Laser mosquito killing device and method based on sonar passive positioning

Abstract

The present invention provides a laser mosquito control device and method based on sonar passive positioning. The device includes a turntable, a passive sonar array, a laser, and a processor. The passive sonar array, laser, and processor are all mounted on the turntable, with the laser located within the passive sonar array. The processor is electrically connected to the turntable, passive sonar array, and laser, respectively. The turntable rotates based on the processor, driving the passive sonar array and laser. The passive sonar array scans a preset area to detect and track mosquitoes. The laser is used for laser mosquito control. The processor controls the turntable, passive sonar array, and laser. This technical solution utilizes the passive sonar array for mosquito detection and precise tracking, accurately guiding the laser to kill mosquitoes, thereby improving the efficiency and success rate of mosquito control.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent mosquito killing, and in particular to a laser mosquito killing device and method based on sonar passive positioning. Background Art

[0002] Mosquitoes not only cause nuisance by sucking blood but also spread a variety of diseases, making their prevention and control extremely important. Due to the increasing resistance of mosquitoes to pesticides, coupled with the environmental pollution and ecological impact of pesticides, relying solely on chemical mosquito control is no longer advisable. To effectively control mosquitoes while minimizing the impact on the ecosystem, the development of intelligent mosquito control technology is crucial.

[0003] In existing technologies, intelligent mosquito control often uses lasers, but all current technical solutions have varying degrees of flaws. For example, on January 8, 2020, Greg Nichols published "An autonomous, laser-guided mosquito eradication machine," introducing the Bzigo mosquito detection and positioning product. This product uses infrared lasers to detect mosquitoes, distinguishing them from other false alarms like dust by leveraging their motion characteristics. Once a mosquito is identified, it sends a notification to a mobile phone. However, this detection accuracy is low, insufficient to accurately guide the laser to the mosquito and kill it. In January 2021, Rakhmatulin Ildar published "Raspberry PI for Kill Mosquitoes by Laser," exploring the use of machine vision and a 1W laser to implement a mosquito control system. Image-based machine vision is generally only suitable for use during the day, while most mosquitoes are active at night. Moreover, mosquito control is generally carried out indoors, where indoor objects, lighting and other environments are extremely complex, and the machine vision effect is relatively poor. The patent "CN215272516U A sweeper with laser mosquito control function uses laser to achieve mosquito control" authorized on December 24, 2021, first induces mosquitoes to actively enter the mosquito killer, causing the laser to react, and finally stimulates the laser emitter, causing laser damage to the mosquitoes until death. The laser action distance is extremely short. It is close to 0, and does not involve the problem of how to detect mosquitoes, obtain accurate and real-time guidance information, drive the laser to quickly switch shifts and accurately track; "CN202111491509 An intelligent mosquito killing device" published on February 8, 2022 uses a sound detection module to detect mosquitoes, and then uses an identification module to eliminate interference noise. In fact, it does not provide an effective solution for "obtaining accurate guidance information, driving the laser to quickly switch shifts and accurately track". At the same time, it cannot avoid the defects of Rakhmatulin Ildar's visible light solution in "Raspberry PI for Kill Mosquitoes by Laser". Summary of the Invention

[0004] In response to the defects in the existing technology, the purpose of the present invention is to provide a laser mosquito killing device and method based on sonar passive positioning, which adopts a passive sonar array to detect and accurately track mosquitoes, accurately guides the laser to kill mosquitoes, and achieves the effect of improving the efficiency and success rate of mosquito killing.

[0005] The present invention provides a laser mosquito killing device based on sonar passive positioning, comprising a turntable, a passive sonar array, a laser, and a processor; the passive sonar array, the laser, and the processor are all arranged on the turntable, the laser is located within the passive sonar array, and the processor is electrically connected to the turntable, the passive sonar array, and the laser, respectively;

[0006] The turntable is configured to rotate based on the processor to drive the passive sonar array and the laser to rotate;

[0007] The passive sonar array is used to scan a preset area to detect and track mosquitoes;

[0008] The laser is used for laser mosquito killing;

[0009] The processor is used to control the turntable, the passive sonar array and the laser.

[0010] Furthermore, the passive sonar array includes a first sonar group and a second sonar group; the first sonar group and the second sonar group each include two passive sonars, and the two passive sonars of the first sonar group and the two passive sonars of the second sonar group are symmetrically arranged on both sides of the laser;

[0011] The first sonar group is used to measure azimuth angles;

[0012] The second sonar group is used to measure the pitch angle.

[0013] Furthermore, the distance between the two passive sonars of the first sonar group and the distance between the two passive sonars of the first sonar group satisfy the following formula:

[0014]

[0015] Wherein, c is the speed of sound propagation in air, f is the lowest frequency of mosquito wing vibration, and θ is the half-beam width of the passive sonar.

[0016] Furthermore, a line connecting the two passive sonars of the first sonar group is perpendicular to a line connecting the two passive sonars of the first sonar group.

[0017] Furthermore, the turntable is a two-dimensional turntable.

[0018] Furthermore, the two-dimensional turntable is composed of a concentric first turntable and a second turntable, the first turntable is used to set the laser, and the second turntable is used to set the passive sonar array.

[0019] Furthermore, a light expanding mirror is provided at the front end of the laser.

[0020] The present invention also provides a laser mosquito killing method based on sonar passive positioning, comprising:

[0021] The turntable rotates based on the processor to drive the passive sonar array to rotate, so that the passive sonar array scans a preset area based on the processor;

[0022] After the passive sonar array detects the mosquito's voiceprint information, the passive sonar array switches from a scanning mode to a tracking mode based on the processor, continuously measures the azimuth angle and the pitch angle of the mosquito, and transmits the azimuth angle and the pitch angle to the processor in real time;

[0023] The processor processes the azimuth angle and the pitch angle to obtain a corrected azimuth angle and a corrected pitch angle, and rotates the turntable based on the corrected azimuth angle and the corrected pitch angle, thereby driving the laser to rotate and directing the laser toward the mosquito;

[0024] When the corrected azimuth angle and the corrected elevation angle meet a preset condition, turning on the laser based on the processor to kill the mosquitoes;

[0025] Detecting the mosquitoes based on the passive sonar array;

[0026] When the detection result indicates that the voiceprint information of the mosquito is detected, the step of continuously measuring the azimuth angle and pitch angle of the mosquito, and detecting the mosquito based on the passive sonar array is repeated until the detection result indicates that the voiceprint information of the mosquito is not detected.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention provides a laser mosquito control device and method based on sonar passive positioning. The device includes a turntable, a passive sonar array, a laser, and a processor. The passive sonar array, laser, and processor are all mounted on the turntable, with the laser located within the passive sonar array. The processor is electrically connected to the turntable, passive sonar array, and laser, respectively. The turntable rotates based on the processor, driving the passive sonar array and laser. The passive sonar array scans a preset area to detect and track mosquitoes. The laser is used for laser mosquito control. The processor controls the turntable, passive sonar array, and laser. This technical solution uses the passive sonar array to detect and accurately track mosquitoes, accurately guiding the laser to kill them, thereby improving the efficiency and success rate of mosquito control.

[0029] This laser mosquito killing method based on passive sonar positioning is realized by the above-mentioned laser mosquito killing device based on passive sonar positioning, and this laser mosquito killing method based on passive sonar positioning has corresponding technical effects because it includes the technical solution of the above-mentioned laser mosquito killing device based on passive sonar positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0031] Figure 1 A schematic structural diagram of a laser mosquito killing device based on sonar passive positioning provided by an embodiment of the present invention;

[0032] Figure 2 A schematic flow chart of a laser mosquito control method based on sonar passive positioning provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0034] See also Figure 1 , which shows a laser mosquito killing device based on sonar passive positioning provided by an embodiment of the present application, including a turntable, a passive sonar array, a laser, and a processor; the passive sonar array, the laser, and the processor are all arranged on the turntable, the laser is located in the passive sonar array, and the processor is electrically connected to the turntable, the passive sonar array, and the laser respectively;

[0035] A turntable, used to rotate based on the processor to drive the passive sonar array and laser to rotate;

[0036] A passive sonar array is used to scan a preset area to detect and track mosquitoes; the preset area may be the entire airspace of a preset space, a hemispherical airspace, or an airspace within a preset angle range, and the scanning method may be a spiral hemispherical scanning method or other program-defined scanning method;

[0037] Laser, used for laser mosquito killing;

[0038] Processor for controlling the turntable, passive sonar array, and laser.

[0039] In a specific embodiment, the passive sonar array includes a first sonar group and a second sonar group; the first sonar group and the second sonar group each include two passive sonars, the two passive sonars of the first sonar group and the two passive sonars of the first sonar group are symmetrically arranged on both sides of the laser, and the line connecting the two passive sonars of the first sonar group is perpendicular to the line connecting the two passive sonars of the first sonar group, which can effectively reduce the error value of the coordinate conversion on the measured angle when the task handover between the passive sonar array and the laser is carried out; the first sonar group is used to measure the azimuth angle; the second sonar group is used to measure the pitch angle; the spacing between the two passive sonars of the first sonar group and the spacing between the two passive sonars of the first sonar group satisfy the following formula:

[0040]

[0041] Wherein, c is the speed of sound propagation in air, f is the lowest frequency of mosquito wing vibration, and θ is the half-beam width of the passive sonar. Preferably, the lowest frequency of mosquito wing vibration is determined based on the lowest frequency of mosquito wing vibration in a preset area. In this case, the passive sonar array uses the mosquito's soundprint information to eliminate interference noise.

[0042] The turntable adopts a two-dimensional turntable; optionally, the two-dimensional turntable is composed of a concentric first turntable and a second turntable, the first turntable is used to set the laser, and the second turntable is used to set the passive sonar array; optionally, the first turntable includes a first bracket and a first turntable body, the first bracket is movably connected to the first turntable body, the second turntable includes a second bracket and a second turntable body, the second bracket is movably connected to the second turntable body, the first bracket is embedded in the front center position of the second bracket, the laser is set at the front end of the first turntable body, and the passive sonar array is set at the front end of the second turntable body;

[0043] A light expander is provided at the front end of the laser so that the laser emitted by the laser is emitted in a fan shape, which increases the laser strike area, reduces the laser density at a distance, and avoids accidental injury to people and objects at a distance.

[0044] In an optional embodiment, the system further includes a communication module and a terminal. The communication device is disposed on the turntable, the communication module is electrically connected to the processor, and the terminal is electrically connected to the communication device. Preferably, the processor is a low-power ARM processor, the communication device is a PLC wireless communication module, and the terminal is a mobile phone, a computer, or the like.

[0045] In this embodiment, the terminal sends a control instruction to the processor through a communication device. The processor controls the second rotating stage to rotate based on a preset program set by the processor based on the control instruction, thereby driving the passive sonar array to rotate. While rotating, the passive sonar array enters a scanning mode based on the processor. In the scanning mode, the passive sonar array scans a preset area based on the preset program set by the processor. When the passive sonar array detects the voiceprint information of the mosquito, the passive sonar array sends the detection result to the processor. The processor controls the passive sonar array to switch from the scanning mode to the tracking mode and controls the second rotating stage to stop rotating according to the preset program. In the tracking mode, the passive sonar array uses the amplitude comparison method or the phase comparison method to continuously measure the azimuth and pitch angle of the mosquito at a high frequency, and sends the azimuth and pitch angle of the mosquito to the processor in real time, so that the processor can correct the azimuth and pitch angle of the mosquito. The correction value is sent to the first turntable, causing the first turntable to rotate, driving the laser to rotate, so that the laser continues to track the mosquito. The processor establishes a track based on the correction value sent to the first turntable. When the track meets the preset conditions, the laser achieves stable tracking. At this time, the processor sends a killing instruction to the laser, causing the laser to emit laser light to kill the mosquito. After the preset killing time, it means that one killing is completed. The processor turns off the laser of the laser and sends a detection instruction to the passive sonar array. The passive sonar array detects again. If the detection result indicates that the mosquito's voiceprint information still exists, it means that the killing is unsuccessful. The passive sonar array uses the amplitude comparison method or the phase comparison method to continuously measure the azimuth and pitch angle of the mosquito at a high frequency, and the passive sonar array detects again until the detection result indicates that the mosquito's voiceprint information does not exist. The killing is completed and the next scan can be entered. Optionally, the device can work in automatic mode according to the control instructions preset by the terminal, or in manual mode according to the control instructions manually sent by the terminal in real time.

[0046] This technology uses a passive sonar array to detect and precisely track mosquitoes, accurately guiding the laser to kill them, thereby improving the efficiency and success rate of mosquito control. Furthermore, this technology can also be applied to other flying insects such as flies, as well as ground-dwelling pests such as cockroaches and rats.

[0047] In a specific implementation scenario, the device can be a long-range laser mosquito killer based on passive sonar positioning, employing a long-range passive sonar array and laser, for use in large, open indoor environments such as movie theaters. Before use, all relevant personnel must be removed and all audio equipment turned off. The killer will complete its mosquito killing operation after a set time has elapsed or after a specified period of continuous non-spotting of mosquitoes has elapsed.

[0048] In another specific implementation scenario, the above-mentioned device can be a close-range laser mosquito killing device based on sonar passive positioning, which uses a close-range passive sonar array and a laser, and is fixedly placed in a general resident's room or a small office, or can be placed on a sweeping robot. The mosquito killing is completed when the set time is reached or the time when no mosquitoes are searched continuously reaches the rated value.

[0049] See also Figure 2 , which shows a laser mosquito killing method based on sonar passive positioning provided by an embodiment of the present application, including:

[0050] The turntable rotates based on the processor to drive the passive sonar array to rotate, so that the passive sonar array scans a preset area based on the processor;

[0051] After the passive sonar array detects the mosquito's soundprint information, it switches from scanning mode to tracking mode based on the processor, continuously measuring the azimuth and pitch angles of the mosquito, and transmitting the azimuth and pitch angles to the processor in real time;

[0052] The processor processes the azimuth angle and the pitch angle to obtain a corrected azimuth angle and a corrected pitch angle, and rotates the turntable based on the corrected azimuth angle and the corrected pitch angle, thereby driving the laser to rotate and guide the laser to point at the mosquito;

[0053] When the corrected azimuth angle and the corrected elevation angle meet the preset conditions, the laser is turned on based on the processor to kill the mosquitoes;

[0054] Detect mosquitoes based on passive sonar array;

[0055] When the detection result indicates that the mosquito's voiceprint information is detected, the azimuth angle and pitch angle of the mosquito are continuously measured until the step of detecting the mosquito based on the passive sonar array is repeated until the detection result indicates that the mosquito's voiceprint information is not detected.

[0056] In a specific embodiment, the method may include:

[0057] Step S1: The first turntable rotates based on a preset program of the processor, causing the passive sonar array to spirally search for target mosquitoes in a preset area;

[0058] Step S2: Determine whether the target mosquito is found by detecting the mosquito's voiceprint information through the passive sonar array; if so, execute step S3; if not, return to step S1;

[0059] Step S3: measuring the azimuth and elevation angles of the target mosquito through a passive sonar array and sending the data to the processor in real time;

[0060] Step S4: The processor corrects the azimuth and elevation angles, and the second turntable rotates based on the corrected values, driving the laser to point toward the mosquito;

[0061] Step S5: Determine whether the laser is tracking stably based on whether the track established by the correction value meets the preset conditions; if so, execute step S6; if not, execute step S3;

[0062] Step S6: The processor sends a killing instruction to the laser, causing the laser to emit laser light to strike the target mosquito;

[0063] Step S7: Evaluate the strike effect through detection by the passive sonar array;

[0064] Step S8: Determine whether the strike is completed by detecting the voiceprint information of the target mosquito through the passive sonar array; if so, execute step S1; if not, execute step S3.

[0065] In this embodiment, the terminal sends a control instruction to the processor through a communication device. The processor controls the second rotating stage to rotate based on a preset program set by the processor based on the control instruction, thereby driving the passive sonar array to rotate. While rotating, the passive sonar array enters a scanning mode based on the processor. In the scanning mode, the passive sonar array scans a preset area based on the preset program set by the processor. When the passive sonar array detects the voiceprint information of the mosquito, the passive sonar array sends the detection result to the processor. The processor controls the passive sonar array to switch from the scanning mode to the tracking mode and controls the second rotating stage to stop rotating according to the preset program. In the tracking mode, the passive sonar array uses the amplitude comparison method or the phase comparison method to continuously measure the azimuth and pitch angle of the mosquito at a high frequency, and sends the azimuth and pitch angle of the mosquito to the processor in real time, so that the processor can correct the azimuth and pitch angle of the mosquito. The correction value is sent to the first turntable, causing the first turntable to rotate, driving the laser to rotate, so that the laser continues to track the mosquito. The processor establishes a track based on the correction value sent to the first turntable. When the track meets the preset conditions, the laser achieves stable tracking. At this time, the processor sends a killing instruction to the laser, causing the laser to emit laser light to kill the mosquito. After the preset killing time, it indicates that one killing is completed. The processor turns off the laser of the laser and sends a detection instruction to the passive sonar array. The passive sonar array detects again. If the detection result indicates that the mosquito's voiceprint information still exists, it means that the killing is unsuccessful. The passive sonar array uses the amplitude comparison method or the phase comparison method to continuously measure the azimuth and pitch angle of the mosquito at a high frequency, and the passive sonar array detects again until the detection result indicates that the mosquito's voiceprint information does not exist. The killing is completed and the next scan can be entered. Optionally, this method can be applied to a device that works in an automatic mode according to a control instruction preset by the terminal, and can also be applied to a device that works in a manual mode according to a control instruction manually sent by the terminal in real time.

[0066] This technology uses a passive sonar array to detect and precisely track mosquitoes, accurately guiding the laser to kill them, thereby improving the efficiency and success rate of mosquito control. Furthermore, this technology can also be applied to other flying insects such as flies, as well as ground-dwelling pests such as cockroaches and rats.

[0067] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A laser mosquito killing device based on sonar passive positioning, characterized in that: The device comprises a turntable, a passive sonar array, a laser, and a processor; the passive sonar array, the laser, and the processor are all arranged on the turntable, the laser is located inside the passive sonar array, and the processor is electrically connected to the turntable, the passive sonar array, and the laser, respectively; The turntable is configured to rotate based on the processor to drive the passive sonar array and the laser to rotate; The passive sonar array is used to scan a preset area to detect and track mosquitoes; The laser is used for laser mosquito killing; The processor is used to control the turntable, the passive sonar array and the laser; The passive sonar array includes a first sonar group and a second sonar group; the first sonar group and the second sonar group each include two passive sonars, and the two passive sonars of the first sonar group and the two passive sonars of the second sonar group are symmetrically arranged on both sides of the laser; The first sonar group is used to measure azimuth angles; The second sonar group is used to measure the pitch angle; The distance between the two passive sonars of the first sonar group and the distance between the two passive sonars of the second sonar group satisfy the following formula: ； Wherein, c is the speed of sound propagation in air, f is the lowest frequency of mosquito wing vibration, and θ is the half-beam width of the passive sonar.

2. The laser mosquito killing device based on sonar passive positioning according to claim 1 is characterized in that: A line connecting the two passive sonars of the first sonar group is perpendicular to a line connecting the two passive sonars of the second sonar group.

3. The laser mosquito killing device based on sonar passive positioning according to claim 1 is characterized in that: The turntable is a two-dimensional turntable.

4. The laser mosquito killing device based on sonar passive positioning according to claim 3 is characterized in that: The two-dimensional turntable is composed of a first turntable and a second turntable that are concentric. The first turntable is used to set the laser, and the second turntable is used to set the passive sonar array.

5. The laser mosquito killing device based on sonar passive positioning according to any one of claims 1 to 4, characterized in that: The front end of the laser is provided with a light expanding mirror.

6. A laser mosquito killing method based on sonar passive positioning, applied to the laser mosquito killing device based on sonar passive positioning according to any one of claims 1 to 5, characterized in that: include: The turntable rotates based on the processor to drive the passive sonar array to rotate, so that the passive sonar array scans a preset area based on the processor; After the passive sonar array detects the mosquito's voiceprint information, the passive sonar array switches from a scanning mode to a tracking mode based on the processor, continuously measures the azimuth angle and the pitch angle of the mosquito, and transmits the azimuth angle and the pitch angle to the processor in real time; The processor processes the azimuth angle and the pitch angle to obtain a corrected azimuth angle and a corrected pitch angle, and rotates the turntable based on the corrected azimuth angle and the corrected pitch angle, thereby driving the laser to rotate and directing the laser toward the mosquito; When the corrected azimuth angle and the corrected elevation angle meet a preset condition, turning on the laser based on the processor to kill the mosquitoes; Detecting the mosquitoes based on the passive sonar array; When the detection result indicates that the voiceprint information of the mosquito is detected, the step of continuously measuring the azimuth angle and pitch angle of the mosquito, and detecting the mosquito based on the passive sonar array is repeated until the detection result indicates that the voiceprint information of the mosquito is not detected.

Images