JP2015096041A - Elimination of harmful animal and pest insect by laser - Google Patents

Elimination of harmful animal and pest insect by laser Download PDF

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JP2015096041A
JP2015096041A JP2013236851A JP2013236851A JP2015096041A JP 2015096041 A JP2015096041 A JP 2015096041A JP 2013236851 A JP2013236851 A JP 2013236851A JP 2013236851 A JP2013236851 A JP 2013236851A JP 2015096041 A JP2015096041 A JP 2015096041A
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laser beam
laser
pests
vulnerable
camera
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弘崇 新妻
Hirotaka Niitsuma
弘崇 新妻
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Abstract

PROBLEM TO BE SOLVED: To provide a method of eliminating harmful animals and pest insects such as crows and cockroaches by laser beam.SOLUTION: Using automatic image detection technique by a computer from a camera image, harmful animals and pest insects as well as their vulnerable positions are detected. For example, it has only to detect a place in which haar cascade algorithm, SIFT, or a SURF feature vector matches most with the features of the vulnerable points. The position of the detected object is automatically irradiated with a laser beam. By the automatic control in the direction of the laser beam, the light spot of the laser beam in the camera image is controlled to coincide with the vulnerable point position of the object. The automatic control can use both an advanced method like intensive learning and a simplified method like a method of false position.

Description

本発明はカラスやゴキブリなどの害獣や害虫を追い払う方法としてレーザー光線を使うものである。   In the present invention, a laser beam is used as a method for driving away pests and pests such as crows and cockroaches.

カラスなどの害獣や害虫は、目などの弱点をレーザーポインターで狙うと、追い払うことができる。
従来、これは人手で行われていた。
しかし、目などの小さな弱点をレーザーポインターで狙う操作は人間が長時間行うことは困難である。
例えば農作物をカラスやイノシシから２４時間守るといった目的には自動化が必須であった。
Pests and pests such as crows can be removed by aiming at weak spots such as eyes with a laser pointer.
Traditionally, this has been done manually.
However, it is difficult for humans to perform a long time to aim at small weak points such as eyes with a laser pointer.
For example, automation was essential for the purpose of protecting crops from crows and wild boars for 24 hours.

２４時間、自動で人間を監視追跡する技術は近年大きく発展した。
例えば非特許文献３や非特許文献４の技術などがある。
具体的には、非特許文献２のような安価で誰でも使えるカメラのハードウェア技術と、
ソフトウェア技術としては、
非特許文献５のようにOpenCVライブラリなどに
パッケージ化されてまとめられたものがある。
これを人間ではなく動物や昆虫の弱点を追跡するように変更することで、
害獣や害虫を追い払うシステムにすることができる。
The technology of automatically monitoring and tracking human beings for 24 hours has developed greatly in recent years.
For example, there are techniques of Non-Patent Document 3 and Non-Patent Document 4.
Specifically, the hardware technology of a camera that anyone can use at low cost as in Non-Patent Document 2,
As software technology,
There is a package that is packaged in an OpenCV library or the like as in Non-Patent Document 5.
By changing this to track the weaknesses of animals and insects instead of humans,
It can be a system that drives away pests and pests.

Q-learning による倒立振子制御 佐藤 直樹 法政大学 2004年度卒業研究Inverted pendulum control by Q-learning Naoki Sato Hosei University Graduated 2004

Wireless Webcam for OpenCV Projects http://ryanmessina.wordpress.com/2013/04/30/wireless-webcam-for-opencv/Wireless Webcam for OpenCV Projects http://ryanmessina.wordpress.com/2013/04/30/wireless-webcam-for-opencv/

Paul Viola and Michael J. Jones: Rapid Object Detection using a Boosted Cascade of Simple Features. IEEE CVPR, 2001.Paul Viola and Michael J. Jones: Rapid Object Detection using a Boosted Cascade of Simple Features.IEEE CVPR, 2001.

藤吉弘亘：Gradient ベースの特徴抽出-SIFT と HOG-，CVIM ，pp.211-224 (2007).Hiroyoshi Fujiyoshi: Gradient-based feature extraction-SIFT and HOG-, CVIM, pp.211-224 (2007).

Tutorial: OpenCV haartraining (Rapid Object Detection With A Cascade of Boosted Classifiers Based on Haar-like Features) http://note.sonots.com/SciSoftware/haartraining.htmlTutorial: OpenCV haartraining (Rapid Object Detection With A Cascade of Boosted Classifiers Based on Haar-like Features) http://note.sonots.com/SciSoftware/haartraining.html

Face tracking with Arduino, Processing and OpenCV http://letsmakerobots.com/node/35147Face tracking with Arduino, Processing and OpenCV http://letsmakerobots.com/node/35147

DIY Laser-pointer control with Arduino http://www.freetronics.com/blogs/news/6894190-diy-laser-pointer-control-with-arduino#.UoWyJ0qCjZ4DIY Laser-pointer control with Arduino http://www.freetronics.com/blogs/news/6894190-diy-laser-pointer-control-with-arduino#.UoWyJ0qCjZ4

解決しようとする問題点は、
従来は人手で行われていたレーザーポインターで害獣や害虫の目などの弱点を狙う操作を、コンピュータ制御で自動で行う事である。これにより害獣や害虫の追い払いを自動で行うことができるようになる。自動化により人間が監視を行っていた時には不可能だった24時間の害虫や害獣監視も可能となる。

The problem we are trying to solve is
Conventionally, a laser pointer, which has been performed manually, is a computer-controlled operation that automatically targets weak spots such as pests and pests. As a result, it is possible to automatically remove the pests and pests. The automation also enables 24-hour pest and pest monitoring, which was impossible when humans were monitoring.

画像検出による人間の顔追跡技術を動物や昆虫に応用する。
例えばhaar cascadeアルゴリズムにおける学習画像を追い払いたい動物や昆虫に変更したり、SIFTやSURF特徴を動物や昆虫の特徴に変更するなどする。
この画像検出と画像認識技術により自動的に追い払いたい動物や昆虫の場所を特定し、コンピュータ制御されたレーザー光線で狙い撃ちする。
Apply human face tracking technology by image detection to animals and insects.
For example, the learning image in the haar cascade algorithm is changed to an animal or insect that you want to drive away, or SIFT or SURF features are changed to animal or insect features.
This image detection and image recognition technology automatically locates animals and insects that you want to get rid of, and shoots them with a computer-controlled laser beam.

カラスなどの害獣や害虫の追い払いを自動的に出来るようになる。
It will automatically be able to ward off pests and pests such as crows.

図１は本特許の実施方法を示した説明図である。（実施例１）FIG. 1 is an explanatory diagram showing a method of implementing this patent. (Example 1)

カメラとレーザーポインターで構成される。
Consists of a camera and a laser pointer.

Pan–tilt機能のあるカメラを使って人間の顔を追跡する技術が非特許文献２では実装されている。
このPan–tilt機能のあるカメラに図１のようにレーザーポインタを瞬間接着剤などで固定する。
こうすることでカメラの方向が変わるとレーザーポインタもほぼ同じ方向を向くようにできる。
レーザーポインターが指している光点は、カメラ画像中で最も輝度の高い部分であり、
容易にカメラ画像中から発見できる。
Non-Patent Document 2 implements a technique for tracking a human face using a camera with a Pan – tilt function.
A laser pointer is fixed to this Pan – tilt function camera with an instant adhesive as shown in FIG.
In this way, the laser pointer can point in almost the same direction when the camera direction changes.
The light spot pointed to by the laser pointer is the brightest part of the camera image,
It can be easily found in the camera image.

レーザーポインターが指している光点を図１のようにカラスの目に合わせるには、画像検出でカラスの目を検出し、
その位置と光点が一致するようにカメラの向きを非特許文献１の手法で制御する。
なお害獣の追い払いのためには、高速な制御は必要はない。そのため疑ニュートン法や挟み撃ち法(Method of False Position)などの簡単な方法で光点と画像検出された点が一致するように制御してもよい。
To match the light spot pointed by the laser pointer to the eye of the crow as shown in Fig. 1, detect the eye of the crow by image detection.
The direction of the camera is controlled by the method of Non-Patent Document 1 so that the position and the light spot coincide.
Note that high-speed control is not necessary to drive away harmful animals. Therefore, the light spot may be controlled so as to coincide with the detected point by a simple method such as a suspicious Newton method or a method of false position.

カラスの目の検出には、非特許文献３のカラスの目の画像を学習データとして与える技術を使っても、
非特許文献４のSIFTやSURF特徴量のような特徴量でカラスの目を判別しても、どちらでもよい。
カラスを追い払うには高い精度の検出率は必要としないため、どちらの方法でも大きく変わりはないと思われる。
OpenCVライブラリにパッケージ化された（顔だけでない）任意のオブジェクトを追跡する機能を使うのが容易である。
For the detection of crow's eyes, even using the technology that gives the crow's eye image of Non-Patent Document 3 as learning data,
Even if the eyes of a crow are discriminated by a feature quantity such as SIFT or SURF feature quantity of Non-Patent Document 4, either may be used.
It doesn't seem to change much with either method because it doesn't require a high detection rate to get rid of crows.
It is easy to use the ability to track arbitrary objects (not just faces) packaged in the OpenCV library.

レーザーポインターはUSBから給電されるものを使う。USBからの給電はELECOM U2H-SW4Sで電源のオンオフをコンピュータからプログラムで制御できる。これによりレーザーポインターのオンオフも制御できる。
Use a laser pointer powered by USB. Power supply from USB can be controlled by ELECOM U2H-SW4S with a program from a computer. As a result, the laser pointer can be controlled on and off.

非特許文献６、非特許文献７のようにロボット作成とセンシングの工作キットを使用する。
こうすることでカメラとレーザーポインターの動きを別にすることができる。
実施例１と異なり、
カメラを静止したままレーザーポインターだけを動かすことができるため、
レーザーポインターの命中率を上げることができる。
制御するソフトウェアは実施例１と同様である。
この構成の場合は、カメラとしてmicrosoft kinectのような３次元計測が可能なものも利用可能である。 As shown in Non-Patent Document 6 and Non-Patent Document 7, a robot creation and sensing work kit is used.
In this way, the camera and laser pointer can be moved separately.
Unlike Example 1,
Only the laser pointer can be moved while the camera is stationary,
Increases the accuracy of the laser pointer.
The software to be controlled is the same as in the first embodiment.
In this configuration, a camera capable of three-dimensional measurement such as microsoft kinect can be used.

農業の自動化だけでなく、家庭内のゴキブリ退治等の害虫退治にも有効である It is effective not only for agricultural automation but also for extermination of pests such as cockroaches in the home.

Claims (2)

レーザー光線でカラスやゴキブリなどの害獣や害虫を追い払う方法 How to get rid of pests and pests such as crows and cockroaches with a laser beam 請求項１の制御をカメラ画像からのコンピュータ自動画像検出で害獣や害虫を検出することで行う方法 The method of performing control of Claim 1 by detecting a pest and a pest by computer automatic image detection from a camera image
JP2013236851A 2013-11-15 2013-11-15 Elimination of harmful animal and pest insect by laser Pending JP2015096041A (en)

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Cited By (10)

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CN107084756A (en) * 2017-03-17 2017-08-22 浙江理工大学 The insect pest image Forecasting Method sent based on raspberry
WO2019150418A1 (en) * 2018-01-30 2019-08-08 株式会社オプティム Drone, extermination method, and program
CN112493228A (en) * 2020-10-28 2021-03-16 河海大学 Laser bird repelling method and system based on three-dimensional information estimation
CN112806348A (en) * 2021-01-27 2021-05-18 郑州师范学院 Bird repelling system
JP2021097610A (en) * 2019-12-20 2021-07-01 Ｎｅｃプラットフォームズ株式会社 Intimidation system, intimidation method, and program for intimidation system
JP2021100396A (en) * 2019-12-24 2021-07-08 有限会社オルサ Bird and beast repellent device and bird and beast repellent method
CN114342910A (en) * 2022-01-04 2022-04-15 阳光电源股份有限公司 Laser bird repelling method and related device
WO2023089945A1 (en) * 2021-11-17 2023-05-25 国立大学法人大阪大学 Irradiation device and irradiation method
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107084756B (en) * 2017-03-17 2019-03-08 浙江理工大学 Insect pest image Forecasting Method based on raspberry pie
CN107084756A (en) * 2017-03-17 2017-08-22 浙江理工大学 The insect pest image Forecasting Method sent based on raspberry
WO2019150418A1 (en) * 2018-01-30 2019-08-08 株式会社オプティム Drone, extermination method, and program
JP2021097610A (en) * 2019-12-20 2021-07-01 Ｎｅｃプラットフォームズ株式会社 Intimidation system, intimidation method, and program for intimidation system
JP2021100396A (en) * 2019-12-24 2021-07-08 有限会社オルサ Bird and beast repellent device and bird and beast repellent method
CN112493228A (en) * 2020-10-28 2021-03-16 河海大学 Laser bird repelling method and system based on three-dimensional information estimation
CN112493228B (en) * 2020-10-28 2021-12-14 河海大学 Laser bird repelling method and system based on three-dimensional information estimation
CN112806348A (en) * 2021-01-27 2021-05-18 郑州师范学院 Bird repelling system
WO2023089945A1 (en) * 2021-11-17 2023-05-25 国立大学法人大阪大学 Irradiation device and irradiation method
CN114342910A (en) * 2022-01-04 2022-04-15 阳光电源股份有限公司 Laser bird repelling method and related device
WO2023219073A1 (en) * 2022-05-11 2023-11-16 合同会社なんま獣医学研究所 Harmful animal exterminating apparatus and harmful animal exterminating method
CN116391693A (en) * 2023-06-07 2023-07-07 北京市农林科学院智能装备技术研究中心 Method and system for killing longicorn
CN116391693B (en) * 2023-06-07 2023-09-19 北京市农林科学院智能装备技术研究中心 Method and system for killing longicorn

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