A distributed insect knockdown system based on radar and gas injection and a control method thereof

Abstract

The application discloses a distributed insect knockdown system based on radar and gas injection and a control method thereof. The system comprises a central control unit (100), a radar sensing array (200), a jet matrix cluster (300), a gas supply system (500), a safety protection module (400) and a networking communication module (600). The radar sensing array adopts 24GHz and 60GHz dual-frequency millimeter wave radar, and discriminates insect types through polarization characteristics and Doppler shift. The jet matrix adopts a Laval nozzle, the outlet speed is 500m / s, the diffusion angle is 3°, the nozzle can be independently turned by ±15°, and a microporous sound-absorbing layer is built-in, and the overall noise is lower than 50dB. The central control unit runs DBSCAN clustering and Kalman filtering, and simultaneously tracks more than 100 targets. The networking communication module divides the defense area by using a voronoi diagram. The safety protection module ensures human safety and identifies beneficial insects through biological radar and infrared double confirmation. The application has the advantages of long shooting range, silence, multi-target knockdown and the like, and can be widely applied to the fields of automobile insect prevention, outdoor protection, health epidemic prevention and agricultural plant protection.

Description

Technical Field

[0001] This invention relates to the field of pest control technology, specifically to an insect-shooting system based on millimeter-wave radar identification and high-pressure gas injection, which is particularly suitable for car insect control, outdoor personal protection, sanitation and epidemic prevention, and agricultural plant protection scenarios. Background Technology

[0002] Current pest control technologies mainly include chemical pesticide spraying, ultraviolet (UV) trapping, electric shock, and laser pest control. Chemical pesticide spraying poses environmental pollution and agricultural residue problems; UV trapping has limited effectiveness and may kill beneficial insects; electric shock devices, such as electric mosquito swatters, require manual operation and have a small coverage area; and laser pest control technology has high power consumption and safety hazards. In recent years, radar technology has made progress in insect identification, but existing technologies mostly use single-band radar, resulting in insufficient accuracy in dynamic environments and an inability to target multiple targets simultaneously. Regarding network collaboration, existing technologies generally lack protection mechanisms for beneficial insects, potentially causing accidental injury to pollinating insects such as bees in agricultural applications, and failing to adequately consider human safety. Summary of the Invention

[0003] The technical problem this invention aims to solve is to overcome the shortcomings of existing technologies and provide a low-cost micro-insect knockdown system capable of simultaneously tracking 100 targets, supporting distributed network collaboration, ensuring 100% safety for humans and beneficial insects, and with noise levels below 50 dB. A distributed insect knockdown system based on radar and gas jets is characterized by comprising: The central control unit (100) adopts a RISC-V processor and FPGA coprocessor architecture to run multi-target tracking algorithm and network collaboration algorithm; The radar sensing array (200) includes multiple 24 GHz and 60 GHz millimeter-wave radar modules for detecting insect targets within a 6-meter range and extracting their characteristic parameters; The injection matrix cluster (300) includes multiple independent injection matrices (310), each injection matrix (310) contains 10 independently controllable MEMS solenoid valve nozzles (316), each nozzle can independently perform ±15° horizontal and vertical steering; The gas supply system (500), including a MEMS compressor (501), a gas tank (502) and a pressure sensor (503), provides high-pressure gas to the injection matrix (310); The safety protection module (400) includes a bio-radar (401) and an infrared pyroelectric sensor (402) for detecting humans and animals; The networking communication module (600) is used to realize data exchange and collaborative work between multiple systems.

[0004] Furthermore, the radar sensing array (200) includes four 24GHz radars and two 60GHz radars arranged in a ring. The 24GHz radars are used for coarse target localization and motion compensation, while the 60GHz radars are used for precise localization and insect feature recognition.

[0005] Furthermore, the jet matrix cluster (300) includes 10 jet matrices (310), each jet matrix (310) containing 10 MEMS solenoid valve nozzles (316). The nozzles adopt a Laval nozzle structure with a converging section diameter of 1.2 mm, a throat diameter of 0.12 mm, an expanding section diameter of 0.16 mm, an outlet diameter of 0.18 mm, an outlet chamfer of 3°, and an airflow velocity of over 500 m / s.

[0006] Furthermore, the nozzle (316) has a built-in microporous sound-absorbing layer (513) with a hole diameter of 0.05mm, and an external sound-absorbing sleeve (520) including a microporous plate (521), an air layer (522) and a sound-absorbing cotton layer (523), so that the noise of the whole machine is less than 50dB.

[0007] Furthermore, the central control unit (100) runs an improved DBSCAN clustering algorithm and a Kalman filter algorithm to track more than 100 targets simultaneously; it also runs a target allocation algorithm based on the Hungarian algorithm to assign targets to different injection matrices (310).

[0008] This invention also provides a control method for a distributed insect-shooting system based on radar and gas jets, characterized by the following steps: S1: The radar sensing array collects target point cloud data, performs coordinate transformation and preprocessing; S2: Extract target features, including position, velocity, polarization ratio, and wingbeat frequency; S3: Clustering of point clouds using the improved DBSCAN algorithm to identify insect targets; S4: The safety protection module checks for human or beneficial insects; if found, it skips the corresponding target. S5: The network communication module negotiates with neighboring devices to determine the defense zone of this device; S6: The Kalman filter updates the target trajectory and predicts the target position; S7: The target is assigned to the nozzle of each injection matrix using a greedy algorithm; S8: Calculate the interception point, adjust the nozzle steering mechanism (±15° range), and execute the injection; S9: Transfer targets outside the local area to neighboring devices. Beneficial effects

[0009] Compared with existing technologies, this invention has the following advantages: 1. Strong multi-target parallel strike capability: Through the improved DBSCAN clustering algorithm and Kalman filtering, it can simultaneously track more than 100 targets. The 10 jet matrices with a total of 100 nozzles can strike multiple targets in parallel, and each nozzle can independently turn ±15°. 2. Ultra-long effective range: Adopting a Laval nozzle structure, the exit velocity is 500m / s, the diffusion angle is 3°, and the airflow velocity at 6m remains at 100m / s, with a kill rate of over 97%. 3. Ultra-quiet operation: The triple noise reduction design of the microporous sound-absorbing layer and the external sound-absorbing sleeve results in overall noise below 50dB (equivalent to a library environment). 4. Strong adaptability to dynamic environments: Utilizing a motion compensation algorithm that integrates radar and IMU, it maintains a kill success rate of over 98% even at high-speed movement of 40m / s. 5. Intelligent networking and collaboration: The Voronoi diagram algorithm automatically divides defense zones, enabling seamless connection between multiple devices. 6. High security: Dual confirmation via bio-radar and infrared ensures 100% no triggering when someone is within 3 meters; beneficial insect identification mode protects pollinating insects. 7. All-weather operation: Dual-frequency radar combined with polarization filtering allows for accurate insect identification even in rainy conditions, with a false trigger rate of less than 0.02%. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the overall architecture of the system of the present invention.

[0011] Figure 2 This is a hardware structure block diagram of the central control unit of the present invention.

[0012] Figure 3 This is a schematic diagram of the general radar sensing array layout of the present invention.

[0013] Figure 4 This is a schematic diagram of the detection range of the universal radar sensing array of the present invention.

[0014] Figure 5 This is a schematic diagram of the radar sensing array layout for an automotive insect-repellent scenario according to the present invention.

[0015] Figure 6 This is a schematic diagram of the detection range of the radar sensing array for insect prevention in automobiles according to the present invention.

[0016] Figure 7 This is a side view of the IMU sensor layout of the present invention.

[0017] Figure 8 This is a schematic diagram of the basic unit module (310a) of the present invention.

[0018] Figure 9 This is a schematic diagram of the basic unit module (310b) of the present invention.

[0019] Figure 10This is a schematic diagram of the horizontal splicing (increasing length) of the basic unit modules of the present invention.

[0020] Figure 11 This is a schematic diagram of the vertical splicing (increasing height) of the basic unit modules of the present invention.

[0021] Figure 12 This is a schematic diagram of the splicing interface structure of the universal jet matrix module of the present invention.

[0022] Figure 13 This is a cross-sectional view of a single nozzle of the present invention.

[0023] Figure 14 This is a perspective view of the nozzle steering mechanism of the present invention.

[0024] Figure 15 This is a schematic diagram of the silent structure of the present invention.

[0025] Figure 16 This is a diagram showing the airflow diffusion characteristics of a single nozzle according to the present invention.

[0026] Figure 17 This is a schematic diagram (top view) of the spray coverage area at 1m from a single nozzle of the present invention.

[0027] Figure 18 This is a schematic diagram (top view) of the spray coverage area at a distance of 3m from a single nozzle of the present invention.

[0028] Figure 19 This is a schematic diagram (top view) of the spray coverage area at a distance of 6m from a single nozzle of the present invention.

[0029] Figure 20 This is a diagram showing the airflow diffusion characteristics of the nozzle of the present invention.

[0030] Figure 21 This is a schematic diagram (top view) of the spray coverage area at 1m from the 10 nozzles of the present invention.

[0031] Figure 22 This is a schematic diagram (top view) of the spray coverage area at 3m from the 10 nozzles of the present invention.

[0032] Figure 23 This is a schematic diagram (top view) of the spray coverage area at a distance of 6m from 10 nozzles in this invention. The component identification is as follows: 100: Central Control Unit; 101: RISC-V Processor; 101a: DBSCAN Algorithm Module; 101b: Kalman Filter Module; 101c: Hungarian Algorithm Module; 101d: Network Coordination Module; 101e: Security Decision Module; 101f: Target Allocation Module; 102: FPGA Coprocessor; 102a: FFT Processing Module; 102b: Doppler Extraction Module; 102c: CFAR Detection Module; 102d: Beamforming Module; 102e: Point Cloud Clustering Module; 102f: Data Packaging Module; 103: Memory; 10 3a: DDR3 memory; 103b: Flash storage; 104: Communication interface; 105: Power management module; 200: Radar sensing array; 201: 24GHz radar; 201a: 24GHz-1 radar (front right); 201b: 24GHz-2 radar (rear right); 201c: 24GHz-3 radar (front left); 201d: 24GHz-4 radar (rear left); 202: 60GHz radar; 202a: 60GHz-1 radar (front); 202b: 60GHz-2 radar (rear); 203: IMU sensor; 203a: IMU-1 main sensor; 203b: IMU -2 Backup Sensors; 300: Injection Matrix Cluster; 310: Injection Matrix; 310a: 1×5 Basic Unit Module; 310b: 1×10 Basic Unit Module; 313: Dovetail Rail; 314: Pneumatic Quick-Connect Interface; 315: Electrical Connector; 316: Nozzle; 400: Nozzle Body; 401: Solenoid Valve Coil; 402: Valve Core; 403: Return Spring; 404: Valve Seat; 405: Laval Nozzle; 405a: Contraction Section; 405b: Throat; 405c: Expansion Section; 406: Ruby Nozzle; 407: Vertical Steering Axis; 408: Vertical Piezoelectric Motor; 409: Horizontal Piezoelectric Motor; 410: Universal Joint; 411: Horizontal steering shaft; 412: Fixed base; 500: Air supply system; 501: MEMS compressor; 502: Air tank; 503: Pressure sensor; 513: Microporous sound-absorbing layer; 520: External sound-absorbing sleeve; 521: Microporous plate; 522: Air layer; 523: Sound-absorbing cotton layer; 500a: Coverage area 1m from a single nozzle; 500b: Coverage area 3m from a single nozzle; 500c: Coverage area 6m from a single nozzle; 500d: Coverage area 1m from 10 nozzles; 500e: Coverage area 3m from 10 nozzles; 500f: Coverage area 6m from 10 nozzles; 600: Network communication module; 601: Wireless communication unit. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0034] Example 1, System Overall Architecture: as follows Figure 1 As shown, the system of the present invention includes a central control unit 100, a radar sensing array 200, a jet matrix cluster 300, an air supply system 400, a safety protection module 500, and a network communication module 600.

[0035] The central control unit 100 adopts a Pingtouge C906 processor and FPGA coprocessor architecture. The FPGA is responsible for the real-time preprocessing of radar signals, and the RISC-V processor runs multi-target tracking algorithm and network collaboration algorithm.

[0036] The radar sensing array 200 comprises four 24GHz radars and two 60GHz radars arranged in a ring, providing 360° coverage without blind spots. The 24GHz radars are used for coarse target localization and motion compensation, while the 60GHz radars are used for precise localization and insect feature identification.

[0037] The injection matrix cluster 300 includes 10 independent injection matrices 310, each containing 10 MEMS solenoid valve nozzles 316 arranged in a linear layout of 1 row × 10 columns, with a nozzle spacing of 20 mm and a matrix width of 200 mm. Each nozzle can independently rotate ±15° horizontally and vertically.

[0038] The gas supply system 400 includes two MEMS centrifugal compressors, four titanium alloy gas tanks (150ml each), and four pressure sensors. The compressors are manufactured using silicon-based technology, with a volume of <5cm³, power consumption of 4W, and a maximum pressure of 12MPa. The gas tanks operate alternately, supporting 100 continuous injections.

[0039] The safety protection module 500 includes a 24GHz bio-radar and an 8×8 pixel infrared pyroelectric array, with a detection distance of 5m, a resolution of 0.5m, and a false trigger rate of <0.05%.

[0040] The 600 networking communication module adopts dual-band communication of 2.4GHz / 5.8GHz, supporting automatic discovery and data exchange between devices.

[0041] Example 2, Central Control Unit: such as Figure 2 As shown, the central control unit 100 includes a RISC-V processor core 110, an FPGA coprocessor 120, a memory 130, a communication interface 140, and a power management module 150. The RISC-V processor core 110 runs a Linux operating system and implements multi-target tracking algorithms, target allocation algorithms, network coordination algorithms, and security decision-making algorithms. The FPGA coprocessor 120 implements real-time FFT processing, Doppler analysis, beamforming, and point cloud clustering hardware acceleration for radar signals.

[0042] Example 3, Radar Sensing Array: such as Figure 3As shown, the radar sensing array 200 includes four 24GHz radars (201a-201d) and two 60GHz radars (202a-202b) arranged in a ring. The 24GHz radars have a detection range of 10m, a horizontal field of view of 120°, and a vertical field of view of 60°; the 60GHz radars have a detection range of 8m, a horizontal field of view of 60°, and a vertical field of view of 30°. The IMU sensors 203a-203b use the MPU6050, with a sampling rate of 2kHz, a dual-redundancy design, and an angular error of <1° at a movement speed of 40m / s.

[0043] Insect identification is based on multi-dimensional characteristics such as wingbeat frequency, flight speed, and polarization ratio: Mosquitoes have a wingbeat frequency of 400-600Hz, a flight speed of 0.5-1.5m / s, and a polarization ratio >2.0; Flies have a wingbeat frequency of 150-250Hz, a flight speed of 1.0-2.5m / s, and a polarization ratio of 1.8-2.5; Bees have a wingbeat frequency of 180-220Hz, a flight speed of 2.0-4.0m / s, and a polarization ratio of 1.5-2.0.

[0044] Example 4, Universal Injection Matrix Module: such as Figure 4 As shown, the injection matrix module adopts a standardized design, with basic units including a 1×5 module 310a (100mm×40mm×20mm, 5 nozzles) and a 1×10 module 310b (200mm×40mm×20mm, 10 nozzles). Modules are horizontally and vertically connected via dovetail guide rails 313, enabling expansion to any scale. The connection interfaces include a pneumatic quick-connect interface 314 and an electrical connector 315, allowing for plug-and-play functionality.

[0045] Example 5, Single nozzle structure: as follows Figure 5 As shown, the single nozzle adopts a Laval nozzle design. The air inlet chamber 400 is connected to a high-pressure air source. When the solenoid valve coil 401 is energized, it attracts the valve core 402 to move upward, opening the valve port. The high-pressure gas enters the Laval nozzle 405 through the valve seat 404. The Laval nozzle consists of a contraction section 405a (diameter 1.2mm→0.12mm), a throat 405b (diameter 0.12mm), and an expansion section 405c (diameter 0.12mm→0.16mm), accelerating the airflow to 500m / s. The microporous sound-absorbing layer 513 (pore size 0.05mm) absorbs high-frequency noise. The external sound-absorbing sleeve 520 includes a microporous plate 521 (pore size 0.3mm, perforation rate 5%), an air layer 522 (thickness 3mm), and a sound-absorbing cotton layer 523 (thickness 5mm). The overall noise level is below 50dB. The ruby ​​nozzle 406 has an outlet diameter of 0.18 mm and an outlet chamfer of 3° (515), forming a 3° diffusion angle.

[0046] The nozzle steering mechanism includes a vertical steering shaft 407, a horizontal steering shaft 411, a universal joint 410, a vertical piezoelectric motor 408, and a horizontal piezoelectric motor 409. It can achieve independent horizontal and vertical steering of ±15°, with a steering speed of <10ms and a positioning accuracy of ±0.1°.

[0047] Example 6, Spray coverage area: as follows Figure 6 As shown, a single nozzle has a diffusion angle of 3° and a diffusion diameter D = 0.0524L. At 6m, the diffusion diameter is 0.314m, and the airflow velocity is 100m / s. Each nozzle can independently make horizontal and vertical turns of ±15°, resulting in a coverage width W = 0.61L after turning. At 6m, the coverage width is 4.0m, and the coverage height is 3.66m. The combined coverage of 10 nozzles forms a fan-shaped area, with a coverage area of ​​approximately 14.6m² at 6m.

[0048] Example 7, Application in Car Insect Repellency: The system of this invention is installed inside the front bumper of a car. Six linear radar arrays cover a 180° forward angle, and the spray matrix covers the windward side of the radiator. The system dynamically adjusts the spray lead based on vehicle speed, knocking insects down before they can impact the vehicle. Test results: Static knockdown rate 99.2%, dynamic knockdown rate at 40m / s 98.3%.

[0049] Example 8, Personal Protective Application: The system of this invention is designed as a portable device that can be placed around a camping tent or hung on a backpack. The nozzle steering mechanism provides three-dimensional protection, covering an area with a radius of 6m, with noise levels <50dB, which does not interfere with conversation or rest.

[0050] Example 9, Home Insect Control Application: The system of this invention is installed in the center of the room ceiling. The nozzle turning mechanism, combined with the scanning mode, achieves coverage without blind spots. The 6m range can cover a room of about 113㎡. The noise level is <50dB, making it suitable for use in the bedroom at night.

[0051] Example 10, Agricultural Plant Protection Application: Deploying multiple systems of this invention in farmland, large-scale pest control is achieved through network collaboration. The beneficial insect identification mode protects pollinating insects such as bees. A 6m range covers a 6m radius crop area, with a single device covering an area of ​​113㎡. Networking multiple devices allows for unlimited expansion. Industrial applicability

[0052] The system of this invention can be widely used in automobile manufacturing, outdoor products, health and epidemic prevention, agricultural plant protection and other fields. It has the advantages of small size, low cost, high precision, good safety and quiet operation, and is suitable for large-scale industrial production and promotion.

Claims

1. A distributed insect-shooting system based on radar and gas jet, characterized in that, include: The central control unit (100) adopts a RISC-V processor and FPGA coprocessor architecture to run multi-target tracking algorithm and network collaboration algorithm; The radar sensing array (200) includes multiple 24 GHz and 60 GHz millimeter-wave radar modules for detecting insect targets within a 6-meter range and extracting their characteristic parameters; The injection matrix cluster (300) includes multiple independent injection matrices (310), each injection matrix (310) containing multiple independently controllable MEMS solenoid valve nozzles (316); The gas supply system (500), including a MEMS compressor (501), a gas tank (502) and a pressure sensor (503), provides high-pressure gas to the injection matrix (310); The safety protection module (400) includes a bio-radar (401) and an infrared pyroelectric sensor (402) for detecting humans and animals; The networking communication module (600) is used to realize data exchange and collaborative work between multiple systems.

2. The distributed insect knockdown system according to claim 1, characterized in that, The radar sensing array (200) includes four 24GHz radars and two 60GHz radars arranged in a ring. The 24GHz radars are used for coarse target localization and motion compensation, while the 60GHz radars are used for precise localization and insect feature recognition.

3. The distributed insect knockdown system according to claim 1, characterized in that, The jet matrix cluster (300) includes 10 jet matrices (310), each jet matrix (310) contains 10 MEMS solenoid valve nozzles (316). The nozzles adopt a Laval nozzle structure with a converging section diameter of 1.2 mm, a throat diameter of 0.12 mm, an expanding section diameter of 0.16 mm, an outlet diameter of 0.18 mm, an outlet chamfer of 3°, and an airflow velocity of over 500 m / s.

4. The distributed insect knockdown system according to claim 1, characterized in that, The nozzle (316) has a built-in microporous sound-absorbing layer (513) with a hole diameter of 0.05mm and an external sound-absorbing sleeve (520), including a microporous plate (521), an air layer (522) and a sound-absorbing cotton layer (523). The noise of the whole machine is less than 50dB.

5. The distributed insect knockdown system according to claim 1, characterized in that, The nozzle (316) is equipped with a steering mechanism, including a vertical steering shaft (407), a horizontal steering shaft (411), a universal joint (410), a vertical piezoelectric motor (408), and a horizontal piezoelectric motor (409), which can achieve independent horizontal and vertical steering of ±15°, a steering speed of <10ms, and a positioning accuracy of ±0.1°.

6. The distributed insect knockdown system according to claim 1, characterized in that, The central control unit (100) runs an improved DBSCAN clustering algorithm and a Kalman filter algorithm to track more than 100 targets at the same time; it also runs a target allocation algorithm based on the Hungarian algorithm to assign targets to different spray matrices (310).

7. The distributed insect-shooting system according to claim 1, characterized in that, The networking communication module (600) adopts 2.4GHz / 5.8GHz wireless communication, and multiple systems automatically discover neighboring devices. It dynamically divides defense areas through the Voronoi diagram algorithm to achieve target handover and coordinated strikes.

8. The distributed insect knockdown system according to claim 1, characterized in that, The security protection module (400) is equipped with a dual confirmation mechanism. The suppression logic is triggered only when the bio-radar (401) and infrared pyroelectric (402) detect the human body at the same time. Set a 3-meter safety distance and automatically cut off the air supply within the safety distance; set a beneficial insect recognition mode to identify beneficial insects by wingbeat frequency and body shape characteristics and prohibit striking them.

9. A distributed insect knockdown control method based on the system described in any one of claims 1-8, characterized in that, Includes the following steps: S1: The radar sensing array collects target point cloud data, performs coordinate transformation and preprocessing; S2: Extract target features, including position, velocity, polarization ratio, and wingbeat frequency; S3: Clustering of point clouds using the improved DBSCAN algorithm to identify insect targets; S4: The safety protection module checks for human or beneficial insects; if found, it skips the corresponding target. S5: The network communication module negotiates with neighboring devices to determine the defense zone of this device; S6: The Kalman filter updates the target trajectory and predicts the target position; S7: The target is assigned to the nozzle of each injection matrix using a greedy algorithm; S8: Calculate the interception point, adjust the nozzle steering mechanism to within ±15°, and execute the injection; S9: Transfer targets outside the local area to neighboring devices.

10. The control method according to claim 9, characterized in that, The nozzle steering mechanism adjustment in step S8 includes independent control in both horizontal and vertical directions. The maximum angle swing is completed at a steering speed of <10ms, and the positioning accuracy is ±0.1°.

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