Laser robot system for removing harmful insects in large area

Abstract

The invention discloses a laser robot system for removing harmful insects in a large area. The system integrates an autonomous mobile platform, a multi-sensor sensing system, an intelligent decision and control unit and an accurate laser removing device. The system adopts a layered sensing architecture, and comprises a millimeter wave radar used for global human and animal safety monitoring, a two-dimensional laser radar used for planar pest searching and coarse positioning, and a precise tracking radar used for precise positioning and tracking of pests. Through a multi-sensor fusion technology, efficient target identification and accurate removal are realized. The method has the beneficial effects that real global automatic operation is realized, a multi-level high-reliability safety protection system is constructed, the searching and clearing efficiency is improved, and the method has high intelligence and environmental adaptability. The system can be widely applied to harmful insect removal operation in large-area areas such as farmlands, orchards and warehouses.

Description

I. Technical Field

[0001] This invention belongs to the interdisciplinary field of intelligent agricultural equipment and optoelectronic technology. Specifically, it relates to an autonomous robot system that integrates an autonomous mobile platform, a multimodal perception system, an intelligent decision and control unit, and a precision laser removal device. It is used to automatically search for and remove harmful insects over a wide area in open or semi-structured environments (such as farmland, greenhouses, orchards, warehousing and logistics centers, parks, etc.). II. Background Technology

[0002] Harmful insects (such as locusts, moths, mosquitoes, and flies) pose a persistent threat to agricultural production, material storage, and public health. Current control methods mainly rely on chemical pesticides, which lead to problems such as environmental pollution, pesticide residues, and pest resistance. In recent years, physical control technologies such as lasers have gained attention due to their environmentally friendly characteristics.

[0003] The following types of related solutions exist in the existing technology:

[0004] 1. Fixed laser scanning device: This technology uses a galvanometer system to form a laser light curtain to scan a fixed area, which has a certain area coverage capability, but lacks mobility and cannot adapt to large-scale, dynamically changing pest situations. In addition, it is not safe enough to protect against sudden human or animal intrusion in complex environments.

[0005] 2. Portable laser targeting device: This device integrates search, identification and attack lasers and is equipped with pyroelectric infrared safety detection. However, its operation relies on manual hand-held operation, which is inefficient and cannot achieve large-scale and automated operation.

[0006] 3. High-precision two-dimensional scanning insect control device: This technology adopts a dual-mode mechanism of "rapid scanning + precise scanning" and a ranging algorithm, which can effectively identify and track flying insect pests, and is technologically advanced. However, its system design is still fixed installation, and its effective range is limited to a preset frame or window. Moreover, it has not solved the problems of autonomous path planning and multi-target continuous operation in large areas.

[0007] Technical Issues Summary: Existing laser pest control technologies generally suffer from a disconnect between "mobility," "full-area coverage," and "intelligent safety in complex environments." There is a lack of an integrated system capable of autonomously moving over large areas, intelligently sensing the environment and targets, and achieving efficient, precise, and continuous pest control while ensuring absolute safety. III. Summary of the Invention

[0008] 1. Purpose of the invention

[0009] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a robotic system that integrates autonomous navigation, multi-level target recognition, intelligent decision-making, and precise laser removal. This system can receive task instructions, autonomously plan and navigate to the target area, and use multi-sensor fusion technology to search for, identify, track, and safely remove harmful insects, ultimately completing a comprehensive cleanup of the entire task area.

[0010] 2. Technical Solution

[0011] To achieve the above objectives, the present invention adopts the following technical solution, see below. Figure 2 System module composition and information flow diagram

[0012] A laser robot system for large-area elimination of harmful insects, characterized in that the system comprises:

[0013] The system includes an autonomous mobile platform module, a multi-sensor perception module, a central control and decision-making module, and a laser eradication execution module.

[0014] (1) Autonomous mobile platform module

[0015] Mechanical structure: including robot chassis, drive wheel system (which can be a four-wheel differential or tracked structure to adapt to uneven field terrain), steering mechanism, and rigid shell that supports the above modules.

[0016] Navigation Unit: Integrates GPS / RTK high-precision positioning system and inertial measurement unit (IMU)

[0017] And odometry, used to achieve global localization and trajectory calculation of robots.

[0018] Path planning unit: Pre-stores or receives a 3D digital map of the task area (including boundary and obstacle information). Based on this map, the central control module plans a "bow"-shaped or spiral-shaped travel path covering the entire area using a grid method or sampling method (such as A*, RRT algorithms), and discretizes the path into a series of waypoints. The robot then proceeds sequentially to...

[0019] Each waypoint was scanned and cleared locally.

[0020] (2) Multi-sensor sensing module

[0021] This module adopts a layered awareness architecture, which is the core of the security and efficiency of this invention.

[0022] First layer: Comprehensive human and livestock safety monitoring layer

[0023] ◆Sensor: Employs millimeter-wave radar. Mounted on top of the robot, it performs continuous 360° rotation scanning.

[0024] ◆Function: Utilizing the sensitivity of millimeter waves to the subtle movements of living organisms (such as breathing and heartbeat), it effectively detects whether large living organisms such as humans, poultry, and livestock have entered the work area within a 50-meter radius. Once detected, it immediately sends a highest-priority emergency stop signal to the central control module.

[0025] Second layer: Planar pest search and coarse positioning layer

[0026] ◆Sensor: A two-dimensional LiDAR is used. It is horizontally mounted on the robot body, and the scanning plane can be parallel to the ground, perpendicular to the ground, or set to any angle as needed, or adjusted to a specific height according to the habits of the target insect.

[0027] ◆Function: Performs rapid two-dimensional planar scanning of the current local area while the robot is stationary or moving. By analyzing point cloud data, it identifies moving point targets within a preset size threshold range (e.g., length 5mm to 20mm). This layer outputs the azimuth region where potential pests are located.

[0028] Third layer: Pest precise location and tracking layer

[0029] ◆Sensor: Employs precision tracking radar (or lidar that can be switched to a high-precision scanning mode).

[0030] The radar is mounted coaxially or near-axially with the laser clearing execution module.

[0031] ◆Function: Receives the azimuth angle region provided by the second layer and performs rapid and precise scanning within this small area. Using Time-of-Flight (ToF) or phase ranging methods, it accurately calculates the target's distance and elevation angle, thereby obtaining the target's precise coordinates in three-dimensional space. same

[0032] At that time, the target is tracked for a short period of time to predict its trajectory.

[0033] (3) Laser cleaning execution module

[0034] Core components: Semiconductor lasers or fiber lasers with wavelengths in the range of 300nm-10600nm (preferably near-infrared or ultraviolet bands) and output power adjustable between 150mW and 5W.

[0035] Beam control system: Employs a two-dimensional galvanometer system. The galvanometer consists of one or two small-angle reflectors driven by high-speed servo motors, receiving angle commands from the central control module.

[0036] The laser beam is precisely deflected to the target position.

[0037] Security design: Integrated relocking system requires authorization via software password or physical key.

[0038] It can activate the laser emission function to prevent accidental operation.

[0039] (4) Central Control and Decision-Making Module

[0040] Hardware: Built-in high-performance embedded processor (such as ARM Cortex-A series)

[0041] GPU (for visual processing, if optional) and necessary storage units.

[0042] Software and Workflows: See Figure 5 Hierarchical Collaboration Workflow Diagram of Multi-Sensor Sensing Modules

[0043] ◆Task initialization: The system powers on, receives the 3D map of the task area, and plans the global path.

[0044] ◆Entry and Start-up: The robot autonomously drives to the first waypoint on the path.

[0045] ◆Safety loop monitoring: Millimeter-wave radar is activated throughout the process.

[0046] ◆Area Scan: Enable 2D LiDAR for planar scanning to identify suspicious moving targets.

[0047] ◆Target Confirmation: For the identified target, the precision tracking radar is activated for accurate positioning and size verification.

[0048] ◆Safety verification: The central processing unit compares the data with the precision radar to confirm that the target size does not exceed 20mm (non-human or animal) and that the millimeter-wave radar does not trigger an alarm.

[0049] ◆Cleanup Execution: After all safety conditions are met, the control galvanometer points the laser beam at the target and emits a laser pulse lasting 10-100ms, burning the insect's wings or killing it directly.

[0050] ◆During the above process, if the millimeter-wave radar detects any living organism larger than the set threshold, such as a human, livestock, or poultry, the laser will be immediately turned off and an alarm will be triggered.

[0051] ◆Area Cleanup and Advancement: After completing the scanning and clearing of the area surrounding the current waypoint, the robot autonomously moves to the next waypoint.

[0052] ◆Mission Completion: The mission is considered complete when the system has not found any new targets at multiple consecutive waypoints, or has traversed all waypoints. The robot sends a wireless signal, shuts down all lasers, and enters a low-power standby state or autonomously returns to the charging dock.

[0053] 3. Innovation Points

[0054] (1) Innovation Point 1: Dynamic safety zone on mobile platform - Integrating millimeter-wave radar on mobile platform to form dynamic safety monitoring zone to ensure the safety of people and animals during operation.

[0055] (2) Innovation Point 2: Multi-level radar collaborative confirmation mechanism - adopts a layered collaborative working mode of three different types of radars to balance search efficiency and positioning accuracy.

[0056] (3) Innovation Point 3: Dynamic area coverage strategy based on "movement-pause-scanning-clearing" - by combining path planning with fixed-point clearing, efficient coverage of large areas can be achieved.

[0057] 4. Beneficial effects

[0058] Compared with the prior art, the significant advantages of the present invention are as follows:

[0059] (1) Realized full-area automated operation: By combining the laser pest control system with the autonomous mobile robot platform, the limitation of the scope of fixed equipment has been broken, enabling unmanned inspection and management of a vast area of ​​hundreds of acres.

[0060] (2) A multi-level, highly reliable safety protection system has been constructed: millimeter-wave radar has been innovatively used for human and animal detection on mobile platforms, forming a "mobile safety bubble". Combined with the secondary verification of the target size, the risk of accidental injury to humans and animals by laser has been fundamentally eliminated.

[0061] (3) Improved search and clearing efficiency: The division of labor mode of "2D LiDAR wide-area search + precision radar small-range aiming" is adopted, which takes into account both search speed and positioning accuracy.

[0062] (4) It has a high degree of intelligence and adaptability: the system can dynamically plan the path according to the task area, adapt to complex terrain, and make decisions based on real-time perception data. IV. Description of the attached drawings

[0063] Figure 1 : A three-dimensional schematic diagram of the overall structure of the robot system of the present invention.

[0064] Figure 2 System module composition and information flow diagram.

[0065] Figure 3 Schematic diagram of robot path planning and area coverage strategy (top view)

[0066] Figure 4 Schematic diagram of the optical path and control system of the laser removal execution module

[0067] Figure 5 : Hierarchical collaborative workflow diagram of multi-sensor perception modules. V. Detailed Implementation Methods

[0068] The invention will be further described in detail below with reference to the accompanying drawings, using a typical locust control scenario in farmland as an example.

[0069] 1. Hardware Configuration

[0070] (1) The robot chassis adopts an electric chassis with four-wheel independent drive and a ground clearance of more than 25cm, which has good obstacle crossing ability.

[0071] (2) The navigation system uses a centimeter-level precision RTK-GPS module and a nine-axis IMU.

[0072] (3) The millimeter-wave radar is a 24GHz band FMCW radar with a detection range of ≥50m.

[0073] (4) The 2D LiDAR uses an industrial-grade product with a scanning frequency of 10 to 50 Hz and an angular resolution better than 0.2°.

[0074] (5) The precision tracking radar adopts a laser ranging module based on the ToF principle, which is integrated into the galvanometer system.

[0075] (6) A 2W output 975nm infrared fiber laser is selected as the laser. This wavelength has a good absorption rate on the exoskeleton of insects and is relatively safe for human eyes.

[0076] 2. Work Process

[0077] (1) The farm manager issues the instruction to the robot to "clean up field area No. 3" through the control center and wirelessly transmits the boundary map of the field area to the robot.

[0078] (2) The robot plans a "bow" shaped path covering field No. 3 and autonomously drives into the starting point of the field.

[0079] (3) At the first work point, the robot pauses. The 2D LiDAR performs a planar scan at a predetermined angle at a height of 1 meter above the ground and detects a target with a point cloud size of approximately 15 mm that is moving at a speed of 1.5 m / s.

[0080] (4) The system immediately activates the precision tracking radar, locks onto the target within 0.1 seconds, and confirms its distance.

[0081] It measures 8.5 meters, with an elevation angle of +2°, and the dimensions are verified to be consistent with locust characteristics.

[0082] (5) Meanwhile, the millimeter-wave radar continued scanning and did not detect any large life forms within the safe radius. (6) The laser was activated, the central controller calculated the target coordinates, and drove the galvanometer to reflect the laser beam within 5ms.

[0083] The beam is directed at the target, emitting a 50ms laser pulse. The target is hit and falls.

[0084] (7) The robot continues to scan the current work point for 10 seconds. After confirming that there are no new targets, it proceeds along the planned path.

[0085] Move to the next work point and repeat the above process.

[0086] (8) During operation, the millimeter-wave radar suddenly detected a farmer entering at a distance of 30 meters. The system immediately cut off the laser power and issued a warning via the voice module: "Equipment is in operation, please do not approach." After the farmer left the safe area, the system automatically resumed operation.

[0087] (9) After 2 hours, the robot completed a full-coverage scan of field No. 3 and did not find any new targets for 15 minutes. It then turned off the laser power, sent a "mission completed" signal to the control center, and automatically returned to the charging dock by the field.

Claims

1. A laser robot system for large-area removal of harmful insects, characterized in that... include: The system includes an autonomous mobile platform module, a multi-sensor perception module, a central control and decision-making module, and a laser eradication execution module.

2. The laser robot system according to claim 1, characterized in that... The autonomous mobile platform module includes a robot chassis, a drive wheel system, a navigation unit, and a path planning unit. The navigation unit integrates a GPS / RTK positioning system and an inertial measurement unit.

3. The laser robot system according to claim 1, characterized in that... The multi-sensor sensing module adopts a hierarchical sensing architecture, including: - First layer: Millimeter-wave radar, used for comprehensive monitoring of human and animal safety; - Second layer: Two-dimensional lidar, used for planar pest search and coarse location; - Third layer: Precision tracking radar, used for precise location and tracking of pests.

4. The laser robot system according to claim 1, characterized in that... The central control and decision-making module includes a high-performance embedded processor responsible for path planning, target recognition, safety assessment, and laser emission control.

5. The laser robot system according to claim 1, characterized in that... The laser removal execution module includes a laser emitter with a power not exceeding 5W and a two-dimensional galvanometer system.

6. The laser robot system according to claim 3, characterized in that... When the multi-sensor sensing module is in operation, the millimeter-wave radar continuously monitors the work area, and immediately stops laser emission once a person or animal is detected.

7. The laser robot system according to claim 1, characterized in that... The system can receive 3D map information of the task area and autonomously plan driving routes covering the entire area.

8. The laser robot system according to claim 1, characterized in that... The system employs a dynamic area coverage strategy of "move-pause-scan-clear".

9. The laser robot system according to claim 1, characterized in that... The system integrates a relocking safety system to prevent accidental operation and misuse by children.

10. The laser robot system according to claim 1, characterized in that... After completing the area clearing task, the system automatically sends a task completion signal and enters a standby state.

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