Bird repelling device, control method, terminal, and storage medium

Abstract

The present application relates to the technical field of animal repelling, and particularly relates to a bird repelling device, a control method, a terminal and a storage medium. The bird repelling device embodiment of the present application is provided with a focusing module, different sunlight irradiation angles are adjusted to be uniform exit angles, sunlight is collected, and a light beam is formed. Therefore, the obtained light intensity is high, the irradiation intensity can be significantly improved, and the irradiation spot is large, so that the locking of the repelling target is easily realized. The bird repelling control method disclosed in the present application embodiment is used for identifying and positioning the position in the image by dividing the image into image blocks through images with different visual angles, and positioning the position of the repelling target through the positions in multiple images. Therefore, the positioning precision is high, the sunlight irradiation when the attitude of the reflector is controlled is targeted, and the repelling effect is significant.

Description

Technical Field

[0001] This invention relates to the field of animal deterrence technology, and in particular to a bird deterrence device, control method, terminal and storage medium. Background Technology

[0002] Birds pose many hazards to power transmission lines. The twigs, wires, cotton threads, and other materials they use to build nests on transmission towers can fall and short-circuit the porcelain insulators, causing the line to trip. Bird droppings can also cause transmission line faults and tripping. In addition, bird droppings can contaminate porcelain insulators, reducing the external insulation strength of the insulator strings and thus causing transmission line faults.

[0003] To prevent bird damage, bird deterrent devices are now installed on power transmission line towers. Some of these devices are relatively passive, only deterring birds after they have already perched on the power lines. Other devices, such as those using lasers, are less effective in bright daylight due to significant light attenuation over long distances and small spot sizes. Active sound-based deterrents are less targeted, and after prolonged use, some intelligent birds can detect these weaknesses and choose suitable times and locations to perch, reducing the effectiveness of the bird deterrents.

[0004] Therefore, it is necessary to develop and design a bird deterrent device. Summary of the Invention

[0005] The present invention provides a bird deterrent device, a control method, a terminal, and a storage medium to solve the problem that resource waste is easily caused by the use of expiration rotation in the prior art.

[0006] In a first aspect, embodiments of the present invention provide a bird deterrent device, comprising: a visual recognition module, a focusing module, and a reflective module;

[0007] The reflective module is electrically connected to the visual recognition module;

[0008] The reflective module includes a first reflector and a first gimbal with two degrees of rotation freedom. The first reflector is fixedly mounted on the first gimbal, and the first gimbal drives the first reflector to achieve pitch rotation and / or yaw rotation.

[0009] The focusing module is used to concentrate sunlight into a beam and project it onto the first reflector;

[0010] The visual recognition module uses image recognition of the protected area to drive away the target, determines the location of the target, and outputs a signal instructing the reflective module to illuminate the target based on the location of the target.

[0011] In one possible implementation, the focusing module includes: a sunlight tracker, a second reflector, a Fresnel lens, a first convex lens, and a second gimbal with two degrees of rotational freedom;

[0012] The second gimbal is electrically connected to the sunlight tracker;

[0013] The second reflector is fixedly mounted on the second gimbal, and the second gimbal drives the second reflector to achieve pitch rotation and / or yaw rotation;

[0014] The Fresnel lens is fixedly mounted on one side of the reflective surface of the second mirror to receive sunlight reflected by the second mirror;

[0015] The first convex lens is fixedly disposed on the side of the Fresnel lens away from the focal point of the second mirror;

[0016] The reflective module is fixedly mounted on the side of the first convex lens away from the Fresnel lens;

[0017] The sunlight tracker is used to collect the angle of sunlight and output a signal indicating the attitude of the second gimbal based on the angle of sunlight so that the second reflector reflects sunlight onto the Fresnel lens. The angle of sunlight includes pitch angle and yaw angle, and the attitude of the second gimbal includes adjusting the pitch attitude and / or yaw attitude by driving the second reflector.

[0018] In one possible implementation, the focusing module includes: a sunlight tracker, a Fresnel lens, a first convex lens, an optical fiber, and a second gimbal with two rotational degrees of freedom;

[0019] The second gimbal is electrically connected to the sunlight tracker;

[0020] The Fresnel lens is fixedly mounted on the second gimbal, and the second gimbal drives the Fresnel lens to achieve pitch rotation and / or yaw rotation.

[0021] The first convex lens is fixedly disposed on the side of the Fresnel lens away from the sunlight incident surface and offset from the focal point of the Fresnel lens;

[0022] One end of the optical fiber is fixedly disposed on the side of the first convex lens away from the Fresnel lens, and the end face of the other end of the optical fiber faces the first reflector.

[0023] The sunlight tracker is used to collect the angle of sunlight and output a signal indicating the attitude of the second gimbal based on the angle of sunlight so that the Fresnel lens can receive sunlight. The angle of sunlight includes pitch angle and yaw angle. The attitude of the second gimbal includes driving the Fresnel lens to achieve pitch attitude adjustment and / or yaw attitude adjustment.

[0024] In one possible implementation, the sunlight tracker includes: a photosensitive component, a tracking control module, and a third gimbal with two degrees of rotational freedom;

[0025] The photosensitive component, the second gimbal, and the third gimbal are each electrically connected to the tracking control module;

[0026] The photosensitive component is fixedly mounted on the third gimbal.

[0027] The third gimbal is used to drive the photosensitive component to rotate in order to adjust the relative angle between the photosensitive component and sunlight;

[0028] The photosensitive component outputs a signal indicating the illumination offset, and the third gimbal outputs a signal indicating the attitude of the third gimbal based on the illumination offset signal.

[0029] When the signal of the illumination offset is less than the threshold, the tracking control module outputs the sunlight illumination angle according to the attitude of the third gimbal and outputs a signal indicating the attitude of the second gimbal according to the sunlight illumination angle.

[0030] In one possible implementation, the photosensitive component includes: a cylindrical body, a second convex lens, and a photosensitive plate;

[0031] The second convex lens is fixedly disposed at the front opening of the cylinder, and the photosensitive plate is fixedly disposed inside the cylinder at the focal position corresponding to the second convex lens; the cylinder is fixedly connected to the adjustment bracket;

[0032] The photosensitive plate includes three photoresistors that are not on a straight line;

[0033] The photoresistor of the photosensitive plate is electrically connected to the tracking control module, and the tracking control module determines the irradiation offset based on the resistance value of the photosensitive plate.

[0034] In one possible implementation, the first gimbal, the second gimbal, and the third gimbal each include: a gimbal frame, an L-shaped frame, a yaw motor, and a pitch motor.

[0035] The yaw motor body is fixedly connected to the gimbal body frame, the output shaft of the yaw motor is fixedly connected to the first part of the L-shaped frame, and the pitch motor body is fixedly connected to the second part of the L-shaped frame.

[0036] The first part of the L-shaped frame and the second part of the L-shaped frame together form an L-shape.

[0037] In a second aspect, embodiments of the present invention provide a bird-repelling control method, applied to a bird-repelling device as described in the first aspect or any possible implementation thereof, the bird-repelling control method comprising:

[0038] Multiple images of the protected area are acquired, wherein the multiple images of the protected area are acquired from at least two different perspectives;

[0039] Based on the multiple images of the protected area, the location of the target to be driven away in the protected area images is identified respectively;

[0040] The location of the target to be driven away within the protected area is determined based on the location of the target in the multiple images of the protected area;

[0041] Based on the location of the target to be driven away in the protected area, a signal indicating the pitch and / or yaw angle of the first reflector is output.

[0042] In one possible implementation, identifying the location of the deportation target in the protected area image includes:

[0043] The protected area image is preprocessed, including desaturation, brightness adjustment, and resolution adjustment.

[0044] The protected area image is divided into multiple image blocks according to a predetermined resolution;

[0045] The multiple image patches are fed into the recognition model to obtain multiple recognition results corresponding to the multiple image patches. The recognition model is constructed based on a CNN neural network model and is obtained after training by removing the target sample.

[0046] Based on the image blocks containing the target being driven away in the multiple recognition results, the position of the target being driven away in the protected area image is determined.

[0047] Thirdly, embodiments of the present invention provide a terminal, including a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor executes the computer program to implement the steps of the method as described in the second aspect above or any possible implementation of the second aspect.

[0048] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in the second aspect above or any possible implementation thereof.

[0049] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows:

[0050] In this embodiment of the bird-repelling device, a focusing module is included to adjust different sunlight angles to a uniform emission angle and to converge sunlight into a single beam. Therefore, the obtained light intensity is high, significantly improving the illumination intensity, and the large illumination spot facilitates locking onto the target. In another embodiment, a visual recognition module identifies the image of the protected area and locates the target. Based on the location information, a reflective module is instructed to reflect the target. Therefore, the device is highly targeted, has minimal impact on areas outside the protected area, and achieves good bird-repelling effect.

[0051] One embodiment of the focusing module of the present invention uses a gimbal and a sunlight tracker to drive a Fresnel lens to adjust its attitude in order to obtain the most sunlight. The light beam formed by the adjustment of the first convex lens is adjusted to the predetermined light emission angle through an optical fiber. Therefore, the sunlight acquisition rate is high and the irradiation intensity is large.

[0052] This invention discloses a bird-repelling control method. First, multiple images of a protected area are acquired, wherein the images are acquired from at least two different perspectives. Then, based on the multiple protected area images, the position of the target to be repelled within each image is identified. Next, based on the position of the target within the multiple protected area images, the position of the target within the protected area is determined. Finally, based on the position of the target within the protected area, a signal indicating the pitch and / or yaw angle of a first reflector is output. This method uses images from different perspectives, segments them into image blocks for identification and positioning, and then uses the positions from multiple images to locate the target. Therefore, the positioning accuracy is high, and when controlling the reflector's attitude to reflect sunlight, it is highly targeted and has a significant bird-repelling effect. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1This is a schematic diagram of the first focusing module provided in the embodiments of the present invention;

[0055] Figure 2 This is a schematic diagram of the second focusing module provided in the embodiments of the present invention;

[0056] Figure 3 This is a schematic diagram of the photosensitive component provided in an embodiment of the present invention;

[0057] Figure 4 This is a schematic diagram of the gimbal provided in an embodiment of the present invention;

[0058] Figure 5 This is a flowchart of the bird control method provided in the embodiments of the present invention;

[0059] Figure 6 This is a terminal function block diagram provided by an embodiment of the present invention.

[0060] In the picture:

[0061] 101 First Reflector;

[0062] 102 Second reflector;

[0063] 103 Fresnel lens;

[0064] 104 First convex lens;

[0065] 201 Fiber Optic;

[0066] 301 Cylinder;

[0067] 302 Second convex lens;

[0068] 303 photosensitive plate;

[0069] 3031 photoresistor;

[0070] 401 Gimbal frame;

[0071] 402 L-shaped frame;

[0072] 403 Yaw motor;

[0073] 404 Pitch motor. Detailed Implementation

[0074] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, so as to provide a thorough understanding of embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0075] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0076] The embodiments of the present invention will be described in detail below. This example is implemented based on the technical solution of the present invention, and provides detailed implementation methods and specific operation processes. However, the protection scope of the present invention is not limited to the following embodiments.

[0077] In a first aspect, embodiments of the present invention provide a bird deterrent device, comprising: a visual recognition module, a focusing module, and a reflective module;

[0078] The reflective module is electrically connected to the visual recognition module;

[0079] The reflective module includes a first reflector 101 and a first gimbal with two degrees of rotation freedom. The first reflector 101 is fixedly mounted on the first gimbal, and the first gimbal drives the first reflector 101 to achieve pitch rotation and / or yaw rotation.

[0080] The focusing module is used to concentrate sunlight into a beam and project it onto the first reflector 101;

[0081] The visual recognition module uses image recognition of the protected area to drive away the target, determines the location of the target, and outputs a signal instructing the reflective module to illuminate the target based on the location of the target.

[0082] For example, the function of the focusing module is to adjust its posture according to different angles of sunlight so that the angle of sunlight is transformed into a predetermined angle of illumination, and at the same time, to concentrate the sunlight to form a beam of light.

[0083] The reflector module's function is to reflect the beam of light emitted from the focusing module and direct it onto the target, such as a sparrow or swallow, based on the target's location within the protected area. The reflector module includes a first gimbal and a first reflector 101. The first gimbal is a rotary table with two degrees of rotational freedom, and the first reflector 101 is fixedly mounted thereto. The first gimbal drives the first reflector 101, adjusting its pitch and yaw attitude.

[0084] The reflector module receives output instructions from the visual recognition module and adjusts the pitch and / or yaw attitude of the reflector mirror.

[0085] The vision module is a device for acquiring images of the protected area and locating the target to be driven away. Specifically, the vision module is equipped with an image acquisition device and an analysis device. The analysis device analyzes the images acquired by the image acquisition device to determine the position of the target to be driven away, and then outputs a signal indicating the attitude of the first reflector 101 based on the position of the target to be driven away.

[0086] In this embodiment of the invention, a focusing module is provided to adjust different sunlight illumination angles to a unified emission angle and to converge sunlight into a single beam. Therefore, the obtained light intensity is high, significantly improving the illumination intensity, and the large illumination spot facilitates target locking. In another embodiment of the invention, a visual recognition module identifies the image of the protected area and locates the target. Based on the location information, a reflective module is instructed to reflect the target. Therefore, the method is highly targeted, has minimal impact on areas outside the protected area, and achieves good repelling effect.

[0087] like Figure 1 In some embodiments, the focusing module includes: a sunlight tracker (not shown), a second reflector 102, a Fresnel lens 103, a first convex lens 104, and a second gimbal (not shown) with two degrees of rotational freedom.

[0088] The second gimbal is electrically connected to the sunlight tracker;

[0089] The second reflector 102 is fixedly mounted on the second gimbal, and the second gimbal drives the second reflector 102 to achieve pitch rotation and / or yaw rotation;

[0090] The Fresnel lens 103 is fixedly disposed on one side of the reflective surface of the second reflector 102 to receive sunlight reflected by the second reflector;

[0091] The first convex lens 104 is fixedly disposed on the side of the Fresnel lens 103 away from the focal point of the second mirror;

[0092] The reflective module is fixedly mounted on the side of the first convex lens 104 away from the Fresnel lens;

[0093] The sunlight tracker is used to collect the angle of sunlight and output a signal indicating the attitude of the second gimbal based on the angle of sunlight so that the second reflector 102 reflects sunlight onto the Fresnel lens. The angle of sunlight includes pitch angle and yaw angle. The attitude of the second gimbal includes driving the second reflector 102 to achieve pitch attitude adjustment and / or yaw attitude adjustment.

[0094] For example, as described above, the focusing module is used to adjust the direction of light to a predetermined direction and to converge sunlight into a beam. Figure 1 As shown, in this embodiment of the invention, a second reflector 102 is provided. This reflector is mounted on the gimbal and adjusts its yaw angle and / or pitch angle according to the angle of sunlight so that the reflected light can enter the Fresnel lens 103 located on its reflecting surface.

[0095] The Fresnel lens 103 collects and focuses the emitted sunlight. A first convex lens 104 is provided in front of or behind the focal point of the Fresnel lens. By adjusting the position of the first convex lens 104 relative to the focal point of the Fresnel lens, the size of the beam cross section can be adjusted. In some applications, the focal length of the first convex lens 104 is the same as that of the Fresnel lens 103.

[0096] Since the first convex lens 104 is positioned in the direction of the light rays emitted from the Fresnel lens, the sunlight passing through the Fresnel lens 103 can be focused into a parallel beam of light. When this beam of light shines on the first reflector 101, it is reflected by the first reflector 101.

[0097] It is worth noting that the second reflector 102 adjusts its orientation under the instruction of the sunlight tracker so that the sunlight reflected by the first reflector 101 can enter the Fresnel lens at a predetermined angle. This effect is achieved because the sunlight tracker can obtain the angle of sunlight in real time. Then, based on the angle of sunlight and the angle of sunlight entering the Fresnel lens, it finds the bisector of the angle between the two sunlight beams. This bisector is the normal of the second reflector 102, and the orientation of the second reflector 102 is adjusted by this normal.

[0098] like Figure 2 As shown, in some embodiments, the focusing module includes: a sunlight tracker (not shown), a Fresnel lens 103, a first convex lens 104, an optical fiber 201, and a second gimbal (not shown) with two degrees of rotational freedom.

[0099] The second gimbal is electrically connected to the sunlight tracker;

[0100] The Fresnel lens is fixedly mounted on the second gimbal, and the second gimbal drives the Fresnel lens to achieve pitch rotation and / or yaw rotation.

[0101] The first convex lens 104 is fixedly disposed on the side of the Fresnel lens 103 away from the sunlight incident surface and off the focal point of the Fresnel lens 103;

[0102] One end of the optical fiber 201 is fixedly disposed on the side of the first convex lens 104 away from the Fresnel lens, and the end face of the other end of the optical fiber 201 faces the first reflector 101.

[0103] The sunlight tracker is used to collect the angle of sunlight and output a signal indicating the attitude of the second gimbal based on the angle of sunlight so that the Fresnel lens can receive sunlight. The angle of sunlight includes pitch angle and yaw angle. The attitude of the second gimbal includes driving the Fresnel lens to achieve pitch attitude adjustment and / or yaw attitude adjustment.

[0104] For example, in another focusing module structure, the Fresnel lens is fixedly mounted on the second gimbal, which drives it to adjust its posture to receive sunlight. Similarly, in the direction of sunlight emission from the Fresnel lens, a first convex lens 104 is provided. The first convex lens 104 is positioned off-center from the focal point of the Fresnel lens. In some applications, the focal length of the Fresnel lens 103 is the same as that of the first convex lens 104. The first convex lens 104 adjusts the sunlight emitted from the Fresnel lens 103 into a beam. This beam emitted from the first convex lens 104 only needs to be transmitted through an optical fiber 201 composed of multiple optical fiber filaments, and the beam is adjusted to a preset illumination angle to illuminate the first reflector 101.

[0105] In this embodiment of the invention, the second gimbal is used in conjunction with a sunlight tracker. The sunlight tracker captures the angle of sunlight and outputs a signal indicating the attitude of the Fresnel lens 103, so that the Fresnel lens can always face the sunlight and acquire sunlight.

[0106] In this embodiment of the invention, a gimbal and a sunlight tracker are used to drive the Fresnel lens to adjust its attitude in order to obtain the most abundant sunlight. The light beam formed by the adjustment of the first convex lens 104 is adjusted to the predetermined light emission angle through the optical fiber 201. Therefore, the sunlight acquisition rate is high and the irradiation intensity is large.

[0107] In some embodiments, the sunlight tracker includes: a photosensor, a tracking control module, and a third gimbal with two degrees of rotational freedom;

[0108] The photosensitive component, the second gimbal, and the third gimbal are each electrically connected to the tracking control module;

[0109] The photosensitive component is fixedly mounted on the third gimbal.

[0110] The third gimbal is used to drive the photosensitive component to rotate in order to adjust the relative angle between the photosensitive component and sunlight;

[0111] The photosensitive component outputs a signal indicating the illumination offset, and the third gimbal outputs a signal indicating the attitude of the third gimbal based on the illumination offset signal.

[0112] When the signal of the illumination offset is less than the threshold, the tracking control module outputs the sunlight illumination angle according to the attitude of the third gimbal and outputs a signal indicating the attitude of the second gimbal according to the sunlight illumination angle.

[0113] like Figure 3 As shown, in some embodiments, the photosensitive component includes: a cylindrical body 301, a second convex lens 302, and a photosensitive plate 303;

[0114] The second convex lens 302 is fixedly disposed at the front opening of the cylindrical body 301, and the photosensitive plate 303 is fixedly disposed inside the cylindrical body 301 at the focal position corresponding to the second convex lens 302; the cylindrical body 301 is fixedly connected to the adjustment bracket;

[0115] The photosensitive plate 303 includes three photoresistors 3031 that are not on a straight line;

[0116] The photoresistor 3031 of the photosensitive plate 303 is electrically connected to the tracking control module, and the tracking control module determines the irradiation offset based on the resistance value of the photosensitive plate 303.

[0117] For example, the photosensitive component is a second convex lens 302 and a photosensitive plate 303 installed inside an opaque cylinder 301 to provide feedback on the angle between the axis of the cylinder 301 and the angle of sunlight. When there is a deviation between the axis of the cylinder 301 and the angle of sunlight, when sunlight shines on one of the multiple photoresistors 3031 through the lens, the photoresistor 3031 will produce a change in resistance. Based on the resistance value, the direction of deflection can be determined, and the axis of the cylinder 301 can be adjusted to be parallel to the angle of sunlight by means of gimbal retraction.

[0118] Since the cylinder 301 is fixedly connected to the movable end of the gimbal, the angle of sunlight can be determined by reading the attitude angles of the movable end of the gimbal: yaw angle and pitch angle.

[0119] like Figure 4 As shown, in some embodiments, the first gimbal, the second gimbal, and the third gimbal each include: a gimbal body frame 401, an L-shaped frame 402, a yaw motor 403, and a pitch motor 404.

[0120] The yaw motor 403 is fixedly connected to the gimbal frame 401, the output shaft of the yaw motor 403 is fixedly connected to the first part of the L-shaped frame, and the pitch motor 404 is fixedly connected to the second part of the L-shaped frame.

[0121] The first part of the L-shaped frame and the second part of the L-shaped frame together form an L-shape.

[0122] Figure 5 A flowchart of a bird control method provided for an embodiment of the present invention.

[0123] like Figure 5 As shown, a flowchart illustrating the implementation of the bird control method provided by an embodiment of the present invention is presented, and is described in detail below:

[0124] In step 501, multiple images of the protected area are acquired, wherein the multiple images of the protected area are acquired based on at least two different perspectives;

[0125] In step 502, the location of the target to be driven away in the protection zone image is identified based on the multiple protection zone images;

[0126] In step 503, the location of the target to be driven away in the protected area is determined based on the location of the target in the multiple images of the protected area;

[0127] In step 504, a signal indicating the pitch and / or yaw angle of the first reflector 101 is output according to the position of the target to be driven away in the protected area.

[0128] In some implementations, identifying the location of the target to be driven away in the protected area image includes:

[0129] The protected area image is preprocessed, including desaturation, brightness adjustment, and resolution adjustment.

[0130] The protected area image is divided into multiple image blocks according to a predetermined resolution;

[0131] The multiple image patches are fed into the recognition model to obtain multiple recognition results corresponding to the multiple image patches. The recognition model is constructed based on a CNN neural network model and is obtained after training by removing the target sample.

[0132] Based on the image blocks containing the target being driven away in the multiple recognition results, the position of the target being driven away in the protected area image is determined.

[0133] For example, as mentioned earlier, the removal of the target is achieved through identification and positioning using a visual recognition device. In some application scenarios, the visual recognition device includes multiple cameras, such as two cameras. These two cameras simultaneously capture images of the protected area from different perspectives. After formatting adjustments such as desaturation, brightness adjustment, and resolution adjustment, these images are segmented. The purpose of segmentation is to divide the image into small blocks. When one of these blocks contains the target, the approximate location of the target can be determined based on the block's position in the image. When two images are acquired from two different perspectives, the location of the target can be determined by the intersection of the two azimuth angles.

[0134] In one application scenario, a recognition model based on a CNN neural network was used for the recognition of the aforementioned image patches. The model was then trained with a large number of deportation target samples, at which point it was able to identify the deportation target.

[0135] The bird-repelling control method of the present invention first acquires multiple images of a protected area, wherein the multiple images of the protected area are acquired from at least two different perspectives; then, based on the multiple images of the protected area, the position of the target to be repelled in the protected area images is identified; next, based on the position of the target to be repelled in the multiple images of the protected area, the position of the target to be repelled in the protected area is determined; finally, based on the position of the target to be repelled in the protected area, a signal indicating the pitch and / or yaw angle of the first reflector 101 is output. The method of the present invention identifies and locates the target in the images by segmenting them into image blocks from different perspectives, and then locates the position of the target to be repelled by using the positions in multiple images. Therefore, the positioning accuracy is high, and when controlling the attitude of the reflector to reflect sunlight, it is highly targeted and has a significant bird-repelling effect.

[0136] It should be understood that the sequence number of each step in the above embodiments does not imply 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 embodiments of the present invention.

[0137] Figure 6 This is a functional block diagram of the terminal provided in an embodiment of the present invention. For example... Figure 6 As shown, the terminal 6 in this embodiment includes a processor 600 and a memory 601, wherein the memory 601 stores a computer program 602 that can run on the processor 600. When the processor 600 executes the computer program 602, it implements the steps of the various bird-repelling control methods and embodiments described above, for example... Figure 5 Steps 501 to 504 are shown.

[0138] For example, the computer program 602 may be divided into one or more modules / units, which are stored in the memory 601 and executed by the processor 600 to complete the present invention.

[0139] The terminal 6 can be a computing device such as a desktop computer, laptop, handheld computer, or 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 understand that... Figure 6 This is merely an example of terminal 6 and does not constitute a limitation on terminal 6. It may include more or fewer components than shown, or combine certain components, or different components. For example, terminal 6 may also include input / output devices, network access devices, buses, etc.

[0140] The processor 600 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), 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.

[0141] The memory 601 can be an internal storage unit of the terminal 6, such as a hard disk or memory of the terminal 6. The memory 601 can also be an external storage device of the terminal 6, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the terminal 6. Furthermore, the memory 601 can include both internal storage units and external storage devices of the terminal 6. The memory 601 is used to store the computer program 602 and other programs and data required by the terminal 6. The memory 601 can also be used to temporarily store data that has been output or will be output.

[0142] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to 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 embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the aforementioned method embodiments, and will not be repeated here.

[0143] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0144] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0145] In the embodiments provided by this 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 merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0146] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0147] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0148] If the integrated module / unit is implemented as 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, all or part of the processes in the above-described embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various methods and apparatus embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0149] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A bird-repelling device, characterized in that, include: Visual recognition module, focusing module, and reflective module; The reflective module is electrically connected to the visual recognition module; The reflective module includes a first reflector (101) and a first gimbal with two degrees of rotation. The first reflector (101) is fixedly mounted on the first gimbal, and the first gimbal drives the first reflector (101) to achieve pitch rotation and / or yaw rotation. The focusing module is used to focus sunlight into a beam and project it onto the first reflector (101). The visual recognition module uses image recognition of the protected area to drive away the target, determines the location of the target, and outputs a signal instructing the reflective module to illuminate the target based on the location of the target. The focusing module includes: a sunlight tracker, a second reflector (102), a Fresnel lens (103), a first convex lens (104), and a second gimbal with two degrees of rotational freedom; the second gimbal is electrically connected to the sunlight tracker; the second reflector (102) is fixedly mounted on the second gimbal, and the second gimbal drives the second reflector (102) to achieve pitch rotation and / or yaw rotation; the Fresnel lens (103) is fixedly mounted on one side of the reflective surface of the second reflector (102) to receive sunlight reflected by the second reflector (102); the first convex lens (104) is fixedly mounted on the Fresnel lens. (103) The side away from the focal point of the Fresnel lens (103) away from the second reflector (102); the reflector module is fixedly disposed on the side away from the Fresnel lens (103) of the first convex lens (104); the sunlight tracker is used to collect the sunlight illumination angle and output a signal indicating the attitude of the second gimbal according to the sunlight illumination angle so that the second reflector (102) reflects sunlight to the Fresnel lens (103), wherein the sunlight illumination angle includes: pitch angle and yaw angle, and the attitude of the second gimbal includes driving the second reflector (102) to realize pitch attitude adjustment and / or yaw attitude adjustment; The focusing module can adjust different sunlight angles to a uniform emission angle and concentrate sunlight to form a beam. Therefore, the obtained light intensity is high, which can significantly improve the intensity of the illumination and the illumination spot is large.

2. A bird-repelling device, characterized in that, include: Visual recognition module, focusing module, and reflective module; The reflective module is electrically connected to the visual recognition module; The reflective module includes a first reflector (101) and a first gimbal with two degrees of rotation. The first reflector (101) is fixedly mounted on the first gimbal, and the first gimbal drives the first reflector (101) to achieve pitch rotation and / or yaw rotation. The focusing module is used to focus sunlight into a beam and project it onto the first reflector (101). The visual recognition module uses image recognition of the protected area to drive away the target, determines the location of the target, and outputs a signal instructing the reflective module to illuminate the target based on the location of the target. The focusing module includes: a sunlight tracker, a Fresnel lens (103), a first convex lens (104), an optical fiber (201), and a second gimbal with two degrees of rotational freedom; the second gimbal is electrically connected to the sunlight tracker; the Fresnel lens (103) is fixedly mounted on the second gimbal, and the second gimbal drives the Fresnel lens (103) to achieve pitch rotation and / or yaw rotation; the first convex lens (104) is fixedly mounted on the side of the Fresnel lens (103) away from the sunlight incident surface and away from the focal point of the Fresnel lens (103); the optical fiber (201) 01) One end of the optical fiber (201) is fixedly disposed on the side of the first convex lens (104) away from the Fresnel lens (103), and the end face of the other end of the optical fiber (201) faces the first reflector (101); the sunlight tracker is used to collect the sunlight illumination angle and output a signal indicating the attitude of the second gimbal according to the sunlight illumination angle so that the Fresnel lens (103) can receive sunlight illumination, wherein the sunlight illumination angle includes: pitch angle and yaw angle, and the attitude of the second gimbal includes driving the Fresnel lens (103) to realize pitch attitude adjustment and / or yaw attitude adjustment; The focusing module can adjust different sunlight angles to a uniform emission angle and concentrate sunlight to form a beam. Therefore, the obtained light intensity is high, which can significantly improve the intensity of the illumination and the illumination spot is large.

3. The bird-repelling device according to claim 1 or 2, characterized in that, The sunlight tracker includes: a photosensitive component, a tracking control module, and a third gimbal with two degrees of rotational freedom; The photosensitive component, the second gimbal, and the third gimbal are each electrically connected to the tracking control module; The photosensitive component is fixedly mounted on the third gimbal. The third gimbal is used to drive the photosensitive component to rotate in order to adjust the relative angle between the photosensitive component and sunlight; The photosensitive component outputs a signal indicating the illumination offset, and the third gimbal outputs a signal indicating the attitude of the third gimbal based on the illumination offset signal. When the signal of the illumination offset is less than the threshold, the tracking control module outputs the sunlight illumination angle according to the attitude of the third gimbal and outputs a signal indicating the attitude of the second gimbal according to the sunlight illumination angle.

4. The bird-repelling device according to claim 3, characterized in that, The photosensitive component includes: a cylindrical body (301), a second convex lens (302), and a photosensitive plate (303); The second convex lens (302) is fixedly disposed at the front opening of the cylindrical body (301), and the photosensitive plate (303) is fixedly disposed inside the cylindrical body (301) at the focal position corresponding to the second convex lens (302); the cylindrical body (301) is fixedly connected to the adjustment bracket; The photosensitive plate (303) includes three photoresistors (3031) that are not on a straight line. The photoresistor (3031) of the photosensitive plate (303) is electrically connected to the tracking control module, and the tracking control module determines the irradiation offset based on the resistance value of the photosensitive plate (303).

5. The bird-repelling device according to claim 3, characterized in that, The first gimbal, the second gimbal, and the third gimbal each include: a gimbal body frame (401), an L-shaped frame (402), a yaw motor (403), and a pitch motor (404). The yaw motor (403) is fixedly connected to the gimbal frame (401), the output shaft of the yaw motor (403) is fixedly connected to the first part of the L-shaped frame, and the pitch motor (404) is fixedly connected to the second part of the L-shaped frame. The first part of the L-shaped frame and the second part of the L-shaped frame together form an L-shape.

6. A bird control method, characterized in that, Applied in the bird-repelling device as described in any one of claims 1-5, the bird-repelling control method includes: Multiple images of the protected area are acquired, wherein the multiple images of the protected area are acquired from at least two different perspectives; Based on the multiple images of the protected area, the location of the target to be driven away in the protected area images is identified respectively; The location of the target to be driven away within the protected area is determined based on the location of the target in the multiple images of the protected area; Based on the location of the target to be driven away in the protected area, a signal is output indicating the pitch and / or yaw angle of the first reflector (101).

7. The bird control method according to claim 6, characterized in that, The process of identifying the location of the target to be driven away in the protected area image includes: The protected area image is preprocessed, including desaturation, brightness adjustment, and resolution adjustment. The protected area image is divided into multiple image blocks according to a predetermined resolution; The multiple image patches are fed into the recognition model to obtain multiple recognition results corresponding to the multiple image patches. The recognition model is constructed based on a CNN neural network model and is obtained after training by removing the target sample. Based on the image blocks containing the target being driven away in the multiple recognition results, the position of the target being driven away in the protected area image is determined.

8. A terminal comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 6 to 7 above.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 6 to 7 above.

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