CN113892479A - Mobile unmanned bird repelling robot and bird repelling method - Google Patents
Mobile unmanned bird repelling robot and bird repelling method Download PDFInfo
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- CN113892479A CN113892479A CN202111175106.1A CN202111175106A CN113892479A CN 113892479 A CN113892479 A CN 113892479A CN 202111175106 A CN202111175106 A CN 202111175106A CN 113892479 A CN113892479 A CN 113892479A
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- 230000001846 repelling effect Effects 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 9
- 239000007788 liquid Substances 0.000 claims description 15
- 239000007921 spray Substances 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 12
- 238000005507 spraying Methods 0.000 claims description 9
- 230000000694 effects Effects 0.000 abstract description 6
- 241001465754 Metazoa Species 0.000 abstract description 2
- 241000271566 Aves Species 0.000 description 28
- 230000002940 repellent Effects 0.000 description 10
- 239000005871 repellent Substances 0.000 description 10
- 239000002917 insecticide Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 241000272814 Anser sp. Species 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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- 229910052719 titanium Inorganic materials 0.000 description 1
- 239000010936 titanium Substances 0.000 description 1
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Classifications
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- 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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- 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
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- 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
- A01M29/06—Scaring or repelling devices, e.g. bird-scaring apparatus using visual means, e.g. scarecrows, moving elements, specific shapes, patterns or the like
- A01M29/10—Scaring or repelling devices, e.g. bird-scaring apparatus using visual means, e.g. scarecrows, moving elements, specific shapes, patterns or the like using light sources, e.g. lasers or flashing lights
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- 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
- A01M29/30—Scaring or repelling devices, e.g. bird-scaring apparatus preventing or obstructing access or passage, e.g. by means of barriers, spikes, cords, obstacles or sprinkled water
- A01M29/32—Scaring or repelling devices, e.g. bird-scaring apparatus preventing or obstructing access or passage, e.g. by means of barriers, spikes, cords, obstacles or sprinkled water specially adapted for birds, e.g. spikes
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Birds (AREA)
- Wood Science & Technology (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- General Physics & Mathematics (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a mobile unmanned bird repelling robot and a bird repelling method, and belongs to the technical field of animal repelling. Should drive bird robot includes: an automatic travel device; the automatic running device is provided with a shooting device, a bird repelling device, a positioning device and a control device; the automatic driving device, the positioning device, the shooting device and the bird repelling device are all in communication connection with the control device. According to the invention, the shooting device, the bird repelling device, the positioning device and the control device are arranged on the automatic driving device, the automatic driving device automatically drives in a planned automatic driving area, the control device identifies birds according to pictures or videos shot by the shooting device, and when the birds exist, the bird repelling device is controlled to repel the birds, so that the labor working pressure can be reduced, and the effect of repelling the regional birds is improved.
Description
Technical Field
The invention relates to the technical field of animal driving, in particular to a mobile unmanned bird-driving robot and a bird-driving method.
Background
With the rapid development of economy, the bird collision accidents at airports happen more and more frequently under the combined action of factors such as the increase of flight frequency and the increase of models, and even become one of three disasters of the world air transportation industry. Because of the influence of factors such as reduction and fragmentation of wild bird habitats, more and more birds are in airport flight areas.
The existing voice bird-repelling method can achieve the bird-repelling effect by playing huge noise or the sound of natural enemies of birds, but the existing bird-repelling equipment is fixed, so that the bird-repelling range is reduced, and omission can be caused in certain areas.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a mobile unmanned bird repelling robot and a bird repelling method.
On the one hand, a portable unmanned bird robot that drives is provided, drive bird robot includes: an automatic travel device;
the automatic running device is provided with a shooting device, a bird repelling device, a positioning device and a control device;
the automatic traveling device, the positioning device, the shooting device and the bird repelling device are all in communication connection with the control device.
Further, the bird repellent device includes: the bird repelling device comprises a bird repelling sound, a spraying device and a bird repelling emitter;
the bird repelling sound box, the spraying device and the bird repelling emitter are fixedly connected with the automatic traveling device.
Further, the spraying device comprises: a liquid storage tank;
the automatic traveling device comprises a liquid storage tank, a first motor, a second motor, a spray head, a hose and a small water pump, wherein the liquid storage tank is arranged on the automatic traveling device, the top of the liquid storage tank is provided with the two first motors, the power output ends of the two first motors are both connected with an L-shaped connecting rod, one end of the connecting rod, far away from the first motor, is connected with the second motor, the power output end of the second motor is connected with the spray head, the spray head is internally provided with the small water pump, and the small water pumps are both communicated with the liquid storage tank through the hose;
and the first motor, the second motor and the small-sized water pump are in communication connection with the control device.
Further, the shooting device is a panoramic camera.
Further, the bird repelling robot further comprises: a wireless network device and a remote terminal device;
and the wireless network equipment and the remote terminal equipment are in communication connection with the control device.
Further, the bird repelling robot further comprises: and the alarm device is in communication connection with the control device.
In another aspect, a bird repelling method is provided, in which a mobile unmanned bird repelling robot is used to repel birds, and the method includes:
setting an automatic travel region of an automatic travel device in a control device;
generating an automatic driving instruction based on the automatic driving area;
controlling the automatic driving device to automatically drive in the automatic driving area based on the automatic driving instruction;
simultaneously shooting a picture or a video of the surrounding environment by a shooting device;
based on the photo or the video, the control device judges whether birds exist in the photo or the video;
if yes, the control device generates a bird repelling instruction;
and the bird repelling device is used for repelling birds after receiving the bird repelling instruction.
Further, the method further comprises: if the control device judges that birds exist according to the pictures or the videos, continuously judging the bird types;
and the control device starts the corresponding bird repelling device according to the bird category.
Further, the travel area includes: a first travel zone and a second travel zone;
the second driving zone is located within the first driving zone;
the positioning device acquires the position information of the automatic driving device in real time, and the control device judges the position of the automatic driving device according to the position information;
if the automatic driving device drives out of the second driving area and is in the first driving area, the control device generates an alarm instruction;
the alarm device alarms after receiving the alarm instruction;
if the automatic traveling device travels out of the second traveling region, the control device controls to generate a stop instruction;
and the automatic running device stops running after receiving the stop instruction.
Further, the method further comprises: if the automatic driving device drives out of the first driving area or the second driving area, the control device generates alarm information;
sending the alarm information to remote terminal equipment through wireless network equipment;
the remote terminal equipment receives the alarm information and then gives an alarm, and a worker sends a movement instruction through the remote terminal equipment;
and the automatic running device enters the second running area after receiving the transferring instruction.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: 1. according to the invention, the shooting device, the bird repelling device, the positioning device and the control device are arranged on the automatic driving device, the automatic driving device automatically drives in a planned automatic driving area, the control device identifies birds according to pictures or videos shot by the shooting device, and when the birds exist, the bird repelling device is controlled to repel the birds, so that the labor working pressure can be reduced, and the effect of repelling the regional birds is improved.
2. The automatic driving area is divided into a first driving area and a second driving area, when the automatic driving device drives out of the second driving area, the alarm device gives an alarm, when the automatic driving device drives out of the first driving area, the automatic driving device is controlled to stop, so that the safety is enhanced, the alarm information is sent to a remote terminal device through a wireless network device to give a remote alarm, and the safety is further enhanced by combining the two alarm modes, so that accidents are prevented.
3. Set up multiple bird repellent device, can use different bird repellent device according to the birds of difference to further strengthen bird repellent effect.
4. The combination of the movable unmanned bird-repelling robot and the movable reinforcing fixed equipment can effectively improve the bird-repelling effect in the area by combining the existing bird-repelling equipment in the area.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a mobile unmanned bird-repelling robot provided by the invention;
FIG. 2 is a schematic view of a driving area provided by the present invention;
fig. 3 is a structural block diagram of the mobile unmanned bird repelling robot provided by the invention.
Reference numerals: 1-an automatic travel device; 2-a camera; 3-bird repelling sound box; 4-a positioning device; 5-a liquid storage tank; 6-a first motor; 7-a connecting rod; 8-a second motor; 9-a spray head; 10-a hose; 11-a first driving zone; 12-second driving area.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1, a mobile unmanned bird-repelling robot comprises: the automatic driving device 1 is characterized in that a shooting device 2, a bird repelling device, a positioning device 4, wireless network equipment, remote terminal equipment, an alarm device and a control device are arranged on the automatic driving device 1; the automatic traveling device 1 may be a remote control car; the photographing device 2 is a panoramic camera, for example: the system comprises a DS-TCC246-C-WGB/36/M type camera, 6 cameras of the DS-TCC246-C-WGB/36/M type camera form 360-degree panoramic coverage, three paths of cameras are spliced to form a front picture and a rear picture, the front picture and the rear picture respectively cover 180 degrees, the shooting radius can reach 70-100 meters, therefore, all-around coverage can be carried out on the surrounding environment, and the bird repelling range is enlarged. The bird repellent device can be for driving bird stereo set 3 and sprinkler, drives bird transmitter and can be other bird repellent equipment such as gas cannon, titanium thunder bullet, two skirting transmitters, laser generator and shock wave, all with automatic travel device 1 fixed connection.
The spraying device comprises: the automatic traveling device comprises a liquid storage tank 5, wherein the liquid storage tank 5 is installed on the automatic traveling device 1, two first motors 6 are arranged at the top of the liquid storage tank 5, power output ends of the first motors 6 are connected with L-shaped connecting rods 7, one ends, far away from the first motors 6, of the connecting rods 7 are connected with second motors 8, power output ends of the second motors 8 are connected with spray heads 9, small water pumps 10 are arranged in the spray heads 9, and the small water pumps 10 are communicated with the liquid storage tank 5 through hoses 11; the control device can be an STM32F407ZGT6 chip, and the remote terminal equipment can be a mobile phone, a computer and the like. The automatic driving device 1, the positioning device, the shooting device 2, all the bird repelling devices, the first motor 6, the second motor 8, the small water pump, the wireless network equipment remote terminal equipment and the alarm device are in communication connection with the control device. Specifically, the first motor 6 may be a stepping motor, and the second motor 8 may be a dc motor.
The complete work flow of the invention can be as follows:
step (1): map data of the flight area and photos or videos of various birds are stored in the control device in advance, and feature information of each kind of birds and corresponding relation between the feature information of each kind of birds and the corresponding bird repelling device are extracted.
Step (2): the control device sets an automatic travel area of the automatic travel device 1, which includes a first travel area 11 and a second travel area 12, and the second travel area 12 is located within the first travel area 11, based on map data of the flight area stored in advance in the control device.
And (3): when the automatic driving device 1 is in automatic driving, the shooting device 2 continuously shoots pictures or videos of the surrounding environment and sends the shot pictures or videos to the control device, the control device extracts characteristic information of the pictures or videos after receiving the pictures or videos and judges whether the characteristic information of birds exists or not, if the characteristic information of the birds exists, the characteristic information of the birds is compared with the characteristic information of the birds stored in the control device in advance, the birds are judged to be the birds, a corresponding bird repelling instruction is generated after the type of the birds is judged, and the corresponding bird repelling device is started after receiving the bird repelling instruction to repel the birds; for example, the bird repelling sound box can correspond to wild goose type birds, and the bird repelling emitter can correspond to bird type birds.
And (4): the automatic traveling device 1 is characterized in that in the automatic traveling process, the positioning device acquires position information of the automatic traveling device 1 in real time and sends the position information to the control device, the control device receives the position information and compares the position information with a preset automatic traveling area, if the automatic traveling device 1 travels out of the second traveling area 12 and is still in the first traveling area 11, the control device generates an alarm instruction, the alarm device receives the alarm instruction and gives an alarm to remind a worker to process in time, and if the automatic traveling device 1 travels out of the second traveling area 12, the control device generates a stop instruction, and the automatic traveling device 1 stops traveling after receiving the stop instruction.
And (5): when the automatic driving device 1 drives out of the first driving area 11 or the second driving area 12, the control device simultaneously generates alarm information, the alarm information is sent to the remote terminal device through the wireless network device, the remote terminal device reminds a worker after receiving the alarm information, the worker can send a transferring instruction through the remote terminal device, the automatic driving device 1 receives the transferring instruction and then enters the second driving area 12 to continue driving, in the driving process of the automatic driving device 1, the worker can check the shooting device 2 through the remote terminal device to shoot videos or photos, and check the surrounding conditions.
It should be noted that the spraying device can spray insecticide, herbicide, bird repellent, etc., for example: if when the insecticide is sprayed, controlling means sends the small-size water pump of first working signal to shower nozzle 9 in, small-size water pump starts after receiving first working signal, the insecticide in extraction liquid reserve tank 5 sprays, at the in-process that sprays, the staff can adjust the angle of shower nozzle 9 through remote terminal equipment, for example, the staff uses remote terminal equipment to send second working signal to first motor 6 through controlling means, first motor 6 receives behind the second working signal, drive connecting rod 7 and sway about, thereby drive shower nozzle 9 and sway about and spray, the staff can also use remote terminal equipment to send third working signal to second motor 8 respectively through controlling means, second motor 8 receives behind the third working signal, drive the shower nozzle and sway about, thereby can all-round spraying.
It is worth explaining that, in the invention, the shooting device, the bird repelling device, the positioning device and the control device are installed on the automatic driving device, the automatic driving device automatically drives in a planned automatic driving area, the control device identifies birds according to pictures or videos shot by the shooting device, and when the birds exist, the bird repelling device is controlled to repel the birds, so that the labor work pressure can be reduced, and the bird repelling effect in the area can be improved. And secondly, dividing the automatic driving area into a first driving area and a second driving area, alarming through an alarming device when the automatic driving device drives out of the second driving area, controlling the automatic driving device to stop when the automatic driving device drives out of the first driving area so as to enhance the safety, sending alarming information to a remote terminal device through a wireless network device for remote alarming, and combining the two alarming modes to further enhance the safety and prevent accidents. Moreover, set up multiple bird repellent device, can use different bird repellent device according to the birds of difference to further strengthen bird repellent effect. In addition, the combination of the movable unmanned bird repelling robot and the movable reinforcing fixed equipment can effectively improve the bird repelling effect in the area by combining the existing bird repelling equipment in the combinable area.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a portable unmanned bird robot that drives, its characterized in that drives the bird robot and includes: an automatic travel device (1);
the automatic running device (1) is provided with a shooting device (2), a bird repelling device, a positioning device (4) and a control device;
the automatic traveling device (1), the positioning device, the shooting device (2) and the bird repelling device are in communication connection with the control device.
2. The mobile unmanned bird repelling robot of claim 1, wherein the bird repelling device comprises: the bird repelling device comprises a bird repelling sound (3), a spraying device and a bird repelling emitter;
the bird repelling sound box (3), the spraying device and the bird repelling emitter are fixedly connected with the automatic traveling device (1).
3. The mobile unmanned bird repelling robot of claim 2, wherein the spraying device comprises: a liquid storage tank (5);
the automatic traveling device is characterized in that the liquid storage tank (5) is mounted on the automatic traveling device (1), two first motors (6) are arranged at the top of the liquid storage tank (5), power output ends of the two first motors (6) are connected with an L-shaped connecting rod (7), one end, far away from the first motor (6), of the connecting rod (7) is connected with a second motor (8), the power output end of the second motor (8) is connected with a spray head (9), a small water pump is arranged in the spray head (9), and the small water pump is communicated with the liquid storage tank (5) through a hose (10);
and the first motor (6), the second motor (8) and the small water pump are in communication connection with the control device.
4. The mobile unmanned bird-repelling robot according to claim 1, wherein the photographing device (2) is a panoramic camera.
5. The mobile unmanned bird repelling robot of claim 3, further comprising: a wireless network device and a remote terminal device;
and the wireless network equipment and the remote terminal equipment are in communication connection with the control device.
6. The mobile unmanned bird-repelling robot of claim 1, further comprising: and the alarm device is connected with the control device through an antenna.
7. A bird repelling method is characterized in that the mobile unmanned bird repelling robot of any one of claims 1 to 7 is adopted to repel birds, and the method comprises the following steps:
setting an automatic travel region of an automatic travel device (1) in a control device;
generating an automatic driving instruction based on the automatic driving area;
controlling the automatic travel device (1) to automatically travel in the automatic travel area based on the automatic travel command;
simultaneously, the shooting device (2) shoots pictures or videos of the surrounding environment;
based on the photo or the video, the control device judges whether birds exist in the photo or the video;
if yes, the control device generates a bird repelling instruction;
and the bird repelling device is used for repelling birds after receiving the bird repelling instruction.
8. A method of repelling a bird according to claim 7, further comprising: if the control device judges that birds exist according to the pictures or the videos, continuously judging the bird types in the pictures or the videos;
based on the bird category, the control device starts the corresponding bird repelling device.
9. A method of repelling birds according to claim 7 wherein the area of travel includes: a first travel zone (11) and a second travel zone (12);
the second driving range (12) is located within the first driving range (11);
the positioning device acquires the position information of the automatic driving device (1) in real time, and the control device judges the position of the automatic driving device (1) according to the position information;
if the automatic driving device (1) is driven out of the second driving area (12) and is in the first driving area (11), the control device generates an alarm instruction;
the alarm device alarms after receiving the alarm instruction;
if the automatic traveling device (1) travels out of the second traveling region (12), the control device controls generation of a stop instruction;
and the automatic running device (1) stops running after receiving the stop instruction.
10. A method of repelling a bird according to claim 9, further comprising: if the automatic driving device (1) is driven out of the first driving area (11) or the second driving area (12), the control device generates alarm information;
sending the alarm information to remote terminal equipment through wireless network equipment;
the remote terminal equipment receives the alarm information and then gives an alarm, and a worker sends a movement instruction through the remote terminal equipment;
the automatic driving device (1) enters the second driving area (12) after receiving the maneuvering instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111175106.1A CN113892479A (en) | 2021-10-09 | 2021-10-09 | Mobile unmanned bird repelling robot and bird repelling method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111175106.1A CN113892479A (en) | 2021-10-09 | 2021-10-09 | Mobile unmanned bird repelling robot and bird repelling method |
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| CN113892479A true CN113892479A (en) | 2022-01-07 |
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| CN202111175106.1A Pending CN113892479A (en) | 2021-10-09 | 2021-10-09 | Mobile unmanned bird repelling robot and bird repelling method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114638975A (en) * | 2022-05-12 | 2022-06-17 | 天津滨海国际机场有限公司 | Bird and non-bird repelling method and system for airport |
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| CN112590817A (en) * | 2020-12-23 | 2021-04-02 | 江苏徐工工程机械研究院有限公司 | Safety protection system and method for transportation system and machine group management equipment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114638975A (en) * | 2022-05-12 | 2022-06-17 | 天津滨海国际机场有限公司 | Bird and non-bird repelling method and system for airport |
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