Bird repellent, bird repellent control method, device, terminal and storage medium

Abstract

The present invention relates to the field of bird repelling technology, and in particular to a bird repellent, a bird repellent control method, a device, a terminal and a storage medium. The bird repellent implementation method of the present invention identifies the repelling target and the direction of the repelling target through vision, determines the sunlight irradiation angle according to a sunlight tracker, adjusts the reflective array, and irradiates the repelling target. The characteristics of birds being active during the day and roosting at night are utilized, and the repelling target is repelled under the irradiation of a multi-faceted reflector, ensuring that the repelling target begins to be repelled before endangering the protected target, and the active defense effect is good and the pertinence is strong. The implementation method of the bird repellent control method of the present invention identifies the repelling target of the protection zone through a visual device, and when the repelling target is found, the reflective array is adjusted according to the sunlight irradiation angle and the approximate direction of the repelling target, and the repelling target is irradiated with sunlight. Therefore, the repelling target has good pertinence, high irradiation intensity, little impact on the area outside the protection zone, and significant repelling effect.

Description

Technical Field

[0001] The present invention relates to the technical field of bird repelling, and in particular to a bird repelling device, a bird repelling control method, a device, a terminal and a storage medium. Background Art

[0002] Birds cause many types of damage to power transmission lines. The branches, wires, cotton threads and other materials they use to build "nests" on transmission towers are very likely to fall and short-circuit porcelain plates, causing the line to trip. When birds eat, their remains can easily cause transmission line failures and tripping. In addition, bird excrement can also contaminate porcelain bottles, reducing the external insulation strength of the porcelain bottle string, thus causing transmission line failures.

[0003] In order to avoid bird damage, power transmission line towers are now equipped with bird repellent devices. Some bird repellent devices drive away birds after they have perched on the transmission lines, which is relatively passive. Other bird repellent devices use sound waves to actively drive away birds. However, the sound waves emitted are more disturbing and not very targeted. After long-term use, some smarter birds can identify the flaws and choose the right time or place to perch, which reduces the effect of bird repellent.

[0004] Based on this, need to develop and design a kind of bird repellent. Summary of the invention

[0005] The embodiments of the present invention provide a bird repellent, a bird repellent control method, a device, a terminal and a storage medium, which are used to solve the problem that the bird repellent in the prior art has poor pertinence and leads to a decrease in the bird repellent effect over time.

[0006] In a first aspect, an embodiment of the present invention provides a bird repellent, comprising:

[0007] visual devices, reflective arrays, and sunlight trackers;

[0008] The reflective array and the sunlight tracker are electrically connected to the visual device respectively;

[0009] The sunlight tracker is used to obtain the angle of sunlight; the reflective array includes at least two rotating mirrors, and the mirror surface of the rotating mirror reflects sunlight through pitch rotation and yaw rotation;

[0010] The visual device is used to identify the direction of the driven target based on the image in the protection area;

[0011] The two rotating mirrors in the reflective array rotate according to the orientation of the driven-away target and the irradiation angle of the sunlight, and when the visual device confirms that the driven-away target is irradiated, the visual device outputs information indicating the position of the driven-away target;

[0012] The reflective array adjusts the angle of each rotating mirror in the reflective array according to the information of the driven-away target position and the irradiation angle of the sunlight to irradiate the driven-away target.

[0013] In a possible implementation, the sunlight tracker includes: a photosensitive component, an adjustment bracket, and a tracking control module;

[0014] The photosensitive component and the adjustment bracket are electrically connected to the tracking control module respectively;

[0015] The photosensitive component is fixedly arranged on the adjustment bracket;

[0016] The adjustment bracket is used to drive the photosensitive component to rotate so as to adjust the relative angle between the photosensitive component and sunlight;

[0017] The photosensitive component outputs a signal of the irradiation offset, and the tracking control module outputs a signal indicating the adjustment of the posture of the bracket according to the signal of the irradiation offset;

[0018] When the signal of the illumination offset is less than a threshold value, the tracking control module outputs the illumination angle of the sunlight according to the posture of the adjustment bracket.

[0019] In a possible implementation, the photosensitive component includes: a barrel, a lens, and a photosensitive plate;

[0020] The lens is fixedly arranged at the front opening of the cylinder, and the photosensitive plate is fixedly arranged inside the cylinder at a position corresponding to the focal point of the lens; the cylinder is fixedly connected to the adjustment bracket;

[0021] The photosensitive board includes: three photoresistors that are not in a straight line;

[0022] The photoresistor of the photosensitive board is electrically connected to the tracking control module, and the tracking control module determines the irradiation offset according to the resistance value of the photosensitive board resistor.

[0023] In a possible implementation, the adjustment bracket includes: a bracket body, a yaw motor, a pitch motor and an intermediate bracket;

[0024] The yaw motor and the pitch motor are electrically connected to the tracking control module respectively;

[0025] The yaw motor and the pitch motor are servo motors or stepper motors;

[0026] The body of the yaw motor is fixedly connected to the frame, the output shaft of the yaw motor is transmission-connected to the intermediate frame, the body of the pitch motor is fixedly connected to the intermediate frame, the output shaft of the pitch motor is fixedly connected to the photosensitive component; the axis of the output shaft of the pitch motor is perpendicular to the axis of the intermediate frame.

[0027] In a possible implementation, the reflective array includes: a pitch seat, and the pitch seat includes: a pitch body, an electric push rod and a seat plate;

[0028] The first end of the seat plate is hinged to the first end of the pitch body, the second end of the seat plate is hinged to the first end of the electric push rod, and the second end of the electric push rod is hinged to the second end of the pitch body;

[0029] The plurality of rotating mirrors of the reflective array are fixedly arranged on the base plate, and the rotating mirrors include: a mirror surface and a rotating motor, and the rotating motor is driven to change the yaw angle of the mirror surface;

[0030] The rotary motor and the electric push rod are electrically connected to the visual device respectively.

[0031] In a second aspect, an embodiment of the present invention provides a bird-repelling control method, which is applied to the bird-repelling device described in the first aspect or any possible implementation of the first aspect, and the bird-repelling control method includes:

[0032] Obtain images of the protected area and the angle of sunlight;

[0033] Identify the direction of the target to be driven away according to the protection area image;

[0034] According to the orientation of the driven-away target and the angle of sunlight, two rotating mirrors in the reflective array are controlled to rotate;

[0035] After it is determined through the protection zone image that the two rotating mirrors in the reflective array illuminate the driven-away target, the position of the driven-away target is determined according to the directions of the two rotating mirrors in the reflective array;

[0036] According to the position of the driven-away target, the angle of each rotating mirror in the reflective array is adjusted to illuminate the driven-away target.

[0037] In a possible implementation, determining, by using the protection zone image, that two rotating mirrors in the reflective array illuminate the driven-away target includes:

[0038] Acquire a first image and a second image, wherein the first image is an image before the two rotating mirrors in the reflective array rotate, and the second image is an image after the two rotating mirrors in the reflective array rotate;

[0039] Extracting a first brightness according to the first image, wherein the first brightness is determined based on a first image block including the driven-away target, the first image block being an image block including the driven-away target that is determined by respectively identifying a plurality of image blocks segmented from the first image;

[0040] A second brightness acquisition step: extracting a second brightness according to the second image, wherein the second brightness is determined based on a second image block including the driven-away target, and the second image block is an image block including the driven-away target that is determined by respectively identifying a plurality of image blocks divided from the second image;

[0041] If the deviation between the second brightness and the first brightness is greater than a threshold, the rotation angles of the two rotating mirrors in the reflective array are continuously adjusted, and an image is re-acquired as the second image to jump to the second brightness acquisition step.

[0042] In a third aspect, an embodiment of the present invention provides a bird-repelling control device for implementing the bird-repelling control method described in the second aspect or any possible implementation of the second aspect, the bird-repelling control device comprising:

[0043] Image and illumination angle acquisition module, used to obtain the protection area image and the sunlight illumination angle;

[0044] A module for determining the direction of a target to be driven away is used to identify the direction of a target to be driven away according to the protection area image;

[0045] A rotating mirror rotating module, used for controlling the two rotating mirrors in the reflective array to rotate according to the orientation of the driven-away target and the angle of sunlight;

[0046] A driven-away target positioning module, used for determining the position of the driven-away target according to the directions of the two rotating mirrors in the reflective array after determining through the protection zone image that the two rotating mirrors in the reflective array illuminate the driven-away target;

[0047] as well as,

[0048] The driving-away illumination module is used to adjust the angle of each rotating mirror in the reflective array according to the position of the driving-away target to illuminate the driving-away target.

[0049] In a fourth aspect, an embodiment of the present invention provides a terminal, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, it implements the steps of the method described in the second aspect or any possible implementation method of the second aspect.

[0050] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the second aspect or any possible implementation of the second aspect are implemented.

[0051] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0052] The embodiment of the present invention discloses a bird repeller, which can visually identify the repeller target and the direction of the repeller target, determine the sunlight irradiation angle according to a sunlight tracker, adjust the reflective array, and irradiate the repeller target. It utilizes the characteristics that birds are active during the day and roost at night, and repeller targets are repellers under the illumination of multi-faceted reflectors, ensuring that the repeller target is repellered before it endangers the protected target, and has good active defense effect and strong pertinence.

[0053] The embodiment of the present invention also discloses a bird-repelling control method, which first obtains an image of a protection zone and an irradiation angle of sunlight; then, identifies the orientation of the target to be driven away according to the image of the protection zone; then, controls the two rotating mirrors in the reflective array to rotate according to the orientation of the target to be driven away and the irradiation angle of sunlight; then, after determining that the two rotating mirrors in the reflective array irradiate the target to be driven away through the image of the protection zone, determines the position of the target to be driven away according to the directions of the two rotating mirrors in the reflective array; finally, according to the position of the target to be driven away, adjusts the angle of each rotating mirror in the reflective array to irradiate the target to be driven away. The embodiment of the bird-repelling control method of the present invention identifies the target to be driven away in the protection zone through a visual device, and when the target to be driven away is found, adjusts the reflective array according to the irradiation angle of sunlight and the approximate orientation of the target to be driven away, and uses sunlight to irradiate the target to be driven away, so that the method has good pertinence, high irradiation intensity, little impact on areas outside the protection zone, and significant driving effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0055] Figure 1 is a schematic diagram of a photosensitive component provided by an embodiment of the present invention;

[0056] Figure 2 is a schematic diagram of an adjustment bracket provided in an embodiment of the present invention;

[0057] Figure 3is a schematic diagram of a reflective array provided in an embodiment of the present invention;

[0058] Figure 4 is a flow chart of a bird-repelling control method provided by an embodiment of the present invention;

[0059] Figure 5 is a functional block diagram of a bird-repelling control device provided in an embodiment of the present invention;

[0060] Figure 6 It is a functional block diagram of a terminal provided by an embodiment of the present invention.

[0061] In the figure:

[0062] 101 cylinder;

[0063] 102 lens;

[0064] 103 photosensitive plate;

[0065] 1031 photoresistor;

[0066] 201 frame;

[0067] 202 Yaw motor;

[0068] 203 pitch motor;

[0069] 204 middle shelf;

[0070] 301 pitch body;

[0071] 302 electric actuator;

[0072] 303 seat plate;

[0073] 100 Rotating mirror. DETAILED DESCRIPTION

[0074] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, and methods are omitted so as not to obscure the description of the present invention with unnecessary details.

[0075] In order to make the purpose, technical solutions and advantages of the present invention more clear, the following will be described through specific implementation methods in conjunction with the accompanying drawings.

[0076] The following is a detailed description of an embodiment of the present invention. This example is implemented based on the technical solution of the present invention, and provides a detailed implementation method and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0077] A first aspect of the embodiments of the present invention provides a bird repellent, comprising: a visual device, a reflective array, and a sunlight tracker;

[0078] The reflective array and the sunlight tracker are electrically connected to the visual device respectively;

[0079] The sunlight tracker is used to obtain the angle of sunlight; the reflective array includes at least two rotating mirrors 100, and the mirror surface of the rotating mirror 100 reflects sunlight through pitch rotation and yaw rotation;

[0080] The visual device is used to identify the direction of the driven target based on the image in the protection area;

[0081] The two rotating mirrors 100 in the reflective array rotate according to the orientation of the driven-away target and the irradiation angle of the sunlight. When the visual device confirms that the driven-away target is irradiated, the visual device outputs information indicating the position of the driven-away target.

[0082] The reflective array adjusts the angle of each rotating mirror 100 in the reflective array according to the information of the driven-away target position and the irradiation angle of the sunlight to irradiate the driven-away target.

[0083] Exemplarily, the bird repellent includes a visual device for identifying whether there is a target to be repelled, such as a bird, in the protection zone. In one application scenario, the visual device includes a camera, which captures an image of the protection zone and feeds the image into a recognition model for recognition. One implementation of the recognition model is to construct an artificial neural network, input a plurality of sample pictures of birds into the artificial neural network for training, so that the network model can recognize birds.

[0084] Based on the visual device, the position of the driven-away target in the image can be identified, and the approximate direction of the driven-away target can be roughly determined.

[0085] The embodiment of the present invention also obtains the elevation angle and azimuth of sunlight through a sunlight tracker. After determining the angle of sunlight and the approximate azimuth of the target to be driven away, the position of the reflector can be adjusted to reflect sunlight to illuminate and drive away the bird.

[0086] The embodiment of the present invention uses a rotating mirror 100 with multiple adjustable elevation and yaw angles to reflect sunlight. Since multiple rotating mirrors 100 reflect sunlight at the same time, the illumination intensity will be very high, thereby achieving the purpose of driving away birds.

[0087] Regarding the method of adjusting the plurality of rotating mirrors 100, the present invention combines the result of visual recognition, that is, based on the approximate position of the driven-away target, accurate positioning is performed based on whether the visual recognition light is irradiated on the driven-away target.

[0088] The embodiments of the present invention visually identify the driven-away target and the direction of the driven-away target, determine the sunlight irradiation angle according to the sunlight tracker, adjust the reflective array, and illuminate the driven-away target. The characteristics of birds being active during the day and roosting at night are utilized, and the driven-away target is driven away under the illumination of a multi-faceted reflector, thereby ensuring that the driven-away target is driven away before it endangers the protected target, and the active defense effect is good and the targeting is strong.

[0089] In some embodiments, the sunlight tracker includes: a photosensitive component, an adjustment bracket, and a tracking control module;

[0090] The photosensitive component and the adjustment bracket are electrically connected to the tracking control module respectively;

[0091] The photosensitive component is fixedly arranged on the adjustment bracket;

[0092] The adjustment bracket is used to drive the photosensitive component to rotate so as to adjust the relative angle between the photosensitive component and sunlight;

[0093] The photosensitive component outputs a signal of the irradiation offset, and the tracking control module outputs a signal indicating the adjustment of the posture of the bracket according to the signal of the irradiation offset;

[0094] When the signal of the illumination offset is less than a threshold value, the tracking control module outputs the illumination angle of the sunlight according to the posture of the adjustment bracket.

[0095] In some embodiments, the photosensitive component includes: a barrel 101, a lens 102, and a photosensitive plate 103;

[0096] The lens 102 is fixedly arranged at the front opening of the barrel 101, and the photosensitive plate 103 is fixedly arranged inside the barrel 101 at a position corresponding to the focus of the lens 102; the barrel 101 is fixedly connected to the adjustment bracket;

[0097] The photosensitive board 103 includes: three photoresistors 1031 which are not in a straight line;

[0098] The photoresistor 1031 of the photosensitive board 103 is electrically connected to the tracking control module, and the tracking control module determines the irradiation offset according to the resistance value of the resistor of the photosensitive board 103 .

[0099] In some embodiments, the adjustment bracket includes: a frame 201, a yaw motor 202, a pitch motor 203, and an intermediate frame 204;

[0100] The yaw motor 202 and the pitch motor 203 are electrically connected to the tracking control module respectively;

[0101] The yaw motor 202 and the pitch motor 203 are servo motors or stepper motors;

[0102] The body of the yaw motor 202 is fixedly connected to the frame 201, the output shaft of the yaw motor 202 is transmission-connected to the intermediate frame 204, the body of the pitch motor 203 is fixedly connected to the intermediate frame 204, the output shaft of the pitch motor 203 is fixedly connected to the photosensitive component; the axis of the output shaft of the pitch motor 203 is perpendicular to the axis of the intermediate frame 204.

[0103] Exemplarily, the sunlight tracker is used to track the sunlight's irradiation angle, and it determines the sunlight's irradiation angle through the optimal irradiation angle determined by the sunlight receptor: a photosensitive component.

[0104] like Figure 1 As shown, the photosensitive component includes a barrel 101, which has a photosensitive plate 103 built therein, and a lens 102 is arranged at the light entrance of the barrel 101. The lens 102 converges the light at one point and projects it onto the photosensitive plate 103. In one embodiment, the photosensitive plate 103 is provided with three photoresistors 1031, which are respectively located at three positions, and the three positions are not located in a straight line. When the light spot irradiates one of the photoresistors 1031, it means that the photosensitive component is offset relative to the irradiation angle of the sunlight at this moment, and it should be adjusted. Only when the light spot irradiates the middle part of the three photoresistors 1031, it means that the axis of the barrel 101 is parallel to the irradiation angle of the sunlight. At this time, the angle of the barrel 101 is taken as the angle of the sunlight.

[0105] like Figure 2 As shown, the adjustment bracket is used to adjust the yaw and pitch angles of the cylinder 101. It includes a frame 201, an intermediate frame 204 is rotatably connected to the frame 201, and a yaw motor 202 drives the intermediate frame 204 to perform yaw rotation through a synchronous belt. The axis of the pitch motor 203 is perpendicular to the intermediate frame 204, and the axis of the cylinder 101 is perpendicular to the axis of the pitch motor 203, so that the pitch motor 203 can adjust the pitch of the cylinder 101. That is, the yaw and pitch of the cylinder 101 are adjusted respectively by the yaw motor 202 and the pitch motor 203.

[0106] When the cylinder 101 is parallel to the angle of sunlight, since the yaw motor 202 and the pitch motor 203 are servo motors or stepper motors, the angle of sunlight can be estimated by reading the rotation angles of the two motors.

[0107] like Figure 3As shown, in some embodiments, the reflective array includes: a pitch seat, and the pitch seat includes: a pitch body 301, an electric push rod 302 and a seat plate 303;

[0108] The first end of the seat plate 303 is hinged to the first end of the pitch body 301, the second end of the seat plate 303 is hinged to the first end of the electric push rod 302, and the second end of the electric push rod 302 is hinged to the second end of the pitch body 301;

[0109] The plurality of rotating mirrors 100 of the reflective array are fixedly disposed on the base plate 303, and the rotating mirror 100 comprises: a mirror surface and a rotating motor, and the rotating motor is driven to change the yaw angle of the mirror surface;

[0110] The rotary motor and the electric push rod 302 are electrically connected to the visual device respectively.

[0111] Exemplarily, the pitch mount is used to adjust the pitch angle of the plurality of rotating mirrors 100 , and the rotation angle can be adjusted by rotating each rotating mirror 100 itself to achieve the effect of adjusting the yaw angle.

[0112] like Figure 3 As shown, the pitch seat includes a pitch body 301, which is an L-shaped frame, one end of a seat plate 303 is hinged to the pitch body 301, and two ends of an electric push rod 302 are respectively hinged to the seat plate 303 and the pitch body 301. When the electric push rod 302 is extended or retracted, it drives the multiple rotating mirrors 100 on the pitch seat to achieve pitch.

[0113] In some embodiments, the surface of the base plate 303 on which the rotating mirror 100 is mounted is a parabolic rotating surface, so that the sunlight is focused at one point to achieve the best illumination effect.

[0114] Regarding the implementation method of the rotating mirror, one implementation method is that the rotating motor body is fixedly set on the mounting seat, and a mirror for reflecting sunlight is fixedly set on the rotor of the rotating motor. When the rotor of the rotating motor rotates, the mirror realizes yaw rotation, that is, the horizontal area where the reflected light is reflected is adjusted by the rotating motor.

[0115] The control method of the reflective array combines the angle of sunlight and visual recognition. The control method is discussed in detail below.

[0116] A second aspect of the embodiments of the present invention provides a bird-repelling control method.

[0117] Figure 4 A flow chart of a bird-repelling control method provided in an embodiment of the present invention.

[0118] like Figure 4As shown, it shows a flow chart of the implementation of the bird-repelling control method provided by an embodiment of the present invention, which is described in detail as follows:

[0119] In step 401, an image of the protection area and the angle of sunlight are obtained.

[0120] In step 402, the direction of the driven-away target is identified based on the protection zone image;

[0121] In step 403, two rotating mirrors 100 in the reflective array are controlled to rotate according to the orientation of the driven-away target and the irradiation angle of the sunlight;

[0122] In step 404, after it is determined through the protection zone image that the two rotating mirrors 100 in the reflective array illuminate the driven-away target, the position of the driven-away target is determined according to the directions of the two rotating mirrors 100 in the reflective array;

[0123] In step 405, according to the position of the driven-away target, the angle of each rotating mirror 100 in the reflective array is adjusted to illuminate the driven-away target.

[0124] In some embodiments, determining that two rotating mirrors 100 in the reflective array illuminate the driven-away target through the protection zone image includes:

[0125] Acquire a first image and a second image, wherein the first image is an image before the two rotating mirrors 100 in the reflective array rotate, and the second image is an image after the two rotating mirrors 100 in the reflective array rotate;

[0126] Extracting a first brightness according to the first image, wherein the first brightness is determined based on a first image block including the driven-away target, the first image block being an image block including the driven-away target that is determined by respectively identifying a plurality of image blocks segmented from the first image;

[0127] A second brightness acquisition step: extracting a second brightness according to the second image, wherein the second brightness is determined based on a second image block including the driven-away target, and the second image block is an image block including the driven-away target that is determined by respectively identifying a plurality of image blocks divided from the second image;

[0128] If the deviation between the second brightness and the first brightness is greater than a threshold, the rotation angles of the two rotating mirrors 100 in the reflective array are continuously adjusted, and an image is re-acquired as the second image to jump to the second brightness acquisition step.

[0129] Exemplarily, for the protection zone, the irradiation process is started after the image of the protection zone is identified and the drive-away target is identified in the image. During the identification, the image of the protection zone is first segmented into a plurality of image blocks, and the plurality of image blocks are respectively input into a recognition model, for example, an artificial neural network model trained with drive-away target samples, and if one of the image blocks contains the drive-away target, the approximate position of the drive-away target can be determined according to the position of the image block in the image.

[0130] Then, the two rotating mirrors 100 in the reflective array can be adjusted by the irradiation angle of the sunlight obtained by the sunlight tracker and the approximate position of the driven-away target. When it is determined through the image analysis of the visual module that both rotating mirrors 100 irradiate the driven-away target, the intersection of the normal lines of the two rotating mirrors 100 can be found according to the angles of the two rotating mirrors 100, and this intersection is the exact position of the driven-away target. According to this exact position, the multiple rotating mirrors 100 in the reflective array can be adjusted so that the normal lines of the multiple rotating mirrors 100 all pass through this intersection, thereby achieving the purpose of irradiating the driven-away target.

[0131] For the specific implementation method of determining that the two rotating mirrors 100 in the reflective array illuminate the driven-away target through the protection zone image, the process is to obtain the image before the two rotating mirrors 100 are adjusted and the image after the rotation, and divide the previous image into multiple blocks. The block containing the driven-away target is found by identification, and the brightness of the block is extracted. One extraction method is to obtain the sum of the pixel values ​​of multiple pixels in the block as the brightness. In the same way, the subsequent images are also segmented, identified, and the brightness is extracted.

[0132] Obviously, if the deviation between the brightness and darkness before and after is large, it means that the irradiation has been achieved, and if the deviation is small, it means that the irradiation has not been achieved, and adjustments should be made at this time.

[0133] The bird-repelling control method of the present invention first obtains the protection zone image and the irradiation angle of sunlight; then, the orientation of the driven-away target is identified according to the protection zone image; then, according to the orientation of the driven-away target and the irradiation angle of sunlight, the two rotating mirrors 100 in the reflective array are controlled to rotate; then, after it is determined through the protection zone image that the two rotating mirrors 100 in the reflective array irradiate the driven-away target, the position of the driven-away target is determined according to the directions of the two rotating mirrors 100 in the reflective array; finally, according to the position of the driven-away target, the angle of each rotating mirror 100 in the reflective array is adjusted to irradiate the driven-away target. The bird-repelling control method of the present invention identifies the driven-away target of the protection zone through a visual device, and when the driven-away target is found, the reflective array is adjusted according to the irradiation angle of sunlight and the approximate orientation of the driven-away target, and the driven-away target is irradiated with sunlight, so that the target has good targeting, high irradiation intensity, little impact on areas outside the protection zone, and significant driving effect.

[0134] It should be understood that the size of the serial numbers of the steps in the above implementation does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the implementation method of the present invention.

[0135] The following is an implementation of the device of the present invention. For details not described in detail, reference may be made to the corresponding method implementation described above.

[0136] Figure 5 is a functional block diagram of a bird-repelling control device provided in an embodiment of the present invention, referring to Figure 5 The bird-repelling control device 5 includes: an image and illumination angle acquisition module 501, a drive-away target orientation determination module 502, a rotating mirror rotation module 503, a drive-away target positioning module 504 and a drive-away illumination module 505, wherein:

[0137] An image and illumination angle acquisition module 501 is used to acquire an image of the protection area and an illumination angle of the sunlight;

[0138] A driven-away target position determination module 502, configured to identify the driven-away target position according to the protection zone image;

[0139] A rotating mirror rotating module 503, used to control the two rotating mirrors in the reflective array to rotate according to the orientation of the driven-away target and the irradiation angle of sunlight;

[0140] A driven-away target positioning module 504 is used to determine the position of the driven-away target according to the directions of the two rotating mirrors in the reflective array after determining through the protection zone image that the two rotating mirrors in the reflective array illuminate the driven-away target;

[0141] The driving-away illumination module 505 is used to adjust the angle of each rotating mirror in the reflective array according to the position of the driving-away target to illuminate the driving-away target.

[0142] Figure 6 is a functional block diagram of a terminal provided by an embodiment of the present invention. Figure 6 As shown, the terminal 6 of this embodiment includes: a processor 600 and a memory 601, wherein the memory 601 stores a computer program 602 that can be run on the processor 600. When the processor 600 executes the computer program 602, the steps in the above-mentioned bird-repelling control method and the embodiment are implemented, for example Figure 4 Steps 401 to 405 are shown.

[0143] Exemplarily, the computer program 602 may be divided into one or more modules / units, and the one or more modules / units are stored in the memory 601 and executed by the processor 600 to implement the present invention.

[0144] The terminal 6 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal 6 may include, but is not limited to, a processor 600 and a memory 601. Those skilled in the art will appreciate that Figure 6 It is only an example of terminal 6 and does not constitute a limitation on terminal 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal 6 may also include input and output devices, network access devices, buses, etc.

[0145] The processor 600 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0146] The memory 601 may be an internal storage unit of the terminal 6, such as a hard disk or memory of the terminal 6. The memory 601 may also be an external storage device of the terminal 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal 6. Further, the memory 601 may also include both an internal storage unit of the terminal 6 and an external storage device. The memory 601 is used to store the computer program 602 and other programs and data required by the terminal 6. The memory 601 may also be used to temporarily store data that has been output or is to be output.

[0147] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the implementation method can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method implementation method, which will not be repeated here.

[0148] In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0149] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0150] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0151] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0152] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0153] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned implementation method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, it can implement the steps of the above-mentioned various methods and device implementation methods. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium.

[0154] The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A bird repellent, characterized in that: include: visual devices, reflective arrays, and sunlight trackers; The reflective array and the sunlight tracker are electrically connected to the visual device respectively; The sunlight tracker is used to obtain the angle of sunlight; the reflective array comprises at least two rotating mirrors (100), the mirror surfaces of the rotating mirrors (100) reflecting sunlight through pitch rotation and yaw rotation; the visual device is used to identify the direction of the driven-away target based on the image in the protection area; The two rotating mirrors (100) in the reflective array rotate according to the orientation of the driven-away target and the irradiation angle of the sunlight, and when the visual device confirms that the driven-away target has been irradiated, the visual device outputs information indicating the position of the driven-away target; The reflective array adjusts the angle of each rotating mirror (100) in the reflective array according to the information of the driven-away target position and the irradiation angle of the sunlight to irradiate the driven-away target; in, The sunlight tracker comprises: a photosensitive component, an adjustment bracket and a tracking control module; The photosensitive component and the adjustment bracket are electrically connected to the tracking control module respectively; The photosensitive component is fixedly arranged on the adjustment bracket; The adjustment bracket is used to drive the photosensitive component to rotate so as to adjust the relative angle between the photosensitive component and sunlight; The photosensitive component outputs a signal of the irradiation offset, and the tracking control module outputs a signal indicating the adjustment of the posture of the bracket according to the signal of the irradiation offset; When the signal of the irradiation offset is less than a threshold, the tracking control module outputs the irradiation angle of the sunlight according to the posture of the adjustment bracket; in, The photosensitive component comprises: a barrel (101), a lens (102) and a photosensitive plate (103); The lens (102) is fixedly arranged at the front opening of the barrel (101), and the photosensitive plate (103) is fixedly arranged inside the barrel (101) at a position corresponding to the focus of the lens (102); the barrel (101) is fixedly connected to the adjustment bracket; The photosensitive plate (103) comprises: three photosensitive resistors (1031) that are not in a straight line; The photoresistor (1031) of the photosensitive plate (103) is electrically connected to the tracking control module, and the tracking control module determines the irradiation offset according to the resistance value of the resistor of the photosensitive plate (103).

2. The bird repellent according to claim 1, characterized in that: The adjustment bracket comprises: a bracket body (201), a yaw motor (202), a pitch motor (203) and an intermediate bracket (204); The yaw motor (202) and the pitch motor (203) are electrically connected to the tracking control module respectively; The yaw motor (202) and the pitch motor (203) are servo motors or stepper motors; The body of the yaw motor (202) is fixedly connected to the frame body (201), the output shaft of the yaw motor (202) is transmission-connected to the intermediate frame (204), the body of the pitch motor (203) is fixedly connected to the intermediate frame (204), and the output shaft of the pitch motor (203) is fixedly connected to the photosensitive component; the axis of the output shaft of the pitch motor (203) is perpendicular to the axis of the intermediate frame (204).

3. The bird repellent according to any one of claims 1-2, characterized in that: The reflective array comprises a pitch seat, and the pitch seat comprises a pitch body (301), an electric push rod (302) and a seat plate (303); The first end of the seat plate (303) is hinged to the first end of the pitch body (301), the second end of the seat plate (303) is hinged to the first end of the electric push rod (302), and the second end of the electric push rod (302) is hinged to the second end of the pitch body (301); The plurality of rotating mirrors (100) of the reflective array are fixedly arranged on the seat plate (303), and the rotating mirror (100) comprises: a mirror surface and a rotating motor, and the rotating motor drives the mirror surface to change the yaw angle of the mirror surface; The rotary motor and the electric push rod (302) are respectively electrically connected to the visual device.

4. A bird-repelling control method, characterized in that: Applied to the bird repellent device according to any one of claims 1 to 3, the bird repellent control method comprises: Obtain images of the protected area and the angle of sunlight; Identify the direction of the target to be driven away according to the protection area image; Controlling two rotating mirrors (100) in the reflective array to rotate according to the orientation of the driven-away target and the angle of sunlight exposure; After it is determined through the protection area image that the two rotating mirrors (100) in the reflective array illuminate the driven-away target, the position of the driven-away target is determined according to the directions of the two rotating mirrors (100) in the reflective array; According to the position of the driven-away target, the angle of each rotating mirror (100) in the reflective array is adjusted to illuminate the driven-away target.

5. The bird-repelling control method according to claim 4, characterized in that: The step of determining, through the protection zone image, that two rotating mirrors (100) in the reflective array illuminate the driven-away target comprises: Acquiring a first image and a second image, wherein the first image is an image before the two rotating mirrors (100) in the reflective array are rotated, and the second image is an image after the two rotating mirrors (100) in the reflective array are rotated; Extracting a first brightness according to the first image, wherein the first brightness is determined based on a first image block including the driven-away target, the first image block being an image block including the driven-away target that is determined by respectively identifying a plurality of image blocks segmented from the first image; A second brightness acquisition step: extracting a second brightness according to the second image, wherein the second brightness is determined based on a second image block including the driven-away target, and the second image block is an image block including the driven-away target that is determined by respectively identifying a plurality of image blocks divided from the second image; If the deviation between the second brightness and the first brightness is greater than a threshold, the rotation angles of the two rotating mirrors (100) in the reflective array are continuously adjusted, and an image is re-acquired as the second image to jump to the second brightness acquisition step.

6. A bird-repelling control device, characterized in that: Used to implement the bird-repelling control method according to any one of claims 4-5, the bird-repelling control device comprises: Image and illumination angle acquisition module, used to obtain the protection area image and the sunlight illumination angle; A module for determining the direction of a target to be driven away is used to identify the direction of a target to be driven away according to the protection area image; A rotating mirror (100) rotating module, used to control the two rotating mirrors (100) in the reflective array to rotate according to the orientation of the driven-away target and the angle of sunlight; a driven-away target positioning module, used for determining the position of the driven-away target according to the directions of the two rotating mirrors (100) in the reflective array after determining through the protection area image that the two rotating mirrors (100) in the reflective array illuminate the driven-away target; as well as, A driving-away irradiation module is used to adjust the angle of each rotating mirror (100) in the reflective array according to the position of the driving-away target to irradiate the driving-away target.

7. A terminal comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 4 to 5 are implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method as claimed in any one of claims 4 to 5 are implemented.

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