direction interval and plays bird repellent
The mode of audio includes:
According to the position of the target birds, control the loudspeaker rotation, towards the target birds position and broadcast
Put bird repellent audio.
Preferably, the processor is also used to call the computer program and executes following steps:
There are when birds in the reconnaissance range, the movement of target birds is tracked by the infrared ray range sensor
Direction；
When in the position of the target birds, the relatively described bird-repellent robots deviate from described drive in Direction interval, judgement
Whether the direction of motion of the relatively described target birds matches with the Direction interval of driving；
The target birds the direction of motion with it is described drive Direction interval and match when, persistently obtain the target birds
Location information, when in the position of the target birds, the relatively described bird-repellent robots are located at described drive in Direction interval, into
Enter to control the loudspeaker and turn to the direction driven in Direction interval, and controls the loudspeaker and gradually passed with volume
The mode of increasing plays the step of bird repellent audio；
The target birds the direction of motion and it is described drive Direction interval and mismatch when, into judging relatively described mesh
Marking in the pre-determined distance of the side of the position for being located proximate to the preset crop protection region of birds whether there is other
Bird-repellent robots the step of.
Preferably, the processor is according to the infrared view and ambient image, judge in the reconnaissance range whether
After the step of there are birds, it is also used to call the computer program and executes following steps:
It is mobile according to preset patrol route when birds being not present in the reconnaissance range.
Preferably, when the processor has other bird-repellent robots in the pre-determined distance, the communication is controlled
Module sends the first bird repellent request to other bird-repellent robots, to control other bird-repellent robots to the drive
The mode for catching up with a direction in Direction interval to issue bird repellent audio includes:
When there are other bird-repellent robots in the pre-determined distance, the number of other bird-repellent robots is judged
It whether is multiple；
When to be multiple, the position to the position of the target birds of the multiple other bird-repellent robots is calculated separately
The distance between；
According to the position of the multiple other bird-repellent robots to the distance between the position of the target birds, in institute
It states in multiple other bird-repellent robots people, the other bird-repellent robots for selecting the position apart from the target birds nearest；
Control the communication module other bird-repellent robots hair nearest to the position apart from the target birds
It send first bird repellent to request, issues bird repellent audio to control other bird-repellent robots to the direction of driving.
Preferably, the processor controls the communication module to nearest its in the position apart from the target birds
His bird-repellent robots send the first bird repellent request, are sent out with controlling other bird-repellent robots to the direction of driving
Out after the step of bird repellent audio, it is also used to call the computer program and executes following steps:
The position for persistently obtaining the target birds, judges whether the target birds drive in Direction interval to described
Direction is mobile；
When the target birds are mobile to the direction driven in Direction interval, and in the position of the target birds
When the relatively described bird-repellent robots are driven in Direction interval described in, the side of driving is turned into the loudspeaker is controlled
One into section drives direction, and controls the step of loudspeaker plays bird repellent audio in such a way that volume is gradually incremented by；
When driving the direction movement in Direction interval described in deviateing in the target birds, according to the position of the target birds
Set the nearest other bird-repellent robots in the position reselected Xuan Ze apart from the target birds.
Preferably, recording or corresponding institute when the audio for driving target birds is driven for the target birds
State the recording of the natural enemy of target birds.
The present invention also provides a kind of computer readable storage medium, computer-readable recording medium storage has computer journey
Sequence, the step of above-mentioned orientation bird repellent control method is realized when computer program is executed by processor.
Above scheme of the invention is include at least the following beneficial effects:
In an embodiment of the present invention, by obtaining infrared view and environment map in bird-repellent robots reconnaissance range
Picture judges that there are birds in reconnaissance range with the presence or absence of birds in reconnaissance range further according to infrared view and ambient image
When, the position of target birds is tracked by infrared ray range sensor；When target birds are stationary state, according to target birds
Position and preset crop protection region position, determine target birds drives Direction interval and determine target birds
Position driven in Direction interval with respect to whether bird-repellent robots are located at, be located in the position of target birds with respect to bird-repellent robots
When driving in Direction interval, control loudspeaker turn to the direction driven in Direction interval, and control loudspeaker with volume by
Gradually incremental mode plays bird repellent audio, deviates from and drives in Direction interval with respect to bird-repellent robots in the position of target birds
When, judge in the pre-determined distance of the side of the position for being located proximate to preset crop protection region of relative target birds whether
There are other bird-repellent robots, when there are other bird-repellent robots in pre-determined distance, send out to other bird-repellent robots
It send the first bird repellent to request, issues bird repellent audio to control other bird-repellent robots to the direction driven in Direction interval,
There is no when other bird-repellent robots in pre-determined distance, the direction of heavenwards issues the bird repellent audio that volume is greater than preset value,
To solve often to be limited due to the sphere of action of scarer, and since the direction driven not can determine that, birds may be made to fly
The problem of entering the intensive region of crop planting, bigger damage caused to crops.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The content shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the flow chart that bird repellent control method is oriented in the specific embodiment of the invention；
Fig. 2 is requested to receive the bird repellent of other bird-repellent robots in the specific embodiment of the invention and is played the stream of bird repellent audio
Cheng Tu；
Fig. 3 is the sub-process figure of step S7 in the specific embodiment of the invention；
Fig. 4 is the structural schematic diagram of bird-repellent robots in the specific embodiment of the invention.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
The present invention provides a kind of orientation bird repellent control method for bird-repellent robots, and bird-repellent robots include robot sheet
Body is arranged infrared camera, camera and infrared ray range sensor on the body, is rotatably provided in raising on ontology
Sound device, control circuit plate module, movable pulley and power module；Referring to Fig. 1, orientation bird repellent control method comprising steps of
S1, the infrared view in acquisition bird-repellent robots reconnaissance range and ambient image.
Specifically, in a particular embodiment, bird-repellent robots can obtain its detecting by infrared camera and camera
Infrared view and ambient image in range, whether infrared image is birds for determining biological heat source, in infrared image
There are when the case where doubtful birds, then obtains the case where ambient image is to doubtful birds and carries out secondary-confirmation, it is to be understood that
The accuracy that can be improved identification using infrared view and ambient image effectively reduces erroneous judgement.
S2, according to infrared view and ambient image, judge in reconnaissance range with the presence or absence of birds.
Specifically, in a particular embodiment, first obtaining infrared view, detecting whether to exist from infrared image and presetting
Birds infrared view the case where matching, match with preset birds infrared view or phase when existing in infrared image
When like degree more than the case where preset value, obtains ambient image and secondary-confirmation analysis is carried out to the image of doubtful birds, pass through target
Shape, color and confirming operation whether there is birds.
S3, in reconnaissance range there are when birds, pass through the position that infrared ray range sensor tracks target birds.
Specifically, in a particular embodiment, bird-repellent robots are equipped with infrared ray range sensor, in infrared view
Behind the direction that target birds have been determined, the position of target birds can be obtained according to the distance that infrared sensor obtains.
S4, when target birds are stationary state, according to the position of target birds and preset crop protection region
Position, determine target birds drive Direction interval and determine target birds position whether be located at drive with respect to bird-repellent robots
It catches up in Direction interval.
Specifically, in a particular embodiment, the Direction interval of driving of target birds refers to, birds can be expelled default
Crop protection region or make the multiple set of driving direction of the birds far from preset crop protection region；The side of driving
To referring to, moving direction expected from target birds after the measure of driving is made；Preset crop protection region refers to be set in advance
It sets, plants the region of the crops of protection in need；When target birds are stationary state, the position of target birds is confirmed,
And confirms whether the position of target birds is in relative to bird-repellent robots and drive one in Direction interval and drive on direction.
S5, the position of target birds with respect to bird-repellent robots be located at drive in Direction interval when, control loudspeaker rotation
To the direction driven in Direction interval, and controls loudspeaker and play bird repellent audio in such a way that volume is gradually incremented by.
Specifically, in a particular embodiment, when bird-repellent robots monitor that target birds are in it and drive in Direction interval
One when driving direction, control the loudspeaker being set on bird-repellent robots and turn to the direction driven in Direction interval, and
Bird repellent audio is played in such a way that volume is gradually incremented by.
S6, the position of target birds with respect to bird-repellent robots deviate from drive in Direction interval when, judge relative target
With the presence or absence of other bird repellents in the pre-determined distance of the side of the position for being located proximate to preset crop protection region of birds
Robot.
Specifically, in a particular embodiment, pre-determined distance is the adjustable distance in bird-repellent robots controlled range,
Judge in pre-determined distance with the presence or absence of other bird-repellent robots, that is, judge using pre-determined distance to be in the reconnaissance range of radius
It is no to there are other robots；When bird-repellent robots monitor that target birds are not still driving Direction interval in target birds position
When interior one drives direction, it whether there is other bird-repellent robots in detection pre-determined distance, and judge whether target birds are in
One driven in Direction interval of other bird-repellent robots drives on direction.
S7, when there are other bird-repellent robots in pre-determined distance, the first bird repellent is sent to other bird-repellent robots
Request issues bird repellent audio to control other bird-repellent robots to the direction driven in Direction interval.
Specifically, in a particular embodiment, monitoring that there are when other bird-repellent robots, remember his drive in pre-determined distance
Bird robot sends the first bird repellent request, and the first bird repellent request includes the position of target birds and drives Direction interval, other drives
When bird robot receives the first bird repellent request, according to the position of target birds and drive whether Direction interval judges target birds
Relative to from driving in Direction interval, when target birds be in itself when driving in Direction interval, control loudspeaker turn
It is dynamic, bird repellent audio is played towards the direction driven in Direction interval.
S8, in pre-determined distance there is no when other bird-repellent robots, the direction of heavenwards issue volume be greater than it is default
The bird repellent audio of value.
Specifically, the direction of heavenwards is default to be greater than when can't detect other bird-repellent robots in pre-determined distance
The volume of value plays bird repellent audio, and target birds is made to get a fright shift position, so as to make target birds shift position, when
Target birds are moved to being driven when driving in range for bird-repellent robots.
Orientation bird repellent control method provided by the invention, by obtaining the infrared view in bird-repellent robots reconnaissance range
And ambient image judges with the presence or absence of birds in reconnaissance range, in reconnaissance range further according to infrared view and ambient image
There are when birds, the position of target birds is tracked by infrared ray range sensor；When target birds are stationary state, according to
The position of the position of target birds and preset crop protection region, determine target birds drives Direction interval and determination
The position of target birds is driven in Direction interval with respect to whether bird-repellent robots are located at, in the position of target birds with respect to bird dispelling device
For device people positioned at when driving in Direction interval, control loudspeaker turns to the direction driven in Direction interval, and controls loudspeaker
Bird repellent audio is played in such a way that volume is gradually incremented by, and is deviated from the position of target birds with respect to bird-repellent robots and is driven direction
When in section, the pre-determined distance of the side of the position for being located proximate to preset crop protection region of relative target birds is judged
It is interior to whether there is other bird-repellent robots, when there are other bird-repellent robots in pre-determined distance, to other bird dispelling devices
Device human hair send the first bird repellent to request, and issues bird repellent sound to control other bird-repellent robots to the direction driven in Direction interval
Frequently, there is no when other bird-repellent robots in pre-determined distance, the direction of heavenwards issues the bird repellent that volume is greater than preset value
Audio to solve often to be limited due to the sphere of action of scarer, and since the direction driven not can determine that, may make bird
The problem of class flies into the intensive region of crop planting, causes bigger damage to crops.
Wherein, referring to Fig. 2, in a particular embodiment, orientation bird repellent control method further includes receiving other bird repellent machines
The step of bird repellent of people requests and plays bird repellent audio:
S21 receives the second bird repellent request that other bird-repellent robots are sent, and the second bird repellent request includes target birds
Position.
Specifically, in a particular embodiment, the second bird repellent request is the bird repellent request that other bird-repellent robots are sent, receive
After the second bird repellent request sent to other bird-repellent robots, judges whether the position of target birds is in and drive Direction interval
It is interior, when in driving in Direction interval, play bird repellent audio.
S22, according to Direction interval is driven, control loudspeaker turns to the direction driven in Direction interval and plays bird repellent
Audio.
Specifically, in a particular embodiment, after receiving the second bird repellent request, control loudspeaker turns bird-repellent robots
It is dynamic, direction broadcasting bird repellent audio is driven towards one driven in direction.
It can be seen that the bird repellent that above-mentioned steps can make bird-repellent robots receive the transmission of other bird-repellent robots is requested, and
According to bird repellent request in include target birds location information, control loudspeaker plays towards a direction in Direction interval is driven
Bird repellent audio reaches multiple robot linkages, expands the control range of bird-repellent robots.
Wherein, the step of control loudspeaker turns to the direction for driving Direction interval and plays bird repellent audio, specifically includes:
Second bird repellent request includes the position of target birds, according to the position of target birds, controls loudspeaker rotation, direction
The position of target birds simultaneously plays bird repellent audio.
Specifically, when bird-repellent robots receive the second bird repellent request of other bird-repellent robots transmission, according to second
The position for the target birds for including in bird repellent request, control loudspeaker rotation, plays loudspeaker towards the position of target birds
Bird repellent audio.
It can be seen that above-mentioned steps can be requested in the second bird repellent that bird-repellent robots receive other robot transmission
When, control loudspeaker rotation plays bird repellent audio towards the position to target birds, improves the effect of the bird repellent of bird repellent audio.
Wherein, bird repellent control method is oriented further include:
Step 1 tracks the direction of motion of target birds by infrared ray range sensor.
Specifically, in a particular embodiment, the direction of motion of target birds refers to, the moving direction track of target birds and
Mobile trend；Direction of the target birds relative to bird-repellent robots can be determined by infrared view, and infrared ray distance passes
Sensor determines direction and goal bird of the target birds at a distance from bird-repellent robots, according to target birds relative to bird-repellent robots
Class can determine the position of target birds at a distance from bird-repellent robots, and the position according to the target birds in the duration is
The direction of motion of target birds can be obtained.
Step 2, when the position of target birds deviates from respect to bird-repellent robots and drives in Direction interval, judgement is opposite
The direction of motion of target birds whether with drive Direction interval and match.
Specifically, in a particular embodiment, judge relative target birds the direction of motion whether with drive Direction interval
With referring to, the direction of motion of target birds whether with drive in Direction interval one to drive direction identical.
Step 3 persistently obtains the position of target birds when the direction of motion of target birds is with driving Direction interval and matching
Confidence breath, when the position of target birds is located at respect to bird-repellent robots and drives in Direction interval, into control loudspeaker rotation
To the direction driven in Direction interval, and control the step of loudspeaker plays bird repellent audio in such a way that volume is gradually incremented by.
Specifically, in a particular embodiment, when target birds are away from preset crop protection region flight, driving
Bird robot keeps track the position of target birds, is in and drives in Direction interval relative to bird-repellent robots in target birds
When, control loudspeaker plays bird repellent audio to the position of target birds.
Step 4, in the direction of motion of target birds and when driving Direction interval and mismatching, into judging relative target bird
With the presence or absence of other bird dispelling devices in the pre-determined distance of the side of the position for being located proximate to preset crop protection region of class
The step of device people.
Specifically, in a particular embodiment, the direction of motion of target birds is mismatched with Direction interval is driven, that is, target
Birds are located proximate to preset crops towards when preset crop protection region flight, into judge relative target birds
The step of in the pre-determined distance of the side of the position of protection zone with the presence or absence of other bird-repellent robots.
It can be seen that above-mentioned steps can be when birds fly into preset crop protection region, by judging target
The heading of birds come select play bird repellent audio bird-repellent robots, so that target birds is smoothly expelled from preset
Crop protection region.
Wherein, according to infrared view and ambient image, judge to go back after the step of whether there is birds in reconnaissance range
Include:
It is mobile according to preset patrol route when birds being not present in reconnaissance range.
Specifically, in a particular embodiment, default patrol route is set in advance in preset crop protection region
Patrol route, default patrol route can be adjusted according to crop protection region.
It can be seen that when above-mentioned steps make bird-repellent robots that birds be not present in reconnaissance range, in preset crops
It is gone on patrol in protection zone, in patrol, the mobile sound issued and movement can generate certain effect of driving to birds,
And patrol can expand bird-repellent robots can reconnaissance range, improve the detecting efficiency and utilization rate of bird-repellent robots.
Wherein, referring to Fig. 3, in a particular embodiment, when there are other bird-repellent robots in pre-determined distance, Xiang Qi
His bird-repellent robots send the first bird repellent request, to control other bird-repellent robots to the direction driven in Direction interval
Issue bird repellent audio the step of include:
S31, when there are other bird-repellent robots in pre-determined distance, judge other bird-repellent robots number whether
It is multiple.
Specifically, in a particular embodiment, there are when other bird-repellent robots in pre-determined distance, judging in pre-determined distance
Whether multiple bird-repellent robots are had.
S32 calculates separately the position of multiple other bird-repellent robots between the position of target birds when to be multiple
Distance.
Specifically, in a particular embodiment, there are when multiple bird-repellent robots in pre-determined distance, calculating separately each
The position of bird-repellent robots obtains multiple distance parameters to the distance between the position of target birds.
S33, according to the position to the distance between the position of target birds of multiple other bird-repellent robots, it is multiple its
In his bird-repellent robots, the other bird-repellent robots of the position of distance objective birds recently are selected.
Specifically, in a particular embodiment, the smallest distance parameter in multiple above-mentioned distance parameters is selected, and is chosen pair
Should distance parameter bird-repellent robots, i.e. nearest bird-repellent robots of distance objective birds.
S34, the other bird-repellent robots nearest to the position of distance objective birds send the first bird repellent request, with control
Other bird-repellent robots issue bird repellent audio to direction is driven.
Specifically, in a particular embodiment, the bird-repellent robots nearest to target birds send the first bird repellent request, make mesh
When mark birds are entered in the control range of other bird-repellent robots, other bird-repellent robots is enable to find and carry out at the first time
It drives.
Wherein, in a particular embodiment, the is sent to the nearest other bird-repellent robots in the position of distance objective birds
One bird repellent request, to control other bird-repellent robots to after the step of driving direction sending bird repellent audio further include:
Whether step 1 persistently obtains the position of target birds, judge target birds to the direction driven in Direction interval
It is mobile.
Specifically, in a particular embodiment, continue the position of Huqiu target birds, judges target birds whether to the side of driving
Direction movement into section refers to, whether the direction of motion of target birds with what is driven in Direction interval one drives direction phase
Together.
Step 2, when target birds are mobile to the direction driven in Direction interval, and it is opposite in the position of target birds
Bird-repellent robots turn to the side of driving driven in Direction interval into control loudspeaker positioned at when driving in Direction interval
To, and control the step of loudspeaker plays bird repellent audio in such a way that volume is gradually incremented by.
Specifically, in a particular embodiment, not flying away from preset crop protection region in target birds
When, bird-repellent robots keep track the position of target birds, enter the detection range of other bird-repellent robots in target birds, and
Relative to other bird-repellent robots be in drive in Direction interval when, control loudspeaker to the position of target birds with volume gradually
Incremental mode plays bird repellent audio.
Step 3, when target birds deviate the direction movement driven in Direction interval, according to the position of target birds weight
The nearest other bird-repellent robots in the position of new selection selection distance objective birds.
Specifically, in a particular embodiment, not flying away from preset crop protection region in target birds
Also distance objective birds position is not reselected according to the variation of target birds position to when default crop protection region flight
Set nearest bird-repellent robots.
It can be seen that above-mentioned steps can be in target birds in default crop protection edges of regions flight, by holding
The position of continuous tracking target birds, determines apart from nearest bird-repellent robots according to the position of target birds, by issuing bird repellent
Audio avoids target birds from flying into default crop protection region.
Wherein, the audio for driving target birds is the day of the recording or corresponding target birds when target birds are driven
The recording of enemy.
Specifically, in a particular embodiment, recording when target birds are driven is pre-stored recording, target birds
Can because hear recording and to be left to be dangerous；The recording of the natural enemy of target birds is also pre-stored, target bird
The recording of the natural enemy of class can also make target birds feel dangerous and leave, for example, for sparrow, the similar cry of sparrow,
The recording of the natural enemy eagle, snake, cat of sparrow can be played the role of driving, and drive corresponding target bird using both recording
Class can be improved dispersion effect, and the recording when driving will not make one to feel noise jamming.
As shown in figure 4, specific embodiments of the present invention additionally provide a kind of bird-repellent robots 100, can be used in execution
The orientation bird repellent control method of embodiment offer is provided.Wherein, which may include robot body, and setting exists
Infrared camera, camera and infrared ray range sensor on ontology, the loudspeaking being rotatably provided on robot body
Device, control circuit plate module, movable pulley and power module, wherein control circuit plate module may include communication module, storage
Device 101, processor 102 and it is stored in the computer program 103 that can be run in memory 101 and on the processor 102, handled
The step of device 102 calls computer program 103 some or all of to may be implemented in above-mentioned orientation bird repellent control method.
Specifically, in a specific embodiment of the present invention, processor 102 realizes following step when executing computer program 103
It is rapid: to obtain the infrared view and ambient image in 100 reconnaissance range of bird-repellent robots；According to infrared view and environment map
Picture judges in reconnaissance range with the presence or absence of birds；There are when birds in reconnaissance range, tracked by infrared ray range sensor
The position of target birds；When target birds are stationary state, according to the position of target birds and preset crop protection area
The position in domain, determine target birds drive Direction interval and determine target birds position with respect to bird-repellent robots whether position
In driving in Direction interval；When the position of target birds is located at respect to bird-repellent robots and drives in Direction interval, loudspeaking is controlled
Device turns to the direction driven in Direction interval, and controls loudspeaker and play bird repellent audio in such a way that volume is gradually incremented by；
When the position of target birds deviates from respect to bird-repellent robots and drives in Direction interval, judge that the position of relative target birds is leaned on
With the presence or absence of other bird-repellent robots in the pre-determined distance of the side of the position in nearly preset crop protection region；Default
When apart from the interior bird-repellent robots in the presence of others, control communication module sends the first bird repellent request to other bird-repellent robots,
Bird repellent audio is issued to control other bird-repellent robots to the direction driven in Direction interval；It is not present in pre-determined distance
When other bird-repellent robots, the direction of control communication module heavenwards issues the bird repellent audio that volume is greater than preset value.
Optionally, control communication module is also performed the steps of when processor 102 executes computer program 103 receives it
The second bird repellent request that his bird-repellent robots are sent, the second bird repellent request may include the position of target birds；According to driving
Direction interval, control loudspeaker turn to the direction driven in Direction interval and play bird repellent audio.
Optionally, processor 102 controls loudspeaker and turns to the direction for driving Direction interval and play the side of bird repellent audio
Formula may include: to control loudspeaker rotation according to the position of target birds, towards target birds position and play bird repellent sound
Frequently.
Optionally, it also performs the steps of when processor 102 executes computer program 103 through infrared ray Distance-sensing
The direction of motion of device tracking target birds；It deviates from and drives in Direction interval with respect to bird-repellent robots in the position of target birds
When, judge relative target birds the direction of motion whether with drive Direction interval and match；In the direction of motion and drive of target birds
When Direction interval being caught up with to match, the location information of target birds is persistently obtained, in the position of target birds with respect to bird-repellent robots position
When driving in Direction interval, into control loudspeaker turn to the direction driven in Direction interval, and control loudspeaker with
The mode that volume is gradually incremented by plays the step of bird repellent audio；It is mismatched in the direction of motion of target birds with Direction interval is driven
When, into the pre-determined distance of the side for the position for being located proximate to preset crop protection region for judging relative target birds
The step of with the presence or absence of other bird-repellent robots.
Optionally, it also performs the steps of when processor 102 executes computer program 103 and is not present in reconnaissance range
It is mobile according to preset patrol route when birds.
Optionally, when there are in pre-determined distance other bird-repellent robots in processor 102, control communication module to other
Bird-repellent robots send the first bird repellent request, sent out with controlling other bird-repellent robots to the direction driven in Direction interval
The mode of bird repellent audio may include: when there are other bird-repellent robots in pre-determined distance, to judge other bird dispelling devices out
Whether the number of device people is multiple；When to be multiple, the positions of multiple other bird-repellent robots is calculated separately to target birds
The distance between position；According to the position to the distance between the position of target birds of multiple other bird-repellent robots,
In multiple others bird-repellent robots people, the other bird-repellent robots of the position of distance objective birds recently are selected；Control is logical
Believe that module sends the first bird repellent request to the nearest other bird-repellent robots in the position of distance objective birds, to control others
Bird-repellent robots issue bird repellent audio to direction is driven.
Optionally, lasting acquisition target birds are also performed the steps of when processor 102 executes computer program 103
Position judges whether target birds are mobile to the direction driven in Direction interval；In target birds to driving in Direction interval
When direction is mobile, and when the position of target birds is located at respect to bird-repellent robots and drives in Direction interval, into control loudspeaking
Device turns to one driven in Direction interval and drives direction, and controls loudspeaker and play bird repellent sound in such a way that volume is gradually incremented by
The step of frequency；When target birds deviate the direction movement driven in Direction interval, reselected according to the position of target birds
The other bird-repellent robots for selecting the position of distance objective birds nearest.
That is, in a specific embodiment of the present invention, when the processor 102 of bird-repellent robots 100 executes computer program 103
The step of realizing above-mentioned orientation bird repellent control method, thus solve often to be limited due to the sphere of action of scarer, and by
It not can determine that in the direction driven, birds may be made to fly into the intensive region of crop planting, bigger damage is caused to crops
The problem of.
It should be noted that due to bird-repellent robots 100 processor 102 execute computer program 103 when realize it is above-mentioned
Orientation bird repellent control method the step of, therefore all embodiments of the above method are suitable for the bird-repellent robots, and equal energy
Reach the same or similar beneficial effect.
In addition, specific embodiments of the present invention additionally provide a kind of computer readable storage medium, computer-readable storage
Media storage has computer program, and the step of above-mentioned orientation bird repellent control method is realized when computer program is executed by processor
Suddenly.
It is obtained in bird-repellent robots reconnaissance range specifically, being performed the steps of when computer program is executed by processor
Infrared view and ambient image；According to infrared view and ambient image, judge in reconnaissance range with the presence or absence of birds；?
There are when birds in reconnaissance range, the position of target birds is tracked by infrared ray range sensor；It is static in target birds
When state, according to the position of the position of target birds and preset crop protection region, determine target birds drives direction
Section and the position of determining target birds are driven in Direction interval with respect to whether bird-repellent robots are located at；In the position of target birds
Opposite bird-repellent robots are set positioned at when driving in Direction interval, control loudspeaker turns to the direction driven in Direction interval,
And it controls loudspeaker and plays bird repellent audio in such a way that volume is gradually incremented by；It is inclined with respect to bird-repellent robots in the position of target birds
From the one of the position for being located proximate to preset crop protection region for when driving in Direction interval, judging relative target birds
With the presence or absence of other bird-repellent robots in the pre-determined distance of side；When there are other bird-repellent robots in pre-determined distance, to
Other bird-repellent robots send the first bird repellent request, to control other bird-repellent robots to the side driven in Direction interval
To sending bird repellent audio；There is no when other bird-repellent robots in pre-determined distance, the direction of heavenwards issues volume and is greater than
The bird repellent audio of preset value.
Optionally, reception other bird-repellent robots are also performed the steps of when processor executes computer program to send
The second bird repellent request, the second bird repellent request include target birds position；According to Direction interval is driven, control loudspeaker is rotated
To the direction driven in Direction interval and play bird repellent audio.
Optionally, processor turns to the direction driven in Direction interval according to Direction interval, control loudspeaker is driven
And the mode for playing bird repellent audio can be with are as follows: according to the position of target birds, loudspeaker rotation is controlled, towards the position of target birds
It sets and plays bird repellent audio.
Optionally, it also performs the steps of when processor executes computer program and is tracked by infrared ray range sensor
The direction of motion of target birds；When the position of target birds deviates from respect to bird-repellent robots and drives in Direction interval, judgement
The direction of motion of relative target birds whether with drive Direction interval and match；Target birds the direction of motion and drive direction area
Between when matching, persistently obtain the location information of target birds, be located at the side of driving with respect to bird-repellent robots in the position of target birds
When into section, the direction driven in Direction interval is turned into control loudspeaker, and control loudspeaker with volume gradually
Incremental mode plays the step of bird repellent audio；When the direction of motion of target birds is with Direction interval mismatch is driven, enter
Judge whether deposit in the pre-determined distance of the side of the position for being located proximate to preset crop protection region of relative target birds
Other bird-repellent robots the step of.
Optionally, when also being performed the steps of when processor executes computer program in reconnaissance range there is no birds,
It is mobile according to preset patrol route.
Optionally, it when processor has other bird-repellent robots in pre-determined distance, is sent out to other bird-repellent robots
It send the first bird repellent to request, the side of bird repellent audio is issued to control other bird-repellent robots to the direction driven in Direction interval
Formula can be with are as follows: when there are other bird-repellent robots in pre-determined distance, judge other bird-repellent robots number whether be
It is multiple；When to be multiple, the position to the distance between the position of target birds of multiple other bird-repellent robots is calculated separately；
According to the position to the distance between the position of target birds of multiple other bird-repellent robots, in multiple other bird repellent machines
In everybody, the other bird-repellent robots of the position of distance objective birds recently are selected；It is nearest to the position of distance objective birds
Other bird-repellent robots send the first bird repellent request, issue bird repellent sound to control other bird-repellent robots to direction is driven
Frequently.
Optionally, the lasting position for obtaining target birds is also performed the steps of when processor executes computer program, is sentenced
Whether disconnected target birds are mobile to the direction driven in Direction interval；It is mobile to the direction driven in Direction interval in target birds
When, and when the position of target birds is located at respect to bird-repellent robots and drives in Direction interval, it is turned into control loudspeaker
It drives one in Direction interval and drives direction, and control the step that loudspeaker plays bird repellent audio in such a way that volume is gradually incremented by
Suddenly；Target birds deviate drive direction in Direction interval it is mobile when, according to the position of target birds reselect selection away from
The other bird-repellent robots of position recently from target birds.
That is, in a specific embodiment of the present invention, the computer program of computer readable storage medium is executed by processor
The step of Shi Shixian above-mentioned orientation bird repellent control method, thus solve often to be limited due to the sphere of action of scarer, and
Since the direction driven not can determine that, birds may be made to fly into the intensive region of crop planting, bigger damage is caused to crops
Harmful problem.
It should be noted that the computer program due to computer readable storage medium realized when being executed by processor it is above-mentioned
Orientation bird repellent control method the step of, therefore all embodiments of the above method are suitable for the computer-readable storage medium
Matter, and can reach the same or similar beneficial effect.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (8)
1. a kind of bird-repellent robots, which is characterized in that the bird-repellent robots include robot body, and on the body red is arranged
Outer camera, camera and infrared ray range sensor, the loudspeaker being rotatably provided on the ontology, control circuit board
Module, movable pulley and power module, wherein the control circuit plate module includes communication module, memory and processor,
The memory is for storing executable computer program and data, and the processor is for calling the computer program simultaneously
Execute following steps:
Obtain the infrared view and ambient image in the bird-repellent robots reconnaissance range；
According to the infrared view and ambient image, judge in the reconnaissance range with the presence or absence of birds；
There are when birds in the reconnaissance range, the position of target birds is tracked by the infrared ray range sensor；
When the target birds are stationary state, according to the position of the target birds and preset crop protection region
Position determines the relatively described bird repellent machine in position of the target birds driven Direction interval and determine the target birds
Whether people is located at described drive in Direction interval；
When in the position of the target birds, the relatively described bird-repellent robots are located at described drive in Direction interval, raised described in control
Sound device turns to the direction driven in Direction interval, and controls the loudspeaker and play in such a way that volume is gradually incremented by
Bird repellent audio；
When in the position of the target birds, the relatively described bird-repellent robots deviate from described drive in Direction interval, judgement is opposite
Whether deposited in the pre-determined distance of the side of the position for being located proximate to the preset crop protection region of the target birds
In other bird-repellent robots；
When there are other bird-repellent robots in the pre-determined distance, the communication module is controlled to other bird dispelling devices
Device human hair send the first bird repellent to request, and is sent out with controlling other bird-repellent robots to the direction driven in Direction interval
Bird repellent audio out；
There is no when other bird-repellent robots in the pre-determined distance, the direction for controlling the communication module heavenwards is issued
Volume is greater than the bird repellent audio of preset value.
2. bird-repellent robots according to claim 1, which is characterized in that the processor is also used to call the computer
Program simultaneously executes following steps:
It controls the communication module and receives the second bird repellent request that other bird-repellent robots are sent, second bird repellent is asked
Ask the position including target birds；
Direction interval is driven according to described, the loudspeaker is controlled and turns to and described drive the direction in Direction interval and play
Bird repellent audio.
3. bird-repellent robots according to claim 2, which is characterized in that the processor controls the loudspeaker and turns to
The direction for the driving Direction interval and mode for playing bird repellent audio includes:
According to the position of the target birds, control the loudspeaker rotation, towards the target birds position and play drive
Bird audio.
4. bird-repellent robots according to claim 1, which is characterized in that the processor is also used to call the computer
Program simultaneously executes following steps:
There are when birds in the reconnaissance range, the movement side of target birds is tracked by the infrared ray range sensor
To；
When in the position of the target birds, the relatively described bird-repellent robots deviate from described drive in Direction interval, judgement is opposite
Whether the direction of motion of the target birds matches with the Direction interval of driving；
The target birds the direction of motion with it is described drive Direction interval and match when, persistently obtain the position of the target birds
Confidence breath, when the relatively described bird-repellent robots are located at described drive in Direction interval in the position of the target birds, into control
It makes the loudspeaker and turns to the direction driven in Direction interval, and control what the loudspeaker was gradually incremented by with volume
Mode plays the step of bird repellent audio；
The target birds the direction of motion and it is described drive Direction interval and mismatch when, into judging relatively described target bird
It is driven in the pre-determined distance of the side of the position for being located proximate to the preset crop protection region of class with the presence or absence of other
The step of bird robot.
5. bird-repellent robots according to claim 1, which is characterized in that the processor according to the infrared view and
Ambient image is also used to call the computer program simultaneously after judging the step of whether there is birds in the reconnaissance range
Execute following steps:
It is mobile according to preset patrol route when birds being not present in the reconnaissance range.
6. -5 any bird-repellent robots according to claim 1, which is characterized in that the processor is in the pre-determined distance
When the interior bird-repellent robots in the presence of others, controls the communication module and asked to the first bird repellent of other bird-repellent robots transmissions
It asks, the packet in a manner of controlling other bird-repellent robots and issue bird repellent audio to the direction driven in Direction interval
It includes:
When there are other bird-repellent robots in the pre-determined distance, judge the others bird-repellent robots number whether
It is multiple；
When to be multiple, the position of the multiple other bird-repellent robots is calculated separately between the position of the target birds
Distance；
According to the position of the multiple other bird-repellent robots to the distance between the position of the target birds, described more
In a others bird-repellent robots people, the other bird-repellent robots of position recently apart from the target birds are selected；
It controls the communication module and sends institute to the nearest other bird-repellent robots in the position apart from the target birds
The first bird repellent request is stated, issues bird repellent audio to control other bird-repellent robots to the direction of driving.
7. bird-repellent robots according to claim 6, which is characterized in that the processor controls the communication module to institute
It states the nearest other bird-repellent robots in the position apart from the target birds and sends the first bird repellent request, described in control
Other bird-repellent robots to it is described drive direction issue bird repellent audio the step of after, be also used to call the computer program
And execute following steps:
Whether the position for persistently obtaining the target birds judges the target birds to the direction driven in Direction interval
It is mobile；
When the target birds are mobile to the direction driven in Direction interval, and it is opposite in the position of the target birds
The bird-repellent robots are located at described when driving in Direction interval, described drive direction area into controlling the loudspeaker and turning to
Interior one drives direction, and controls the step of loudspeaker plays bird repellent audio in such a way that volume is gradually incremented by；
When driving the direction movement in Direction interval described in deviateing in the target birds, according to the position of target birds weight
The nearest other bird-repellent robots in position of the new selection selection apart from the target birds.
8. bird-repellent robots according to claim 7, which is characterized in that described for drive the audio of target birds to be institute
State the recording of recording when target birds are driven or the natural enemy of the corresponding target birds.
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| CN109799760A (en) * | 2019-01-30 | 2019-05-24 | 华通科技有限公司 | The bird-repellent robots control system and control method of power industry |
| CN110301427A (en) * | 2019-07-15 | 2019-10-08 | 国网宁夏电力有限公司石嘴山市红果子供电公司 | A kind of production method of intelligent multifunctional bird-scaring unit |
| CN110290356A (en) * | 2019-07-26 | 2019-09-27 | 上海秒针网络科技有限公司 | The processing method and processing device of object |
| CN113711820A (en) * | 2021-08-10 | 2021-11-30 | 秦刚 | Ancient and famous tree management and protection system and method |
| CN113711820B (en) * | 2021-08-10 | 2023-12-15 | 厦门源森园林景观股份有限公司 | Ancient tree name wood management protection system and method |
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