CN114514918A - System and method for driving animals away from specific area and autonomous mobile device - Google Patents
System and method for driving animals away from specific area and autonomous mobile device Download PDFInfo
- Publication number
- CN114514918A CN114514918A CN202011307974.6A CN202011307974A CN114514918A CN 114514918 A CN114514918 A CN 114514918A CN 202011307974 A CN202011307974 A CN 202011307974A CN 114514918 A CN114514918 A CN 114514918A
- Authority
- CN
- China
- Prior art keywords
- autonomous mobile
- monitoring
- mobile device
- target animal
- driving path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 241001465754 Metazoa Species 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000012544 monitoring process Methods 0.000 claims abstract description 50
- 238000013459 approach Methods 0.000 claims abstract description 24
- 238000012806 monitoring device Methods 0.000 claims description 36
- 230000015654 memory Effects 0.000 claims description 29
- 230000001846 repelling effect Effects 0.000 claims description 27
- 238000004590 computer program Methods 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 15
- 244000062645 predators Species 0.000 claims description 14
- 238000003860 storage Methods 0.000 claims description 11
- 230000005236 sound signal Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 5
- 238000004088 simulation Methods 0.000 claims 1
- 241000607479 Yersinia pestis Species 0.000 description 30
- 238000010586 diagram Methods 0.000 description 13
- 230000006870 function Effects 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000005923 long-lasting effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000282994 Cervidae Species 0.000 description 1
- 241000283973 Oryctolagus cuniculus Species 0.000 description 1
- 241000282320 Panthera leo Species 0.000 description 1
- 241000282376 Panthera tigris Species 0.000 description 1
- 241000282335 Procyon Species 0.000 description 1
- 241000283984 Rodentia Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 244000038280 herbivores Species 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Birds (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Catching Or Destruction (AREA)
Abstract
The embodiment of the specification provides a system, a method and an autonomous mobile device for driving animals away from a specific area, wherein the system comprises: the monitoring equipment is arranged in a working area defined by a boundary line or the periphery of the working area, and the autonomous mobile equipment can move in the working area; the monitoring equipment is used for monitoring whether a target animal approaches and outputting a prompt message when the target animal approaches; the autonomous mobile device is configured to: and when the prompt message is received, planning a driving path according to the current position provided by the positioning module and the position of the monitoring equipment, and moving the monitoring equipment along the driving path. The embodiment of the specification can improve the reliability of the animal driving and separating device.
Description
Technical Field
The present disclosure relates to the field of pest repelling technology, and more particularly, to a system, a method and an autonomous mobile device for repelling animals from a specific area.
Background
It is well known that some animals can cause damage to yards and the like. For example, herbivores (such as deer, rabbits, etc.) intruding into the yard may gnaw vegetation such as flowers, plants, trees, etc. within the yard; further, raccoons, rodents, etc. intruding into the yard may take destructive actions such as biting buildings and digging holes in the lawn. It is therefore necessary to repel such pests to reduce or avoid damage to the yard or the like by the pests.
For the purpose of repelling pests, it is conventional practice to fixedly mount animal repelling apparatuses, such as sound repelling devices and/or predator models (e.g. beast models or bird models), in or at the edge of the patio. The sound driving device can be used for generating sharp sound, beast sound or bird sound and the like to threaten and drive away the harmful animals from the hearing angle; the predator model can threaten and drive away the harmful animals from the visual angle. However, practice has shown that the animal dislodging apparatus may be effective for a short period of time, but the vermin may quickly realize that the animal dislodging apparatus is immobile and does not harm themselves, and will quickly adapt to this auditory and/or visual threat, eventually rendering the animal dislodging apparatus ineffective.
Disclosure of Invention
It is an object of embodiments of the present disclosure to provide a system, method and autonomous mobile device for repelling animals from a particular area to improve the reliability of the animal repelling device.
In order to achieve the above object, in one aspect, the embodiments of the present specification provide at least one monitoring device, an autonomous mobile device provided with a positioning module, the monitoring device being installed in a work area defined by a boundary line or a periphery thereof, the autonomous mobile device being movable within the work area;
the monitoring equipment is used for monitoring whether a target animal approaches and outputting a prompt message when the target animal approaches;
the autonomous mobile device is configured to:
and when the prompt message is received, planning a driving path according to the current position provided by the positioning module and the position of the monitoring equipment, and moving the monitoring equipment along the driving path.
In an embodiment of the present specification, the monitoring apparatus includes:
a sensor for monitoring an object approaching the monitoring device and outputting a monitoring result;
and the processor is used for controlling the communication module in the monitoring equipment to send the prompt message to the autonomous mobile equipment when the object close to the monitoring equipment is identified as the target animal according to the monitoring result.
In an embodiment of the present description, the sensor comprises any one or more of: infrared sensors, ultrasonic sensors, millimeter wave radars, vision sensors.
In an embodiment of the present description, the signal for repelling the target animal is output during movement along the repelling path towards the location of the monitoring device or when the autonomous moving device approaches or reaches the location of the monitoring device.
In an embodiment of the present specification, the signal is any one or a combination of the following: sound signal, flashing signal.
In one embodiment of the present specification, outputting an acoustic signal for repelling the target animal comprises:
selecting one sound mode from a preset sound mode set, and outputting a corresponding sound signal according to the selected sound mode.
In one embodiment of the present specification, outputting a flashing signal for repelling the subject animal comprises:
and selecting one flash mode from a preset flash mode set, and outputting a corresponding flash signal according to the selected flash mode.
In an embodiment of the present specification, the set of sound patterns or the set of flash patterns is periodically updated through a network.
In an embodiment of the present description, the autonomous mobile device is provided with a vision sensor; and when the target animal is monitored by the vision sensor in the process that the autonomous mobile equipment moves to the position of the monitoring equipment along the driving path, the autonomous mobile equipment replans the driving path and drives the target animal along the driving path.
In one embodiment of the present description, the driving path is planned based on a walking path that mimics when a predator tracks a prey.
In an embodiment of the present specification, the power supply device of the monitoring device is a solar power supply device.
In another aspect, embodiments of the present specification also provide a method of repelling an animal from a particular area, the method being applied to an autonomous mobile device provided with a positioning module, the autonomous mobile device being movable within the work area; the method comprises the following steps:
receiving a prompt message; the prompt message is output by the monitoring equipment when the target animal is monitored to approach;
and when the prompt message is received, planning a driving path according to the current position provided by the positioning module and the position of the monitoring equipment, and moving the monitoring equipment along the driving path.
In an embodiment of the present specification, during moving along the driving path to the location of the monitoring device, or when the autonomous moving device approaches or reaches the location of the monitoring device, the method further includes:
outputting a signal for repelling the target animal.
In another aspect, embodiments of the present specification further provide an autonomous mobile device, including a memory, a processor, and a computer program stored on the memory, where the computer program is executed by the processor to perform the instructions of the above method.
In another aspect, the present specification further provides a computer storage medium, on which a computer program is stored, and the computer program is executed by a processor of a computer device to execute the instructions of the method.
As can be seen from the technical solutions provided in the embodiments of the present specification, when the autonomous mobile device moves and actively approaches the pest entering the work area, the pest has a high probability that the autonomous mobile device that suddenly appears and actively approaches itself is an intended predator for pursuing the self; to avoid being predated, pests generally escape the work area quickly, thereby achieving the goal of repelling the pests from a particular area (i.e., the work area). Since the pest is detected by the monitoring device and notified to the autonomous mobile device each time the pest approaches or enters the work area, the pest may escape by being chased by the autonomous mobile device each time the pest approaches or enters the work area. Therefore, compared with the conventional fixed sound driving-away device and a predator model, the system for driving the animals away from the specific area can generate long-lasting threatening action on the harmful animals, so that the driving-away effect is more stable.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present specification, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort. In the drawings:
FIG. 1 is a system diagram of a system for propelling an animal away from a particular area in some embodiments of the present description;
FIG. 2 is a block diagram of a monitoring device in some embodiments of the present disclosure;
FIG. 3 is a block diagram of an autonomous mobile device in some embodiments of the present description;
fig. 4 is a schematic diagram of an autonomous mobile device planning a driving path in one embodiment of the present disclosure;
FIG. 5 is a schematic illustration of an autonomous mobile apparatus for repelling pests according to one embodiment of the present disclosure;
FIG. 6 is a flow chart of a method of repelling an animal from a particular area in some embodiments of the present description;
fig. 7 is a block diagram of an autonomous mobile device in further embodiments of the present disclosure.
[ instruction of reference ]
100. An autonomous mobile device;
200. monitoring equipment;
300. a working area;
400. a pest animal;
11. a positioning module;
12. 23, a wireless communication module;
13. a control device;
14. an audio module;
15. a flash lamp;
16. a vision sensor;
17. a traveling device;
18. a job execution device;
21. a sensor;
22. 104, a processor;
106. a memory;
108. a drive mechanism;
110. an input/output module;
112. an input device;
114. an output device;
116. a presentation device;
118. a graphical user interface;
120. a network interface;
122. a communication link;
124. a communication bus.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only a part of the embodiments of the present specification, and not all of the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present specification without any inventive step should fall within the scope of protection of the present specification.
Referring to fig. 1, in some embodiments of the present description, a system for propelling an animal away from a particular area may include: an autonomous mobile device 100 provided with a positioning module and one or more monitoring devices 200. The monitoring device 200 may be mounted to or about the work area 300 defined by the boundaries. The monitoring device 200 may be configured to monitor whether a target animal is approaching and output a prompt message when the target animal is detected approaching. The autonomous mobile device 100 is configured to: when the prompt message is received, a driving path may be planned according to the current position provided by the positioning module and the position of the monitoring device 200, and the driving path may be moved to the position of the monitoring device 200 along the driving path.
In the examples of the present specification, the target animal generally refers to a pest. As shown in connection with fig. 4, when the autonomous mobile apparatus 100 moves and actively approaches a pest 400 entering the work area 300, the pest 400 has a high probability of thinking that such an autonomous mobile apparatus 100 suddenly appearing and actively approaching itself is a predator intended to catch itself; to avoid being predated, the pests 400 typically will quickly escape the work area 300, thereby driving the pests 400 away from the work area 300. Since the pest 400 is discovered by the monitoring device 200 and notified to the autonomous mobile device 100 each time it approaches or enters the work area 300, the pest 400 escapes each time it approaches or enters the work area 300 by being caught by the autonomous mobile device 100. Therefore, the system for repelling animals from a specific area according to the embodiment of the present specification can generate a long-lasting threatening effect to the vermin 400, thereby having a more stable repelling effect, compared to the conventional stationary sound repelling apparatus and a predator model.
In most cases, the work area 300 is an open area, and thus pests may enter the work area 300 from any position around the perimeter. In this case, the number of monitoring devices 200 may generally be determined depending on the size of the work area 300 and the monitorable range of a single monitoring device 200. When it is difficult for the monitorable range of a single monitoring device 200 to cover the entire working area 300, it is necessary to increase the number of monitoring devices 200 appropriately so that the entire working area 300 can be taken into the monitoring range.
As shown in connection with fig. 2, in some embodiments of the present description, the monitoring device 200 may include a sensor 21, a processor 22, and a wireless communication module 23. The sensor 21 may be used to monitor an object approaching the monitoring apparatus 200 and output the monitoring result; the processor 22 may be configured to control the wireless communication module 23 to send the prompting message to the autonomous mobile device 100 to trigger the autonomous mobile device 100 to perform a drive-away action on the target animal when the object approaching the monitoring device 200 is identified as the target animal according to the monitoring result.
In one embodiment of the present disclosure, the sensor 21 may include, but is not limited to, any one or more of an infrared sensor, an ultrasonic sensor, a millimeter wave radar, and a vision sensor. The sensor 21 may monitor the portion of the operating region 300 that is within the monitorable range in real time or periodically, as desired.
In one embodiment of the present disclosure, the processor 22 may perform image recognition on the monitoring results (typically monitoring images) provided by the sensor 21 in real time or at regular time intervals in any suitable manner to confirm whether a pest approaches or enters the work area 300. For example, in an exemplary embodiment, the processor 22 may store a plurality of appearance characteristics of common pests in advance, that is, the appearance characteristic set of the pests may be stored in advance; when the processor 22 acquires a monitoring image, the appearance features of each image object in the monitoring image can be extracted, and the appearance features of each image object are matched with the appearance features in the appearance feature set; if a consistent profile is matched from the set of profiles, a pest is identified as approaching or entering the work area 300. In an exemplary embodiment, the processor 22 may include, but is not limited to, a Micro Control Unit (MCU) or a Microprocessor Unit (MPU).
In an embodiment of the present specification, the wireless communication module 23 may be, for example, a bluetooth module, a Wi-Fi module, or a ZigBee module.
In another embodiment of the present description, the monitoring device 200 may be monitored all day, all night, or even 24 hours, as pests may approach or enter the work area 300 at any time. Thus, a large amount of electric power is consumed. To facilitate energy conservation, the power supply of the monitoring device 200 may be the solar power supply 24 (or at least include the solar power supply 24).
Referring to fig. 3, in some embodiments of the present disclosure, the autonomous moving apparatus 100 (or referred to as an autonomous moving apparatus, an intelligent robot) is a robot whose body is provided with various sensors (e.g., an obstacle sensor, a distance measuring sensor, etc.), a positioning module 11, a wireless communication module 12, a control device 13, a walking device 17, and a work performing device 18 (e.g., a cutter head of an intelligent lawn mower, etc.), and can independently perform a certain task without external human information input and control during operation, that is, the autonomous moving apparatus 100 can autonomously move and perform a work task in a work area 300. The walking device 17 may support a body (not shown in fig. 3) of the autonomous moving apparatus 100, and may drive the autonomous moving apparatus to move in the working area 300; the work implement 18 is mounted on the machine body and can perform work tasks in the work area 300; the control device 13 may control the traveling device 17, the work implement 18, and the like. In an exemplary embodiment, the autonomous mobile device 100 may include, but is not limited to, a smart lawn mower, a robotic cleaning device, a robotic watering device, or a robotic snow plow, among others.
The positioning module 11 is typically a satellite positioning module for providing position information to the autonomous mobile device 100. For example, in an embodiment of the present disclosure, the positioning module 11 may receive satellite signals provided by any one or more of a GPS satellite navigation positioning system, a galileo satellite navigation positioning system, a beidou satellite navigation positioning system and a GLONASS (GLONASS) satellite navigation positioning system, and generate position information according to the satellite signals.
In the embodiment of the present specification, when the wireless communication module 12 receives the prompt message transmitted by the monitoring apparatus 200, it may provide it to the control device 13; the control device 13 may plan a preferred driving path according to the current position provided by the positioning module 11 and the position of the monitoring device 200 (the position of the monitoring device 200 may be pre-stored in the control device 13), and move along the driving path to the position of the monitoring device 200.
Generally, predators find prey on slow approaching and suddenly accelerate towards the prey when approaching, increasing predation success. In order to simulate the predation movement of the predator more realistically, the control device 13 may also plan the driving path simulating the walking path of the predator when the predator traces the prey, i.e. may control the autonomous moving apparatus 100 to suddenly accelerate towards the vermin when the distance from the vermin is below a preset distance.
Continuing to refer to FIG. 3, in another embodiment of the present description, the autonomous mobile device 100 may also be provided with an audio module 14 and/or a flashlight 15. As shown in fig. 5, during the autonomous moving apparatus 100 moves along the driving path to the position of the monitoring apparatus 200, or when the autonomous moving apparatus 100 approaches or reaches the position of the monitoring apparatus 200, the control device 13 may control the audio module 14 and/or the flashlight 15 to output a sound signal and/or a flashlight signal for driving the vermin 400. Thus, the effect of threatening the harmful animal 400 can be further effectively enhanced.
For example, taking the audio module 14 as an example, the sound modes (each corresponding to a roar sound) of one or more beasts (e.g., tigers, lions, etc.) may be pre-stored in the control device 13, and these sound modes may form a sound mode set. When the sound signal is required to be output, the control device 13 may sequentially select or randomly select one sound pattern from the sound pattern set, and provide the selected sound pattern to the audio module 14 to control the audio module 14 to emit the corresponding sound signal. As another example, taking the flash 15 as an example, the autonomous mobile device 100 may be provided with a pair of symmetrically distributed flashes 15 to simulate the eyes of a predator. One or more flash modes (one for each flash) may be pre-stored in the control device 13, which may form a set of flash modes. When it is desired to output a flashing signal, the control means 13 may select one of the flashing patterns sequentially or randomly from a set of flashing patterns and control the flashing light 15 to emit a flashing signal of a specified frequency in response thereto to simulate the blinking action of a predator. Of course, the sound signal and the flash signal may also be used in combination as necessary to further enhance the effect of threatening the vermin.
In another embodiment of the present specification, the set of sound patterns and the set of flash patterns may be periodically updated through a network to prevent the pest from being adaptive thereto by enriching the variety of sound signals and flash signals.
In another embodiment of the present description, the autonomous mobile device 100 may also be provided with a vision sensor 16. When the pest is detected by the vision sensor 16 during the movement of the autonomous moving apparatus along the driving path to the position where the monitoring apparatus 200 is located, the control device 13 may re-plan the driving path and drive the pest along the driving path.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
Based on the above system for moving an animal away from a specific area, the present specification also provides a method for moving an animal away from a specific area, which may be applied to an autonomous mobile device provided with a positioning module, which may be moved within a work area defined by a boundary line, and which may comprise the following steps, as shown in fig. 6:
s601, receiving a prompt message; the prompt message is output by the monitoring equipment when the target animal is monitored to approach;
s602, when the prompt message is received, planning a driving path according to the current position provided by the positioning module and the position of the monitoring equipment, and moving the monitoring equipment along the driving path to the position of the monitoring equipment.
In an embodiment of the present specification, during moving along the driving path to the location of the monitoring device, or when the autonomous moving device approaches or reaches the location of the monitoring device, the method may further include: outputting a signal for repelling the target animal.
While the process flows described above include operations that occur in a particular order, it should be appreciated that the processes may include more or less operations that are performed sequentially or in parallel (e.g., using parallel processors or a multi-threaded environment).
Based on the above system for repelling animals from a particular area, the present specification also provides an autonomous mobile device. As shown in fig. 7, in some embodiments of the present description, the autonomous mobile device 100 may include one or more processors 104, such as one or more Central Processing Units (CPUs) or Graphics Processors (GPUs), each of which may implement one or more hardware threads. The autonomous mobile device 100 may also comprise any memory 106 for storing any kind of information, such as code, settings, data, etc., and in a particular embodiment a computer program running on the memory 106 and on the processor 104, which computer program, when executed by the processor 104, may perform the instructions according to the above-described method. For example, and without limitation, memory 106 may include any one or more of the following in combination: any type of RAM, any type of ROM, flash memory devices, hard disks, optical disks, etc. More generally, any memory may use any technology to store information. Further, any memory may provide volatile or non-volatile retention of information. Further, any memory may represent fixed or removable components of autonomous mobile device 100. In one case, when the processor 104 executes the associated instructions stored in any memory or combination of memories, the autonomous mobile device 100 may perform any of the operations of the associated instructions. The autonomous mobile device 100 also includes one or more drive mechanisms 108 for interacting with any memory, such as a hard disk drive mechanism, an optical disk drive mechanism, and so forth.
The autonomous mobile device 100 may also include an input/output module 110(I/O) for receiving various inputs (via an input device 112) and for providing various outputs (via an output device 114). One particular output mechanism may include a presentation device 116 and an associated graphical user interface 118 (GUI). In other embodiments, the input/output module 110(I/O), the input device 112, and the output device 114 may also be excluded, as just one computer device in a network. The autonomous mobile device 100 may also include one or more network interfaces 120 for exchanging data with other devices via one or more communication links 122. One or more communication buses 124 couple the above-described components together.
The communication link 122 may be implemented in any manner, such as through a local area network, a wide area network (e.g., the Internet), a point-to-point connection, etc., or any combination thereof. The communication link 122 may comprise any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc., governed by any protocol or combination of protocols.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the specification. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processor to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processor, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processor to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processor to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computer device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium which can be used to store information that can be accessed by a computer device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The embodiments of this specification may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The embodiments of the specification may also be practiced in distributed computing environments where tasks are performed by remote processors that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the method embodiment and the apparatus embodiment, since they are substantially similar to the system embodiment, the description is relatively simple, and reference may be made to some descriptions of the system embodiment for relevant points. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the specification. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (15)
1. A system for repelling an animal from a defined area, comprising: the monitoring equipment is arranged in a working area defined by a boundary line or the periphery of the working area, and the autonomous mobile equipment can move in the working area;
the monitoring equipment is used for monitoring whether a target animal approaches and outputting a prompt message when the target animal approaches;
the autonomous mobile device is configured to:
and when the prompt message is received, planning a driving path according to the current position provided by the positioning module and the position of the monitoring equipment, and moving the monitoring equipment along the driving path.
2. The system of claim 1, wherein the monitoring device comprises:
a sensor for monitoring an object approaching the monitoring device and outputting a monitoring result;
and the processor is used for controlling the communication module in the monitoring equipment to send the prompt message to the autonomous mobile equipment when the object close to the monitoring equipment is identified as the target animal according to the monitoring result.
3. The system of claim 2, wherein the sensor comprises any one or more of: infrared sensor, ultrasonic sensor, millimeter wave radar, vision sensor.
4. The system of claim 1, wherein a signal for repelling the target animal is output during movement along the repelling path to the location of the monitoring device or when the autonomous mobile device approaches or reaches the location of the monitoring device.
5. The system of claim 4, wherein the signal is any one or a combination of the following: sound signal, flashing signal.
6. The system of claim 5, wherein outputting an audible signal for repelling the target animal comprises:
selecting one sound mode from a preset sound mode set, and outputting a corresponding sound signal according to the selected sound mode.
7. The system of claim 5, wherein outputting a flashing signal for repelling the target animal comprises:
and selecting one flash mode from a preset flash mode set, and outputting a corresponding flash signal according to the selected flash mode.
8. The system of claim 6 or 7, wherein the set of sound patterns or the set of flash patterns are periodically updated over a network.
9. The system of claim 1, wherein the autonomous mobile device is provided with a vision sensor; and when the target animal is monitored by the vision sensor in the process that the autonomous mobile equipment moves to the position of the monitoring equipment along the driving path, the autonomous mobile equipment replans the driving path and drives the target animal along the driving path.
10. The system of claim 1 or 9, wherein the driving path is planned based on a simulation of a predator's path of travel when tracking a prey.
11. The system of claim 1, wherein the power supply of the monitoring device is a solar power supply.
12. A method for moving an animal away from a specific area, characterized in that it is applied to an autonomous mobile device provided with a positioning module, said autonomous mobile device being movable within a work area defined by boundaries, said method comprising:
receiving a prompt message; the prompt message is output by the monitoring equipment when the target animal is monitored to approach;
and when the prompt message is received, planning a driving path according to the current position provided by the positioning module and the position of the monitoring equipment, and moving the monitoring equipment along the driving path.
13. The method of claim 12, wherein during movement along the drive path to the location of the monitoring device, or when the autonomous mobile device approaches or reaches the location of the monitoring device, the method further comprises:
outputting a signal for repelling the target animal.
14. An autonomous mobile device comprising a memory, a processor, and a computer program stored on the memory, characterized in that the computer program, when executed by the processor, executes instructions of a method according to any of claims 12-13.
15. A computer storage medium on which a computer program is stored, characterized in that the computer program, when being executed by a processor of a computer device, executes instructions of a method according to any one of claims 12-13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011307974.6A CN114514918A (en) | 2020-11-19 | 2020-11-19 | System and method for driving animals away from specific area and autonomous mobile device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011307974.6A CN114514918A (en) | 2020-11-19 | 2020-11-19 | System and method for driving animals away from specific area and autonomous mobile device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114514918A true CN114514918A (en) | 2022-05-20 |
Family
ID=81594910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011307974.6A Pending CN114514918A (en) | 2020-11-19 | 2020-11-19 | System and method for driving animals away from specific area and autonomous mobile device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114514918A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115443979A (en) * | 2022-09-28 | 2022-12-09 | 广东电网有限责任公司江门供电局 | Small animal expelling system, method and equipment of pole-frame type transformer |
| CN118168662A (en) * | 2024-05-13 | 2024-06-11 | 中国刑事警察学院 | Trail monitoring method and system for wild animal protection area |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204837715U (en) * | 2015-07-21 | 2015-12-09 | 亚洲大学 | Animal is driven early warning and keeps watch on anti -theft system |
| CN108093038A (en) * | 2017-12-11 | 2018-05-29 | 北京艾恩斯网络科技有限公司 | A kind of airport bird feelings intelligent detecting prevention and control device, system and method |
| CN108094402A (en) * | 2017-12-25 | 2018-06-01 | 好得科技（深圳）有限公司 | A kind of multi-function animal drives device |
| CN109991964A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | Control method and device of monitoring robot |
| CN110226589A (en) * | 2019-05-06 | 2019-09-13 | 上海秒针网络科技有限公司 | Target object drives method and apparatus, storage medium and electronic device |
| 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 |
| CN110521716A (en) * | 2019-08-06 | 2019-12-03 | 熵康(深圳)科技有限公司 | A kind of harmful organism drives method, apparatus, equipment and system |
| CN110679584A (en) * | 2019-10-31 | 2020-01-14 | 中国民航科学技术研究院 | Automatic bird repelling device and method |
| CN211185607U (en) * | 2019-09-05 | 2020-08-07 | 国网浙江永嘉县供电有限公司 | Transformer substation animal expelling device |
| CN111552295A (en) * | 2020-05-14 | 2020-08-18 | 武汉联一合立技术有限公司 | Control method and device of unmanned bird repelling vehicle and autonomous bird repelling system |
-
2020
- 2020-11-19 CN CN202011307974.6A patent/CN114514918A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204837715U (en) * | 2015-07-21 | 2015-12-09 | 亚洲大学 | Animal is driven early warning and keeps watch on anti -theft system |
| CN108093038A (en) * | 2017-12-11 | 2018-05-29 | 北京艾恩斯网络科技有限公司 | A kind of airport bird feelings intelligent detecting prevention and control device, system and method |
| CN108094402A (en) * | 2017-12-25 | 2018-06-01 | 好得科技（深圳）有限公司 | A kind of multi-function animal drives device |
| CN109991964A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | Control method and device of monitoring robot |
| CN110226589A (en) * | 2019-05-06 | 2019-09-13 | 上海秒针网络科技有限公司 | Target object drives method and apparatus, storage medium and electronic device |
| 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 |
| CN110521716A (en) * | 2019-08-06 | 2019-12-03 | 熵康(深圳)科技有限公司 | A kind of harmful organism drives method, apparatus, equipment and system |
| CN211185607U (en) * | 2019-09-05 | 2020-08-07 | 国网浙江永嘉县供电有限公司 | Transformer substation animal expelling device |
| CN110679584A (en) * | 2019-10-31 | 2020-01-14 | 中国民航科学技术研究院 | Automatic bird repelling device and method |
| CN111552295A (en) * | 2020-05-14 | 2020-08-18 | 武汉联一合立技术有限公司 | Control method and device of unmanned bird repelling vehicle and autonomous bird repelling system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115443979A (en) * | 2022-09-28 | 2022-12-09 | 广东电网有限责任公司江门供电局 | Small animal expelling system, method and equipment of pole-frame type transformer |
| CN115443979B (en) * | 2022-09-28 | 2024-03-19 | 广东电网有限责任公司江门供电局 | Small animal expelling system, method and equipment for pole frame type transformer |
| CN118168662A (en) * | 2024-05-13 | 2024-06-11 | 中国刑事警察学院 | Trail monitoring method and system for wild animal protection area |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10820574B2 (en) | Specialized contextual drones for virtual fences | |
| JP6821529B2 (en) | Management equipment, programs and management methods | |
| Ditmer et al. | Bears habituate to the repeated exposure of a novel stimulus, unmanned aircraft systems | |
| US11576367B2 (en) | System and methods for automated wildlife detection, monitoring and control | |
| JP6687511B2 (en) | Control device, monitoring device, and control program | |
| US20180065747A1 (en) | Systems and methods for dispensing an insecticide via unmanned vehicles to defend a crop-containing area against pests | |
| CN114514918A (en) | System and method for driving animals away from specific area and autonomous mobile device | |
| US11617363B2 (en) | Robotic agriculture protection system | |
| Kothari et al. | Timing matters: sonar call groups facilitate target localization in bats | |
| US20180068165A1 (en) | Systems and methods for identifying pests in crop-containing areas via unmanned vehicles based on crop damage detection | |
| US20180068164A1 (en) | Systems and methods for identifying pests in crop-containing areas via unmanned vehicles | |
| US20180064094A1 (en) | Systems and methods for defending crops from crop-damaging pests via unmanned vehicles | |
| EP2003962B1 (en) | Apparatus and method for preventing injury on wildlife | |
| JP2015096041A (en) | Elimination of harmful animal and pest insect by laser | |
| KR101506608B1 (en) | Robot type scarecrow | |
| KR20170008489A (en) | Robot system and operating method thereof for repelling harmful fur and feather | |
| Nóbrega et al. | SheepIT, an IoT-based weed control system | |
| US11557142B1 (en) | Home wildlife deterrence | |
| JP3205752U (en) | Pests and pest repellents | |
| KR102114685B1 (en) | Apparatus and method for monitoring crops | |
| JP6564483B1 (en) | Lighting control system, lighting system, work machine, and program | |
| KR20210008711A (en) | Robot system using artificial intelligence for preventing blight and harmful insects from damaging plants | |
| JP6616441B2 (en) | Mobility control system, control system, work machine, and program | |
| KR20210115398A (en) | Drone-based wild animal combat system | |
| WO2024055066A1 (en) | Transmitter system and method for controlling animals |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220520 |