TWI854511B - Multi-laser focused safety pest control system for unmanned vehicles - Google Patents

Abstract

This invention provides a multi-laser focused safety pest control system for unmanned vehicles, it contains: A mobile vehicle, the configuration of the one-flight control module, plural laser transmitting elements, an image capture device, a monocular distance sensor, a flight status sensing unit and a processing unit; The flight status sensing unit is used to sense at least one of the flight status parameters of the mobile vehicle; An analysis module with a pest identification model was developed; In this way, the invention is to capture images through the image acquisition device, and the analysis module can use the pest identification model to identify a target (e.g., pest) and its location information in the image, and define control commands based on flight status parameters. So as to cause the flight control module to control the movement of the mobile carrier to a position corresponding to the position information and to cause the focus position of said laser emitting element to be located at the position of the position information. By configuring each laser emitting element with low power, a single laser does not have harmful effects on organisms or the environment, and by gathering the laser light from multiple laser emitting elements at the focal point, the laser has a higher energy density only at the focal point to remove or disable the pests. By achieving automatic control of pest reproduction, crops are less likely to be seriously injured, so as to achieve natural ecological balance and promote the development of related agriculture, while avoiding damage to surrounding organisms caused by laser light irradiation, in order to maintain the safety of life in the surrounding environment.

Description

Unmanned vehicle multi-laser focusing safe pest control system

The present invention provides a multi-laser focused safe pest control system for unmanned vehicles, particularly a system that automatically detects the location of pests through an unmanned vehicle and removes or disables the pests through low-power laser focusing, thereby inhibiting the reproduction of pests. No lethality is produced in places where the laser is not concentrated, thereby effectively improving the safety of automatic pest removal.

Since the 20th century, the invention of chemical fertilizers and pesticides has reduced pests and diseases, increased production, and increased farmers' incomes, so the customary use of chemical pesticides has been widely used in agriculture; however, with the increasing use of low-cost pesticides, the problems brought by pesticides have gradually emerged. Due to the excessive use of chemical fertilizers and pesticides to improve productivity, the environment has been seriously polluted and human health has been endangered; long-term use of large amounts of chemical pesticides will lead to soil acidification and salinization, and will also damage water resources and the ecological environment, seriously polluting people's living environment; in addition, as the number of spraying increases, pests and diseases will develop resistance, so the concentration of the pesticide needs to be increased. This result will further enhance the resistance of pests and diseases, and high concentrations of pesticides will cause greater pollution to the environment. In addition to seriously affecting animals and plants, it will also pose a threat to human food safety. Therefore, how to develop environmentally friendly agriculture is urgent; therefore, creating environmentally friendly agriculture and reducing the harm to the environment, while also effectively preventing pests and diseases and sharing nutrients with weeds, has now become one of the important research goals.

In a friendly farming environment, organic agriculture is a production method that is less polluting and less damaging to the environment, and can provide consumers with healthy and safe agricultural products. The definition of organic agriculture varies according to the laws of each country. With the evolution of agricultural technology, the requirements of organic agriculture regulations have become increasingly stringent. According to the definition of Taiwan's Council of Agriculture, organic agriculture is an agriculture that abides by the principle of sustainable use of natural resources, does not allow the use of synthetic chemicals, emphasizes the management system of water and soil resource conservation and ecological balance, and achieves the goal of producing natural and safe agricultural products. In January 2007, the Council of Agriculture began to implement the "Agricultural Product Production and Certification Management Act", which brought organic agriculture and its products into legal regulations.

According to statistics from the Department of Agriculture and Food under the Council of Agriculture, Executive Yuan in November 2011, there are 4,413 organic farming households, and the organic farming area is 11,722.3276 hectares. According to the "Current Status of Agricultural Management" of the Council of Agriculture, Executive Yuan, the area of agricultural land in Taiwan in 2010 is 790,000 hectares, and the annual crop planting is 2.36 million hectares. The cultivated area is 740,000 hectares. At the end of 2019, there were 775,000 farming and animal husbandry households in Taiwan, of which 718,000 were engaged in agriculture and animal husbandry; the farming and animal husbandry population was over 2.69 million. It can be seen that the organically cultivated area only accounts for 1.5% of the cultivated land area, and the number of organically cultivated farmers only accounts for 0.6% of the number of households engaged in agriculture and animal husbandry.

According to a report by the Organic Agriculture Global Information Network citing the EU, the current organic agriculture area in the EU accounts for 8.5% of the total agricultural area. If the growth trend in recent years is estimated, it will increase to about 15-15% by 2030. The Organic Action Plan further aims to increase the organic proportion to 25%. Therefore, the development of organic agriculture in Taiwan The main reason why Taiwan lags far behind the EU is that the climate in Taiwan is hot and humid, and there is no sufficiently low temperature in winter, which makes pests and diseases difficult to control. In addition, because Taiwan is in a high temperature and humid environment, organic matter decomposes quickly, leaching is intense, and nutrient loss is large, resulting in a decline in soil fertility, resulting in a generally low content of organic matter in the country's soil, with more than 65% of cultivated land has an organic matter content of less than 2%, so it is necessary to purchase expensive organic fertilizers. In addition, the land load is too heavy, with an average of 24 people per hectare, which means there is not enough land for crop rotation. Therefore, the inherent conditions limit the development of organic agriculture. The Agricultural Policy Research Center of the Agricultural Science and Technology Research Institute also pointed out that in terms of agricultural products, Taiwan's organic rice and vegetable technology is mature, but the scale of organic fruit is still small. This is because of the country's latitude, which makes it vulnerable to climate impacts and many diseases and pests, so the crop growth period is also longer, so fewer people invest in planting.

Due to the wide variety of crops in my country, the main damage caused by pests to economic crops such as vegetables, fruit trees and flowers can be divided into three types: feeding damage, non-feeding damage and transmission of diseases. Among them, feeding pests can directly harm the roots, stems, leaves, buds, fruits, seeds and other parts of flowers, causing damage to different parts. Feeding pests mainly have 6 ways of damage: chewing, rolling, Nesting on leaves or leaf bundles, leaf diving, leaf boring, piercing and sucking, and galling; there are two main types of non-feeding damage to crops: egg-laying damage and soil-boring damage; transmitted diseases are wounds caused by pests, which are channels for certain pathogens to invade. Many plant viral diseases are transmitted by pests; pests can be divided into several categories according to the parts they damage, such as underground pests, leaf-feeding pests, piercing and sucking pests, and boring pests. Important pests on different parts of the tree and their damage characteristics can be divided into the following categories: those that damage roots or bulbs include: crickets, grubs, root divers, sweet potato ants, yellow-striped leaf fleas, root mites, etc. They feed on the roots and damage the epidermis, affecting the absorption of water and nutrients by the roots, causing the tree to weaken, and in severe cases, causing the entire above-ground plant to wither; damage to flower bulbs, sweet potato tubers, and potato tubers affects germination, commercial value, and yield. The pests that harm stems, trunks, and branches are: peach heartworm, wood borer, borer, longhorn beetle, weevil, termite, stem miner, shell insect, etc., which will cause the branches or stems to be bored, resulting in branch breakage and new shoot withering, affecting the growth of the tree; some damaged trunks will become peeled, and in severe cases, the whole plant will die; those that harm the flowers are mainly beetles, beet armyworm, and lithotripsy, which will directly affect the commercial value of flowers and indirectly cause the commercial value of flowers or fruits to fall; those that harm fruits, such as oriental fruit flies and melon Adult fruit flies lay eggs in the fruit, and the larvae burrow into the flesh, causing the fruit to rot and fall. Among them, fruits have a higher economic value and the lowest tolerance to insect damage. Even a few insects can cause serious losses. In addition, pests that damage the roots of seedlings include crickets, cutworms, wireworms, and grubs. After these pests damage plants, they not only cause a reduction in production, but also affect the quality of vegetables and reduce the commercial value. Important pests that damage leaves can be divided into: moth pests, aphids, artichokes, mites, diving flies, and mealybugs.

The main purpose of pest control in organic farming is to adopt various non-pesticide natural control methods, hoping to enable beneficial insects and bacteria to maintain a good ecological balance with pests and pathogens. Although there are many methods, they can be roughly divided into cultivation control, physical control, biological control and natural pesticide control. The purpose of organic farming is to properly protect beneficial insects and various natural enemy animals and microbial communities, and use the antagonistic functions between organisms to restrain the reproduction of pests, so as to achieve natural ecological balance and prevent crops from being seriously damaged. Under the organic farming management method, the beneficial insects and various natural enemy animals, antagonistic microorganisms, etc. that have disappeared will gradually reappear, bringing a friendly farming environment.

The Australian Centre for Field Robotics in Australia has developed a solar-powered field robot called RIPPA, which it attempts to use as a weed and pest control robot. It uses physical pest control methods, mainly using image processing to determine the location of pests, and controls the suction of the vacuum cleaner to suck away pests. In the demonstration video of the RIPPA field robot, the pest control part uses blue plastic bottle caps as imaginary pests, so it is still in the experimental stage and there should still be technical problems to overcome; among them, the vacuum cleaner mouth is slightly larger, so there is a concern that it may damage the planted plants. In addition, some pests will attach to leafy vegetables, so in order to avoid damaging the planted plants and suck away the pests, the control mechanism of its suction force is an important topic.

There are also literatures on precise laser pest control in existing research. This technology combines key technologies such as monocular stereo vision, rapid laser scanning, and intelligent pest recognition to control the population size of agricultural pests. This technology is mainly used in experiments to control pests of fruit trees in date orchards. The results show that under specific light wavelengths and powers, larvae of the Taiwan yellow tussock moth over two years old cannot further ingest food after being exposed to light for 1.2 seconds. Therefore, laser pest control devices can effectively control pest populations.

In 1988, there was a document proposing the use of lasers to remove pests. The method used lasers to illuminate fruit flies in a closed space, and it was found that green light was more effective than infrared light. In 2008, the Gates Foundation also sponsored the Intellectual Ventures laboratory laser mosquito control project to eliminate malaria. Although insecticides can effectively kill mosquitoes, they are very harmful to the environment and mosquitoes can develop resistance to them. The goal of the project is to use the laser in the Blu-ray DVD plus a photoreceptor (CCD or CMOS) to kill mosquitoes using physical methods. It is hoped that the cost will be controlled within NT$2,000 to help Africa fight malaria. However, the energy of the laser light in the Blu-ray DVD is too small, so the Lighting DVD is not suitable for the treatment of malaria. The Science team published their results in Optics Express in 2016. The working principle is to first emit low-power infrared light, with an illumination range of 30 The reflective board is placed on the optical network and monitored by an infrared camera. Once an insect enters the optical network, it will leave a silhouette on the reflective board. The infrared camera can make a preliminary judgment on whether it is a mosquito based on the measured silhouette. It can also use the size of the mosquito, the frequency of wing flapping and the flying speed to determine the gender of the mosquito. Since female mosquitoes are larger and the frequency of wing flapping is lower, once the system software determines that it is a female mosquito, it will emit a high-energy laser to shoot down the mosquito. According to research, the laser power does not need to be high enough to completely burn the mosquito's wings. As long as it can destroy the mosquito's flying ability, it can shoot down the mosquito. However, the machine is large and the price is far beyond expectations. Therefore, it is still in the research stage.

Currently, there is another patent case similar to the "System and Method for Locating and Removing Insects" in Taiwan's Patent Publication No. 202022698. It mainly detects the location of insects based on images, can mark them, can be mounted on a drone, and dispose of insects mechanically or chemically through components; and its main technology is that it obtains spatial images through a camera and determines the location of the insect in the space based on the image. However, the position in space cannot be obtained through a single camera because a single camera only captures two-dimensional images. It is difficult to obtain three-dimensional space. At least two cameras are needed to capture the actual position of insects in space, and as described in another embodiment, the time difference between two images is used to capture the actual position of insects in space. However, the configuration requires that the position of the camera moving is a known value, and the required technology and computing power are very high, so the cost will increase significantly and it is difficult to actually apply it to drones. In addition, it is also mentioned that the camera and the pointing device of the laser or indicator mark will be placed at least 10 cm away from each other, but this setting is difficult for mobile pest control devices, and in 2008, the Gates Foundation also sponsored Intellectual Ventures In the laboratory laser mosquito killing project, projection-type mosquito removal devices are feasible, but the restrictions on autonomous mobile insect removal devices are high and difficult to implement effectively; further investigation, the 202022698 case explains that its processor can analyze the image of the space containing insects and mobile devices in a single frame of the image, control the mobile device to move to the vicinity of the insect, and the direction to the insect can be estimated from the location of the insect in the image within a single frame. The processor uses the pixel distance between the two objects in a single frame to regularly judge the angular distance between the mobile device and the insect in the single frame, and calculates the moving distance based on this. The device needs to move the distance and direction; however, as mentioned above, since a single camera can only obtain planar information, unless the size of the insect is assumed to be known, the distance of the insect can be estimated based on the size of the insect image in the captured image. Otherwise, only the moving direction information of the insect can be obtained, and the distance of the insect cannot be calculated. In addition, it is further explained that the method of removing insects may include a method of determining whether there is a creature (or an object or material that can be harmed by the action of the auxiliary device) near the location of the insect, which uses the relative size of the action in space or the shape and color of the material to make a judgment. However, the size of insects relative to the creatures that are generally avoided is very different. When using relative size to judge movement, the movement of plants in the wind may be similar to the movement of organisms and difficult to distinguish. In addition, it is almost impossible to identify insects and organisms by shape in the same screenshot.

In view of this, we, the inventors, have devoted ourselves to further studying the safety of unmanned vehicle pest control, and have started to carry out research and development and improvement, hoping to find a better invention to solve the above problems. After continuous testing and modification, the present invention was finally born.

Therefore, the purpose of the present invention is to solve the above problems. To achieve the above purpose, we, the inventors, provide a multi-laser focused safe pest control system for unmanned vehicles, which includes: a mobile vehicle, which is equipped with a flight control module, a plurality of laser emitting elements, an image capture device, a target distance sensor, a flight status sensing unit and a processing unit; the flight control module is used to control the mobile vehicle. The flight state sensing unit is used to sense at least one flight state parameter of the mobile vehicle; the laser emitting element is used to emit a laser light respectively, and the laser light is correspondingly focused at a focal position; the processing unit is coupled to the flight control module, the laser emitting element, the image capture device and the flight state sensing unit; and an analysis module is connected The processing unit is provided with a pest identification model, wherein the image capture device is used to capture an image, the target distance sensor is used to measure a distance value of the target image captured by the image capture device, the processing unit transmits the image, the distance value, the focus position and the flight state parameter to the analysis module, and the analysis module uses the pest identification model to A target and its corresponding position information are identified in the image, and a control instruction is defined according to the position information, the distance value and the flight state parameter, and the control instruction is sent back to the processing unit, so that the processing unit controls the flight control module to move the mobile vehicle to a position corresponding to the position information according to the control instruction, and makes the focal position of the laser emitting element be located at the position of the position information.

The multi-laser focused safe pest control system for unmanned vehicles as described above further includes a rotating stage, which is arranged on the mobile vehicle and correspondingly carries the laser emitting element, the target distance sensor and the image capture device; and at least one driving device, which is coupled to the processing unit and correspondingly connects to and drives the rotating stage. The processing unit drives the driving device to make the image capture device track the target and make the focal position of the laser emitting element be located at the position of the position information.

According to the multi-laser focused safe pest control system of the unmanned vehicle described above, the mobile vehicle is further provided with a plurality of adjustment devices, the adjustment devices are coupled to the processing unit, and the laser emitting elements are respectively arranged in the adjustment devices; the processing unit drives the adjustment devices to adjust the angles of the laser emitting elements respectively, thereby controlling the focal position.

The multi-laser focused safe pest control system for unmanned vehicles as described above further includes a remote control device, which is provided with a transmission module and the analysis module, and the transmission module is connected to the analysis module; and the processing unit is further provided with a communication module, and the communication module is signal-connected to the transmission module to enable the processing unit to connect and transmit signals to the analysis module.

According to the multi-laser focused safe pest control system for unmanned vehicles described above, the communication module and the transmission module are wirelessly connected via mobile communication, wireless network, Bluetooth, LoRaWAN, NBIot or ZigBee.

According to the above-mentioned multi-laser focused safe pest control system for unmanned vehicles, the image capture device is at least one of a camera, a thermal imager or a multi-spectrometer.

According to the multi-laser focused safe pest control system for unmanned vehicles described above, the flight status sensing unit is at least one of an inertial sensor, an altimeter, a GPS or an RTK GPS positioning device.

According to the above-mentioned unmanned vehicle multi-laser focusing safe pest control system, the pest recognition model is obtained by training with deep neural networks (DNN), deep belief networks (DBN), convolutional neural networks (CNN), regions with convolutional neural networks (R-CNN), fast regional convolutional neural networks (Faster R-CNN) or YOLO (You only look once) algorithm.

The multi-laser focused safe pest control system for unmanned vehicles described above further includes a control module, which is connected to the processing unit and the laser emitting element; the pest recognition model is used to recognize the target and its corresponding type information in the image, and the control module recognizes the type information of the target based on the pest recognition model to adjust the power intensity of the laser emitting element through pulse width modulation (PWM), and accordingly controls the time and interval of the laser emitted.

From the above description and configuration, it is apparent that the present invention mainly has the following advantages and effects, which are described in detail as follows:

1. The present invention can sense the flight state parameters of the mobile vehicle by means of the flight state sensing unit, and the analysis module builds a pest recognition model, so that when the image capture device captures an image, the analysis module can recognize a target (such as a pest) and its corresponding position information in the image, and the position information, flight state parameters, distance value and the focal position of the laser emitting element are used to define a control instruction, so that the processing unit can accurately and stably control the flight control module to move the mobile vehicle to a position corresponding to the position information according to the control instruction, and can make the laser emitting element The focal position is located at the position of the position information. By configuring each laser emitting element to be low power, a single laser light does not have the power to harm organisms or the environment. The laser light emitted by multiple laser emitting elements is concentrated at the focal position, so that only the focal position has a higher energy density to remove pests or disable them. This can achieve automated control of pest reproduction, making crops less susceptible to serious damage, achieving natural ecological balance, and promoting the development of related agriculture. At the same time, it can prevent surrounding organisms from being damaged by laser light, so as to maintain the safety of life in the surrounding environment.

Regarding the technical means of our inventors, several preferred embodiments are described in detail below with reference to the drawings so that you can have a deeper understanding and recognize the present invention.

Please refer to Figures 1 and 2. The present invention is a multi-laser focused safe pest control system for unmanned vehicles, which includes:

A mobile vehicle 1, which in one embodiment can be a multi-rotor drone, but this is only an example and is not intended to be limiting; the mobile vehicle 1 is equipped with a flight control module 11, a plurality of laser emitting elements 2, an image capture device 3, a target distance sensor 4, a flight status sensing unit 12 and a processing unit 5; and in a specific embodiment, the mobile vehicle 1 is equipped with a rotating platform 13, and correspondingly carries the laser emitting element 2, the target distance sensor 4 and the image capture device 3; and the flight control module 11, the flight status sensing unit 12 and the processing unit 5 can be configured on the mobile vehicle 1.

Among them, the flight control module 11, as known, can be the rotor of the mobile vehicle 1, so as to control the position, lifting, pitch angle, yaw angle, roll angle and speed of the mobile vehicle 1. The control method belongs to the known technology, so it is not repeated here; and the flight state sensing unit 12 is used to sense at least one flight state parameter of the mobile vehicle 1, such as: at least one of the longitude, latitude, altitude, pitch angle, yaw angle, roll angle, speed and angular velocity of the mobile vehicle 1, so it can be known that the flight state sensing unit 12 can be configured as a corresponding inertial sensor, altimeter, GPS or at least one of a more accurate RTK GPS positioning device;

As for the setting of the laser emitting element 2, it can emit lasers accordingly, and the shorter the wavelength of the laser, the more harmful it is. Therefore, if efficiency is considered, the wavelength of the laser can be set to less than 400nm, and if safety is considered, it can be set to between 450nm and 550nm, so that its wavelength is closer to green and less likely to be absorbed by green plants. In one embodiment, the wavelength can also be set to other wavelengths, so that when the pests are green in color, they can also be affected. In one embodiment, the light spot of the laser irradiated by each laser emitting element 2 can be about 2mm in diameter and less than 0.5W in power, which is conducive to the portability of lightweight drones and reduces the impact of a single laser beam on the surroundings. The harm to the environment; and the laser emitting element 2 can adjust the appropriate power by pulse modulation according to the properties of the pests, and irradiate the vital parts of the pests for a short time, which is set to within 2 seconds in this embodiment, to increase the mobility of the drone to quickly move and remove pests; and thereby kill the pests, or disable them, such as: unable to take in food, thereby reducing their reproductive capacity. However, the above configuration is only an example and is not intended to be limiting.

As for the configuration of the image capture device 3, since the present invention is mainly used to photograph and identify pests, it can be a camera, a single lens with optical telescopic function, or a plurality of single-focus lenses forming an image capture device for image capture. Since the pest part has a protective color, in a preferred embodiment, it can be configured as a thermal imager or a multi-spectrometer, or a combination of the aforementioned camera, thermal imager or multi-spectrometer, so as to be more conducive to the extraction of pest characteristics.

The processing unit 5 is coupled to the flight control module 11, the laser emitting element 2, the image capturing device 3 and the flight state sensing unit 12; and in order to make it lightweight and reduce its energy consumption, the processing unit 5 can be configured as an embedded system; and

An analysis module 6 is connected to the processing unit 5; and the analysis module 6 is built with a pest recognition model; and it is known that the pest recognition model is used to detect whether there are pests in the target image, and the general target detection can be processed by region selection, feature extraction or classifier, and preferably based on image learning rules, such as: deep learning, which is based on a neural network-like structure and is an algorithm for characterizing data learning; and in the present invention, it can be through deep neural networks (Deep Neural Networks, DNN), deep belief networks (Deep Belief Networks, DBN), convolutional neural networks (Convolutional Neural Networks, CNN), regions with convolutional neural networks (Regions with Convolutional Neural Networks, R-CNN), Faster R-CNN or YOLO (You only look once) algorithm, and in this embodiment, it is carried out through the YOLO intelligent recognition algorithm with higher real-time performance, and YOLO is trained with sufficient pest image information to form its training model, which is the pest recognition model; and to facilitate the construction of the pest recognition model, in one embodiment, the iNaturalist API can also be used as a pest recognition model to identify pests, but it is only an example for explanation and is not limited to this.

Thus, as shown in FIGS. 1 to 5, the image capturing device 3 is used to capture an image, the target distance sensor 4 is used to measure a distance value of the target image captured by the image capturing device, and the processing unit 5 transmits the image, the distance value, the focus position F and the flight state parameter to the analysis module 6, so that the analysis module 6 recognizes a target (i.e., the pest image in the image) in the image through the pest recognition model, and based on the internal parameters of the image capturing device 3, such as: the focal length, position and angle of the image capturing device 3, and the position of the mobile vehicle 1, the position information corresponding to the target can be calculated in the image, and the position information of the target and the mobile vehicle 1 can be compared. The relative position of the mobile vehicle 1 can define the flight path of the mobile vehicle 1, and by combining the flight state parameters of the mobile vehicle 1, a control instruction can be defined accordingly and sent back to the processing unit 5, so that the processing unit 5 controls the flight control module 11 to move the mobile vehicle 1 to a position corresponding to the position information according to the control instruction, and makes the focal position F of the laser emitted by the laser emitting element 2 be located at the position of the position information, so as to remove the pest or disable it through the irradiation of the laser as mentioned above; and preferably, the target identified by the pest recognition model in the image is a weak point image of the pest, such as: the image of the mouth or its wings, so that the focus position F is located at the weak point of the pest to remove or disable it.

As mentioned above, since the pest identification model requires a large amount of computation for image recognition, in order to enable the present invention to perform real-time computation and reduce the hardware configuration of the mobile vehicle 1 carrying the processing unit 5 so that it can be lightweight, in a preferred embodiment, a remote control device 7 can be deployed in the area where the pests are to be removed, which is provided with a transmission module 71 and the analysis module 6, and the transmission module 71 The processing unit 5 is further provided with a communication module 51, which is signal-connected to the transmission module 71, so that the processing unit 5 is connected and transmits signals to the analysis module 6; thereby, since the processing unit 5 is mounted on the mobile vehicle 1, it can transmit images and flight status parameters to the transmission module 71 through the communication module 51, so that the analysis module 6 can Receive and perform the aforementioned recognition of the target image through the pest recognition model, and calculate its control instructions, so that the mobile vehicle 1 can focus on its flight control, image capture and acquisition of flight status parameters, thereby reducing its hardware configuration to make it lightweight and reducing its energy consumption, thereby helping to increase the navigation distance and range of the mobile vehicle 1; and the communication module 51 and the transmission module 71 are connected to each other. In one embodiment, wireless connection can be achieved through mobile communication, wireless network, Bluetooth, LoRaWAN, NBIot or ZigBee. In another preferred embodiment, a directional antenna can be configured in the transmission module 71, and a rotating platform can be set up thereon to connect in the form of a scanning antenna to enhance its signal receiving capability. However, this is only an example and is not intended to be limiting.

In a preferred embodiment, in order to facilitate the capture of the internal parameters of the image capture device 3, to improve the accuracy of the target position information capture, and to facilitate the control of the emission direction of the laser emitting element 2, it is preferred that the mobile carrier 1 is configured with a rotating platform 13 at one end thereof. This embodiment is described by configuring the rotating platform 13 at the bottom of the mobile carrier 1, but this is not intended to be limiting; wherein, The rotating stage 13 is correspondingly supported by the laser emitting element 2, the target distance sensor 4 and the image capture device 3; and at least one driving device 14 is coupled to the processing unit 5, and is correspondingly connected to and drives the rotating stage 13, thereby, the processing unit 5 can track the target through the image capture device 3, and thereby calculate and drive the driving device in accordance with the flight state parameters. 14, so that the laser emitting element 2 emits laser light and focuses the focal position F, which can be adjusted by the driving device 14 controlling the rotating stage 13, and the transmission position of the driving device 14 can be fed back to the analysis module 6, so that the position and angle information of the image capture device 3 and the laser emitting element 2 or its focal position F can be captured, so that the analysis module 6 can accurately obtain the position information of the target, and The control instruction is defined based on this, and it can be known that the control instruction can include parameters for controlling the driving device 14, so that the tracking target (i.e., pests) can be locked according to the pest control environment, and the mobile carrier 1 can be controlled to a better retention position. Through the angle control of the rotating platform 13 by the driving device 14, the focal position F where the laser emitted by the laser emitting element 2 is concentrated can be accurately concentrated on the position information.

As for the arrangement of the driving device 14, in one embodiment, it can be a single or multi-axis arrangement, so that the rotating stage 13 can be controlled at multiple angles. In a preferred embodiment, the rotating stage 13 can be configured to be rotatable in at least two axis directions. Therefore, in one embodiment, as shown in FIG. 3 and FIG. 4, the driving device 14 can be a motor, and can be arranged in a singular or plural number, so as to be arranged individually or simultaneously at the bottom or side of the rotating stage 13, so as to adjust the angle of the rotating stage 13, so that the angles of the laser emitting element 2 and the image capture device 3 can be controlled as described above; however, this is only an example and is not intended to be limiting.

It is necessary to explain in particular that the present invention is to prevent a single laser beam from causing harm to the surrounding environment or organisms. Therefore, the invention mainly adopts a plurality of laser emitting elements 2, each of which has a relatively low power, so that a single laser beam has almost no killing power. In addition, the laser emitted by the laser emitting element 2 is focused at a single focal position F, so that only the focal position F has a high energy density. In addition, in conjunction with the above, the focal position F is moved to the position information to achieve the purpose of disabling the pests. The laser at the non-focal position F is not used because it is a laser beam at each focal position F. Since the laser is irradiated along its optical path, and the optical path does not overlap except for the focal position F, the energy density of a single laser is extremely low, so when it is irradiated to the surrounding environment or organisms, it will not cause any harm to them at all; and as mentioned above, since the target identified by the pest recognition model in the image is a weak point image of a pest, the energy density of the laser required to remove or disable it is relatively low. In addition, the energy density is mainly increased by focusing the laser at a single focal position F in this case. Therefore, in one embodiment, the power of the laser emitted by each laser emitting element 2 can be 0.5 W or less, and the laser spot is about 2mm or less, and the total power when it is concentrated at a single focal position F is about 2W, and the concentrated irradiation is about 1 to 2 seconds, which can be used to remove pests or disable them, and when the non-concentrated laser light is irradiated to the environment or other organisms, it will not cause any harm, so as to achieve the purpose and effect of safety; however, it is only an example and is not limited to this. In other embodiments, the power of each laser emitting element 2 emitting laser can be further reduced, so that through the configuration of multiple sets of laser emitting elements 2, the total power at the focal position F can be reduced. The power reaches a threshold that can disable the pests, so as to further achieve the goal of safety. Since there are many types of pests, in order to adjust the laser power according to the type of pests, it is better to further configure a control module 21 on the laser emitting element 2, which is connected to the processing unit 5 and the laser emitting element 2; the pest recognition model is used to recognize the target and its corresponding type information in the image, and the control module 21 recognizes the type information of the target according to the pest recognition model to adjust the laser power according to the type of pests. The power intensity of the laser emitting element 2 is adjusted by pulse width modulation (PWM), and the time and interval of the laser emission are controlled accordingly, so that pests can be removed or disabled more accurately and effectively.

In order to facilitate the control of the mobile carrier 1 in response to the position of the pest or the environment, and to ensure that the focal point F is located at the weak point of the pest, it is preferred that the mobile carrier 1 is further configured with a plurality of adjustment devices 22 on the rotating stage 13, and the adjustment devices 22 are coupled to the processing unit 5, and the laser emitting elements 2 are respectively arranged on the adjustment devices 22. Thus, the processing unit 5 drives the adjustment devices 22 to adjust the angles of the laser emitting elements 2, thereby controlling the focal point F. It can be known that the adjustment device 22 can be configured as a motor to adjust the irradiation angle of the laser emitting element 2. Control, and the focal position F is dependent on the angle of the laser emitting element 2. As shown in FIG. 3 and FIG. 4, when the angle of the laser emitting element 2 is smaller, the focal position F will be farther from the mobile carrier 1. On the contrary, when the angle of the laser emitting element 2 is larger, the focal position F will be closer to the mobile carrier 1. With this configuration, when the pests are located deeper in the crops, or there are more crops in the environment, making it difficult for the mobile carrier 1 to fly close to the pests, the angle of the laser emitting element 2 can be adjusted through the adjustment device 22, so that the focal position F where the laser is concentrated can be farther, so as to ensure the removal or disability of the pests at a farther position.

In terms of the safety considerations of this case, the safety part includes the stability of the mobile vehicle 1 in the flying state and the related harm of the laser emitted to the surrounding creatures; therefore, the present invention takes safety considerations into consideration, so that when performing pest removal operations, it can further identify the images of other creatures to prevent other creatures from entering the flying area of the mobile vehicle 1 or being irradiated by the laser and producing adverse images, so In a preferred embodiment, the image capture device 3 can be configured as an image capture device, so that it may have or not have a function of variable focal length, and a camera device (not shown) can be further provided, which is respectively configured on the mobile vehicle 1 and correspondingly coupled to the processing unit 5; the camera device is used to capture a second image, and the analysis module 6 is further configured with a security recognition model, the security The recognition model is used to recognize at least one safety target, and the safety target can be an image of a human, a beneficial insect or other animal. As mentioned above, the processing unit 5 transmits the second image to the analysis module 6. The analysis module 6 uses the safety recognition model to recognize whether the second image contains the safety target. When the second image contains the safety target, the processing unit 5 controls the mobile carrier to The device 1 is far away or on standby without activating the laser emitting element 2 to emit laser. In one embodiment, a warning device can be configured, which is coupled to the processing unit 5. When the second image has the safety target, the processing unit 5 causes the warning device to issue a warning through sound or light, so that the environmental organisms can actively avoid it and avoid being affected by the laser, thereby improving the overall safety of the present invention.

It should be particularly noted that, since the camera device needs to search for surrounding organisms in a large range, the camera device is preferably configured as a wide-angle camera. In one embodiment, the camera device can also be further used to search for target images in a wide angle and large range, so that the analysis module 6 can preliminarily use the pest recognition model in the second image to recognize the target in the second image, and then use the image capture device to capture the pest image and assist in positioning and tracking the position. Therefore, the image capture device can be configured as a long-distance camera; In addition, by synchronously capturing images through the photographic device and the image capture device, the spatial coordinate information of the target can also be obtained through an algorithm (such as binocular ranging method), so that the analysis module 6 can define the control instruction accordingly. In this embodiment, the rotating stage 13 corresponds to the carrying photographic device, the laser emitting element 2, the target distance sensor 4 and the image capture device, so as to cooperate with the aforementioned control of the rotating stage 13, so as to facilitate the image capture device to lock and track the target; however, it is only an example for explanation and is not limited to it.

It can be known that the configuration of the processing unit 5 is coupled to the flight control module 11, the laser emitting element 2, the image capturing device and the flight state sensing unit 12; therefore, the processing unit 5 transmits the image, the focus position F, the distance value and the flight state parameter to the analysis module 6, so that the analysis module 6 can further accurately identify a target and The corresponding position information can define a control instruction based on the position information, the flight state parameter, the distance value and the focal position F, and send it back to the processing unit 5, so that the processing unit 5 controls the flight control module 11 to move the mobile vehicle 1 to the position corresponding to the position information according to the control instruction, so that the focal position F of the laser emitted by the laser emitting element 2 corresponds to the position of the position information.

Furthermore, in a specific embodiment, as mentioned above, the flight state parameters include at least one of the longitude, latitude, altitude, pitch angle, yaw angle, roll angle, speed and angular velocity of the mobile vehicle 1, so the posture of the image acquisition device 3 can be obtained, and the analysis module 6 can perform pre-processing, contour encoding, noise removal, expansion and covering of broken blocks, block separation, feature extraction and comparison according to the target identified in the image, in conjunction with the previous The relevant internal parameters of the image capture device 3 are extracted to compensate for the posture of the image capture device 3, and the control command can be defined to make the mobile vehicle 1 fly to the position corresponding to the position information, and the driving device 14 can be further controlled to drive the rotating stage 13, and the angle of the laser emitting element 2 can be adjusted through the adjustment device 22, and then the focus position F can be adjusted so that the focus position F can be accurately placed at the pest, so as to achieve the aforementioned purpose of removing the pest or disabling it.

In summary, the technical means disclosed in this invention can effectively solve the problems of knowledge and achieve the expected purpose and effect. Moreover, it has not been seen in publications and has not been publicly used before the application, and it has long-term progress. It is indeed an invention as referred to in the Patent Law. Therefore, I have filed an application in accordance with the law and sincerely pray that the Supreme Court will give a detailed review and grant the invention patent. I will be very grateful.

However, the above are only several preferred embodiments of the present invention, and should not be used to limit the scope of implementation of the present invention. In other words, all equivalent changes and modifications made according to the scope of the patent application of the present invention and the contents of the invention specification should still fall within the scope of the present invention patent.

1: Mobile vehicle 11: Flight control module 12: Flight status sensing unit 13: Rotating platform 14: Driving device 2: Laser emitting element 21: Control module 22: Adjustment device 3: Image acquisition device 4: Target distance sensor 5: Processing unit 51: Communication module 6: Analysis module 7: Remote control device 71: Transmission module F: Focus position

Figure 1 is a schematic diagram of the structure of the present invention. Figure 2 is a three-dimensional schematic diagram of the present invention. Figure 3 is a partial cross-sectional view of the present invention and a schematic diagram when the focal position is far away. Figure 4 is a partial cross-sectional view of the present invention and a schematic diagram when the focal position is close. Figure 5 is a schematic diagram of the use status of the present invention.

1: Mobile vehicle 11: Flight control module 12: Flight status sensing unit 14: Driving device 2: Laser emitting element 21: Control module 22: Adjustment device 3: Image acquisition device 4: Target distance sensor 5: Processing unit 51: Communication module 6: Analysis module 7: Remote control device 71: Transmission module

Claims (8)

A multi-laser focused safe pest control system for unmanned vehicles comprises: a mobile vehicle, which is equipped with a flight control module, a plurality of laser emitting elements, an image capture device, a target distance sensor, a flight state sensing unit and a processing unit; the flight control module is used to control the movement of the mobile vehicle, and the flight state sensing unit is used to sense at least one flight state parameter of the mobile vehicle; the laser emitting element is used to separate The invention relates to a flight control module, a processing unit ... The processing unit is further provided with a communication module, which is signal-connected to the transmission module so that the processing unit is connected and transmits signals to the analysis module; thereby, the image capture device is used to capture an image, the target distance sensor is used to measure a distance value of the target image captured by the image capture device, and the processing unit transmits the image, the distance value, the focus position and the flight state parameter to the analysis module, the The analysis module uses the pest recognition model to identify a target and its corresponding position information in the image, and defines a control instruction based on the position information, the distance value and the flight state parameter, and returns it to the processing unit, so that the processing unit controls the flight control module to move the mobile vehicle to a position corresponding to the position information according to the control instruction, and makes the focal position of the laser emitting element be located at the position of the position information. The multi-laser focused safe pest control system for unmanned vehicles as described in claim 1 further comprises a rotating stage, which is arranged on the mobile vehicle and correspondingly carries the laser emitting element, the target distance sensor and the image capture device; and at least one driving device, which is coupled to the processing unit and correspondingly connects and drives the rotating stage. The processing unit drives the driving device to make the image capture device track the target and make the focal position of the laser emitting element be located at the position of the position information. As described in claim 1, the multi-laser focusing safe pest control system for unmanned vehicles, wherein the mobile vehicle is further provided with a plurality of adjustment devices, the adjustment devices are coupled to the processing unit, and the laser emitting elements are respectively arranged in the adjustment devices; the processing unit drives the adjustment devices to adjust the angles of the laser emitting elements respectively, thereby controlling the focal position. A multi-laser focused safe pest control system for an unmanned vehicle as described in any one of claims 1 to 3, wherein the communication module and the transmission module are wirelessly connected via mobile communication, wireless network, Bluetooth, LoRaWAN, NBIot or ZigBee. A multi-laser focused safe pest control system for an unmanned vehicle as described in any one of claims 1 to 3, wherein the image capture device is at least one of a camera, a thermal imager or a multi-spectrometer. A multi-laser focused safe pest control system for an unmanned vehicle as described in any one of claims 1 to 3, wherein the flight state sensing unit is at least one of an inertial sensor, an altimeter, a GPS or an RTK GPS positioning device. A multi-laser focused safe pest control system for an unmanned vehicle as described in any one of claims 1 to 3, wherein the pest recognition model is obtained by training with a deep neural network (DNN), a deep belief network (DBN), a convolutional neural network (CNN), a region with convolutional neural network (R-CNN), a fast region with convolutional neural network (Faster R-CNN) or a YOLO (You only look once) algorithm. The multi-laser focused safe pest control system for unmanned vehicles as described in any one of claims 1 to 3 further comprises a control module connected to the processing unit and the laser emitting element; the pest identification model is used to identify the target and its corresponding type information in the image, and the control module identifies the type information of the target based on the pest identification model to adjust the power intensity of the laser emitting element through pulse width modulation (PWM), and control the time and interval of the laser emitted accordingly.

Images