Intelligent killing device for Pomacea canaliculata egg masses and its operating system

Abstract

The present invention relates to an intelligent killer of Pomacea canaliculata egg masses and its operating system, which is designed to solve the technical problems of the existing similar products being inconvenient to use and operate, having a low degree of intelligence, and being difficult to automatically identify based on biometric identification technology. The main body of the intelligent killer is a buoyancy boat, with propellers symmetrically arranged at the rear of the hull, a water pump at the bottom of the hull, and a generator-water pump integrated machine, a microcomputer motherboard and an electrical box arranged inside the hull; the main points are that a main camera is arranged at the front side of the hull, a hinge seat and a solar panel are arranged at the top of the hull, one end of the mechanical arm is connected to the hinge seat, and the other end of the mechanical arm is provided with a secondary camera and a high-pressure water gun, and the mechanical arm is a three-axis mechanical arm; the biometric identification device of the operating system includes an intelligent identification database of hardware and software, and the intelligent identification database includes a biological color identification system, a biological morphology identification system, and a biological texture identification system, and uses a linear operation mode for identification.

Description

Technical Field

[0001] The invention relates to a device for removing Pomacea canaliculata eggs, in particular to an intelligent Pomacea canaliculata egg mass killer and an operating system thereof. Background Art

[0002] The golden apple snail is a mollusk of the family Physalis and the genus Physalis. Its shell looks similar to that of field snails and is an invasive alien species. The eggs of the golden apple snail are oval in shape and of varying sizes. The eggs are neatly arranged and the egg layer is not easy to fall off. They are bright red in color. Small eggs contain only dozens of eggs, while large eggs can contain more than a thousand eggs. They are laid on the surface of dry objects or plants above the water surface, such as stems, ditch walls, walls, ridges, weeds, etc. The first eggs laid by the golden apple snail are pink to bright red, with an inconspicuous layer of white powder on the surface, which makes them easy to identify. The newly hatched young snails fall into the water and swallow plankton, etc., making them inconvenient to remove. The eggs of the golden apple snail must absorb enough heat on the water surface to hatch successfully. If the temperature is not high enough when they fall into the water, they generally cannot hatch successfully. For example, the application publication number CN112205388A disclosed in the Chinese patent literature, the application publication date 2021.01.12, the invention name "A killing device for cleaning apple snail eggs and a method of use"; however, the above-mentioned product needs to be operated manually, which is inconvenient to use and has a low degree of intelligence, and it is difficult to automatically identify based on biometric recognition technology. Another example is the application publication number CN112841140A disclosed in the Chinese patent literature, the application publication date 2021.05.28, the invention name "An electric boat for removing apple snail eggs"; the above-mentioned product scrapes off the apple snail eggs attached to the river bank through the egg receiving mechanism and the crushing mechanism. The scraped apple snail eggs will be crushed, and the crushed apple snail eggs can be poured back into the water to become fish feed. Although the automated structural design is adopted, the degree of intelligence is low, especially the lack of automatic identification based on biometric recognition technology. Summary of the invention

[0003] In order to overcome the above shortcomings, the purpose of the present invention is to provide a smart killing device for Pomacea canaliculata egg masses based on biometric recognition technology and its operating system to the art, so as to solve the technical problems of the existing similar products being inconvenient to use and operate, having a low level of intelligence, and being difficult to automatically identify based on biometric recognition technology. The purpose is achieved through the following technical solution.

[0004] The invention discloses an intelligent killer of golden apple snail eggs. The main body of the intelligent killer is a buoyancy boat. The rear part of the hull of the intelligent killer is symmetrically provided with propellers, which are power devices. A water pump is provided at the bottom of the hull, and a filter is provided on the water pump. An all-in-one generator and water pump, a microcomputer mainboard and an electric box are provided in the hull. The microcomputer mainboard comprises a processor, a signal transceiver module and a GPS device. The all-in-one generator and water pump is connected with the propeller, the microcomputer mainboard and the electric box through lines. The all-in-one generator and water pump is connected with the water pump through a pipeline to form a water pumping device. The key points of its structural design are that the front side of the hull is provided with a main camera, the top of the hull is provided with an articulated seat and a solar panel, one end of the mechanical arm is connected to the articulated seat, the other end of the mechanical arm is provided with a secondary camera and a high-pressure water gun, the muzzle of the nozzle of the high-pressure water gun is provided with a switch solenoid valve, the high-pressure water gun is connected to the power generation water pump integrated machine in the hull through a high-pressure water pipe and an articulated seat, the mechanical arm is a three-axis mechanical arm, the three-axis articulation of the mechanical arm and the bottom of the articulated seat are respectively provided with joint motors, the solar panel, the switch solenoid valve, the joint motor, the main camera, and the secondary camera are connected to the microcomputer motherboard through a line. Thus, the hull of the intelligent killer travels along the route of the GPS device, identifies the egg mass of the golden apple snail through the main camera, operates the mechanical arm to approach the egg mass of the golden apple snail through the secondary camera, and operates the high-pressure water gun to remove and kill the egg mass of the golden apple snail, and the water supply of the high-pressure water gun is realized through a pumping device and a pumping pipe extending into the water at the bottom of the hull.

[0005] The buoyancy seat of the hull is symmetrically provided with buoyancy chambers on both sides. The buoyancy chambers are buoyancy plates or buoyancy air bags. The buoyancy is adjusted by the buoyancy chambers to ensure the stability of the hull when floating and traveling.

[0006] The bottom of the solar panel is symmetrically provided with support rods, and the support rods are respectively provided with a main hinge support rod and a secondary hinge support rod, so that the use angle of the solar panel can be adjusted through the main hinge support rod and the secondary hinge support rod of the support rod.

[0007] The main camera is provided with a distance sensor, and the distance sensor is connected to the microcomputer mainboard through a line. The distance sensor is one of an ultrasonic distance sensor, an optical distance sensor, and an infrared distance sensor.

[0008] According to the above structural characteristics, the operating system of the intelligent killer is specifically as follows: the intelligent killer includes a biometric identification device, a high-pressure water gun killing device, and a motion device. The high-pressure water gun killing device includes a mechanical arm, a water pump of a generator and water pump integrated machine, a filter, and a high-pressure water gun. The motion device includes a solar panel, an engine of the generator and water pump integrated machine, a propeller, and a GPS device.

[0009] The biometric identification device includes an intelligent identification database of hardware and software, which includes a biological color identification system, a biological morphology identification system, and a biological texture identification system, and uses a linear operation mode for identification. The above-mentioned biological color identification system mainly refers to the identification of the brightness of the egg mass, the biological morphology identification system mainly refers to the identification of the shape and size of the egg mass, and the biological texture identification system mainly refers to the identification of whether the egg mass is damaged or broken.

[0010] The main camera at the front end of the hull captures the image information, transfers it to the processor of the device and compares it with the biometric data of the golden apple snail egg mass in the database. The image data transmitted by the main camera will first be identified by the biological color recognition system in the intelligent recognition database, and the color features in the image will be compared. The image information filtered by the biological color recognition system will be transmitted to the biological morphology recognition system, and the image information filtered by the two systems will be transmitted to the biological texture recognition system; then, the main camera performs identification and positioning, and after the identification is completed, the route is changed and moved towards the egg mass. The auxiliary camera on the mechanical arm performs close-range identification and accurately locates the position of the golden apple snail egg mass, and starts the pump and high-pressure water gun of the high-pressure water gun killing device to accurately strike it; when the image data transmitted back by the main camera cannot detect the biometric signal of the golden apple snail egg mass, the high-pressure water gun will stop working, and the hull will return to the predetermined route to continue cruising; when the biometric signal of the golden apple snail egg mass is not detected, the high-pressure water gun killing device stops spraying, and the hull continues to cruise; the high-pressure water gun killing device and the biometric recognition device are controlled and coordinated by the processor.

[0011] The GPS device cruises in the guidance area according to the cruise route input in advance. The main camera at the front end of the hull is responsible for detecting the biological characteristic signal of the golden apple snail egg mass. When the biological characteristic signal of the golden apple snail egg cannot be detected, the hull will continue to cruise. Once the signal is detected, the hull will change the course and accelerate to the direction of the golden apple snail egg mass, and move to the vicinity of the golden apple snail egg mass.

[0012] When the main camera detects that the distance is appropriate, it will wake up the high-pressure water gun killing device, and the high-pressure water gun killing device in dormant state will be activated. The auxiliary camera of the robotic arm will accurately locate the position of the golden apple snail egg mass, and then the high-pressure water gun killing device will start working, crushing the golden apple snail egg mass and flushing the residue into the water; when the auxiliary camera of the robotic arm cannot detect the biological characteristic signal of the golden apple snail egg mass, the high-pressure water gun killing device will stop working and the hull will continue to cruise.

[0013] When the hull moves to the vicinity of the egg mass of the golden apple snail, the auxiliary camera of the mechanical arm accurately locates the position of the egg mass of the golden apple snail. At the same time, the mechanical arm moves to the top of the egg mass with the high-pressure water gun nozzle, and the high-pressure water gun is pressurized to spray a high-pressure water column to crush the egg mass of the golden apple snail, and flush the residue of the egg mass into the water. Therefore, this method is different from the above-mentioned method of directly crushing and flushing the egg mass. It first flushes from the top of the egg mass and then slowly moves to crush and flush the egg mass. Once the flushing from the top can flush the egg mass into the water, there is no need to aim and crush.

[0014] The invention has reasonable structural design, high feasibility of production and use, accurate cruising, long cruising time, accurate egg mass identification and positioning, and good cleaning and killing effect; the invention is suitable for use as an intelligent killer of golden apple snail egg masses, and is a structural improvement of similar products. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic cross-sectional view of the present invention, in which part A is framed.

[0016] Figure 2 yes Figure 1 Enlarged view of part A.

[0017] Figure 3 yes Figure 1 Schematic diagram of the three-dimensional structure.

[0018] Figure 4 yes Figure 3 Schematic diagram of the top view structure.

[0019] Figure 5 It is the operation logic block diagram of the present invention.

[0020] Serial numbers and names of the accompanying drawings: 1. Hull, 101. Buoyancy seat, 102. Buoyancy chamber, 2. Support rod, 3. Solar panel, 4. Articulated seat, 5. High-pressure water pipe, 6. Mechanical arm, 7. Auxiliary camera, 8. High-pressure water gun, 9. Main camera, 10. Suction pipe, 11. Propeller. DETAILED DESCRIPTION

[0021] Now, the structure and use of the present invention will be further described in conjunction with the accompanying drawings. Figure 1-Figure 5As shown, a propeller 11 is symmetrically arranged at the rear of the hull 1 of the intelligent killer, the propeller is a power device, a pumping pipe 10 is arranged at the bottom of the hull, the pumping pipe is provided with a filter, a generator and a water pump integrated machine, a microcomputer main board and an electric box are arranged in the hull, the microcomputer main board includes a processor, a signal transceiver module and a GPS device, the generator and the water pump integrated machine is connected to the propeller, the microcomputer main board and the electric box through lines, and the generator and the water pump integrated machine is connected to the pumping pipe through a pipeline to form a pumping device. The front side of the hull is provided with a main camera 9, which is provided with a distance sensor. The top of the hull is provided with an articulated seat 4 and a solar panel 3. One end of the mechanical arm 6 is connected to the articulated seat, and the other end of the mechanical arm is provided with a secondary camera 7 and a high-pressure water gun 8. The muzzle of the nozzle of the high-pressure water gun is provided with a switch solenoid valve. The high-pressure water gun is connected to the integrated power generation water pump in the hull through a high-pressure water pipe 5 and an articulated seat. The mechanical arm is a three-axis mechanical arm, and the three-axis articulation of the mechanical arm and the bottom of the articulated seat are respectively provided with joint motors. The solar panel, the switch solenoid valve, the joint motor, the main camera, the secondary camera, and the distance sensor are connected to the microcomputer motherboard through lines. The buoyancy seat 101 of the hull is symmetrically provided with buoyancy chambers 102 on both sides; the bottom of the solar panel is symmetrically provided with support rods 2, and the support rods are respectively provided with a main articulated support rod and a secondary articulated support rod.

[0022] The device is an intelligent killer of Pomacea canaliculata egg masses based on biometric identification technology. Its core research content is the accurate identification technology of Pomacea canaliculata egg masses and the high-pressure water gun killing device, as well as the motion module and morphology and size module that assist its operation. The device is an intelligent killer of Pomacea canaliculata egg masses based on biometric identification technology and is mainly composed of the following four modules:

[0023] 1) Biometric identification device

[0024] The biometric identification device consists of two parts: hardware and software intelligent identification database. In terms of hardware, a high-definition camera (main camera) is installed at the front end of the device to capture image information within a 50-meter radius of the device, and a small camera (secondary camera) is also installed at the front end of the robotic arm to accurately locate the egg mass of the golden apple snail at close range, which is convenient for high-pressure water gun operations. In terms of software, the intelligent identification database consists of three parts, namely the biological color recognition system, the biological morphology recognition system, and the biological texture recognition system, and uses a linear operation method for recognition; when the main camera at the front end of the device captures the image information, it will be transferred to the device's processor for comparison with the biometric data of the golden apple snail egg mass in the database.

[0025] The image data transmitted by the main camera will first be identified by the biological color recognition system in the intelligent recognition database to compare the color features in the image. Since the egg mass of the golden apple snail has a distinct color feature: the first eggs laid by the golden apple snail are pink to bright red, with an inconspicuous layer of white powder on the surface, which is easy to identify and is the most obvious biological feature of the golden apple snail egg mass, the recognition of color features first reduces the system burden and improves the system work efficiency.

[0026] The image information filtered by the biological color recognition system will be transmitted to the biological morphology recognition system. The egg mass produced by the female golden apple snail is composed of dozens or even thousands of neatly arranged eggs. The eggs are round and about 2 mm in diameter. Compared with the color characteristics, the morphological characteristics of the golden apple snail egg mass are not so obvious, but it is also an important feature for identifying the golden apple snail egg mass. The image information filtered by the two systems will be transmitted to the biological texture recognition system. Most organisms have certain texture characteristics such as the fur texture of cats and the feather color of birds. The golden apple snail egg mass has a distinct granular texture, so when the transmitted image information is recognized by the three major systems of the recognition database, it can be 99% certain that it is the golden apple snail egg mass.

[0027] By comparing the surrounding environment with the distinct color, shape and texture characteristics of the Pomacea apple snail eggs, the intelligent recognition equipment can easily identify and locate them. After the identification is completed, the Pomacea apple snail egg mass intelligent killer will change its route and move towards the egg mass. The secondary camera on the robotic arm will perform close-range identification and accurately locate the position of the Pomacea apple snail egg mass, and start the high-pressure water gun for precise attack. When the image data sent back by the camera cannot detect the biological characteristic signal of the Pomacea apple snail egg mass, the high-pressure water gun will stop working, and the Pomacea apple snail egg mass intelligent killer will return to the predetermined route and continue cruising.

[0028] 2) High-pressure water gun killing device

[0029] The high-pressure water gun killing device consists of a mechanical arm, a generator-water pump integrated machine (water pump), a filter, and a high-pressure water gun. When the biometric identification device locks the location of the golden apple snail egg mass, the water pump will directly extract water from the water area, and the filter will filter the large particles of impurities and fine sand in the extracted water to make the water quality meet the high-pressure water gun use standard. The nozzle of the high-pressure water gun is connected to the top of the mechanical arm. The mechanical arm has a left-right rotation and three up-and-down rotation joint motors; when the intelligent killer of the golden apple snail egg mass moves to the vicinity of the golden apple snail egg mass, the mechanical arm moves with the high-pressure water gun nozzle to the top of the egg mass, and the high-pressure water gun pressurizes and sprays a high-pressure water column to crush the golden apple snail egg mass and flush the egg mass residue into the water. Since the golden apple snail eggs cannot survive in the water for a long time, the golden apple snail eggs can only survive for 1-2 days without other interference. Generally, the golden apple snail eggs will be eaten by natural enemies such as fish, shrimps, and crabs when they fall into the water, so the golden apple snail eggs cannot survive in the water. The eggs of the golden apple snail need to absorb enough heat on the water surface to hatch successfully. If the temperature is not high enough, they cannot hatch successfully. Therefore, even if the eggs are not completely broken, they cannot hatch into young snails, thus achieving the purpose of killing them.

[0030] The high-pressure water gun killing device and the biometric identification device are controlled and coordinated by the processor. When the biometric signal of the apple snail egg mass is not detected, the spraying will stop and the apple snail egg mass intelligent killer will continue to cruise.

[0031] 3) Sports device

[0032] The motion device consists of solar panels, a generator and water pump (engine), a propeller, and a GPS device. The intelligent killer of apple snail eggs consumes less power during the endurance process. When the biological characteristic signal of the apple snail egg mass is identified, the intelligent killer of apple snail egg mass will change the course and accelerate towards the direction of the apple snail egg mass. At the same time, the high-pressure water gun killing device in a dormant state is activated, and the overall power consumption of the intelligent killer of apple snail egg mass increases sharply. The installation of solar panels enables the intelligent killer of apple snail egg mass to collect solar energy during operation to increase the endurance time. The engine and propeller provide the necessary power for the intelligent killer of apple snail egg mass to complete the cruise.

[0033] The GPS device combined with the biometric recognition device calculates the relative position of the intelligent apple snail egg mass killer and the apple snail egg mass by the relative changes in the "size" of the apple snail egg mass in the image information, thereby further realizing the precise positioning of the apple snail egg mass.

[0034] Since the intelligent killer for golden apple snail eggs has a high power consumption, the power supply is designed with a replaceable battery module that can be quickly replaced and have long-term endurance, allowing it to achieve long-term fully automatic cruising in designated waters.

[0035] 4) Shape and size module

[0036] The intelligent killer of golden apple snail eggs is a device for killing golden apple snail eggs in river and canal environments. Therefore, the overall shape is designed in the style of a small ship, with a width of about 600mm and a length of about 800mm.

[0037] A buoyancy device (buoyancy chamber) is added to each side of the intelligent killer of golden apple snail eggs. Since each module of the intelligent killer of golden apple snail eggs is relatively heavy and highly integrated, and the hull volume of the device is limited and cannot provide sufficient buoyancy. Therefore, the intelligent killer of golden apple snail eggs is equipped with a buoyancy module to enable it to operate normally. In the later research and development process, the buoyancy module and the hull will be integrated into a design to further improve the integrity of the intelligent killer of golden apple snail eggs.

[0038] According to the pre-entered cruise route, the intelligent killer of apple snail egg masses will cruise in the guidance area. The main camera at the front end of the intelligent killer of apple snail egg masses is responsible for detecting the biometric signal of the apple snail egg mass. When the biometric signal of the apple snail egg is not detected, it will continue to cruise. Once the signal is detected, the intelligent killer of apple snail egg masses will move to the vicinity of the apple snail egg mass; when the GPS device detects that the distance is appropriate, it will wake up the high-pressure water gun killing device, and the auxiliary camera of the mechanical arm will accurately locate the position of the apple snail egg mass. After that, the high-pressure water gun killing device will start working, crushing the apple snail egg mass and flushing the residue into the water; when the auxiliary camera of the mechanical arm cannot detect the biometric signal of the apple snail egg mass, the high-pressure water gun killing device will stop working, and the intelligent killer of apple snail egg mass will continue to cruise.

[0039] The above-mentioned microcomputer motherboard is the Raspberry Pi microcomputer motherboard, which is an ARM-based microcomputer motherboard with an SD / MicroSD card as a memory hard disk. There are USB interfaces and 10 / 100 Ethernet interfaces around the card motherboard, which can be connected to a keyboard, mouse and network cable. It also has a TV output interface for video analog signals and an HDMI high-definition video output interface. All of the above components are integrated on a motherboard that is only slightly larger than a credit card. It has all the basic functions of a PC and only needs to be connected to a TV and a keyboard to execute functions such as spreadsheets, word processing, playing games, and playing high-definition videos.

[0040] In summary, the problems that the device is intended to solve are as follows: 1. By establishing a biometric database of Pomacea canaliculata, a biometric identification device is used to identify the egg masses of Pomacea canaliculata. The use of machines for identification not only improves the efficiency of identification, but also liberates manpower. 2. In addition to the prevention and control method of manual picking, other traditional means of preventing and controlling Pomacea canaliculata have a certain degree of impact on the environment. Therefore, the device adopts a high-pressure water gun killing method, which uses a high-pressure water column to smash the egg masses and flush the residue into the water, which has little impact on the environment and will not pollute the environment like using chemical agents. 3. The traditional method of picking up Pomacea canaliculata egg masses is to pick them up continuously along the river, which consumes a lot of people; the device has a motion system equipped with a GPS device. As long as the cruise route is entered, it can automatically cruise and work 24 hours a day.

Claims

1. An intelligent killer of golden snail eggs, the main body of the intelligent killer is a buoyancy boat, the rear part of the hull of the intelligent killer is symmetrically provided with propellers, the propellers are power devices, the bottom of the hull is provided with a pumping pipe, the pumping pipe is provided with a filter, the hull is provided with a generator and a water pump integrated machine, a microcomputer mainboard and an electric box, the microcomputer mainboard includes a processor, a signal transceiver module and a GPS device, the generator and the water pump integrated machine is connected to the propeller, the microcomputer mainboard and the electric box through a line, and the generator and the water pump integrated machine is connected to the pumping pipe through a pipeline to form a pumping device; characterized in that The front side of the hull is provided with a main camera, the top of the hull is provided with an articulated seat and a solar panel, one end of the mechanical arm is connected to the articulated seat, the other end of the mechanical arm is provided with a secondary camera and a high-pressure water gun, the muzzle of the nozzle of the high-pressure water gun is provided with a switch solenoid valve, the high-pressure water gun is connected to the power generation water pump integrated machine in the hull through a high-pressure water pipe and an articulated seat, the mechanical arm is a three-axis mechanical arm, the three-axis articulation of the mechanical arm and the bottom of the articulated seat are respectively provided with joint motors, the solar panel, the switch solenoid valve, the joint motor, the main camera, and the secondary camera are connected to the microcomputer motherboard through lines; the hull Buoyancy chambers are symmetrically arranged on both sides of the buoyancy seat; support rods are symmetrically arranged at the bottom of the solar panel, and the support rods are respectively provided with a main hinged support rod and a secondary hinged support rod; the main camera is provided with a distance sensor, and the distance sensor is connected to the microcomputer motherboard through a line; the intelligent killer includes a biometric identification device, a high-pressure water gun killing device, and a motion device. The high-pressure water gun killing device includes a mechanical arm, a water pump of a generator and water pump integrated machine, a filter, and a high-pressure water gun. The motion device includes a solar panel, an engine of the generator and water pump integrated machine, a propeller, and a GPS device; The biometric identification device includes an intelligent identification database of hardware and software, and the intelligent identification database includes a biological color identification system, a biological morphology identification system, and a biological texture identification system, and adopts a linear operation mode for identification; the main camera at the front end of the hull captures the image information, uploads it to the processor of the device and compares it with the biometric data of the golden apple snail egg mass in the database, and the image data transmitted by the main camera will first be identified by the biological color identification system in the intelligent identification database, and the color features in the image will be compared. The image information filtered by the biological color identification system will be transmitted to the biological morphology identification system, and the image information filtered by the two systems will be transmitted to the The robot arm detects and locates the egg mass of the golden apple snails, and starts the pump and the high-pressure water gun of the high-pressure water gun killing device to strike them accurately. When the image data sent back by the main camera cannot detect the biological characteristic signal of the golden apple snail egg mass, the high-pressure water gun will stop working, and the hull will return to the predetermined route to continue cruising. When the biological characteristic signal of the golden apple snail egg mass is not detected, the high-pressure water gun killing device stops spraying, and the hull continues to cruise. The high-pressure water gun killing device and the biological characteristic recognition device are controlled and coordinated by the processor.

2. The intelligent killing device for Pomacea canaliculata eggs according to claim 1, characterized in that The GPS device cruises in the guidance area according to the cruise route input in advance. The main camera at the front end of the hull is responsible for detecting the biological characteristic signal of the golden apple snail egg mass. When the biological characteristic signal of the golden apple snail egg cannot be detected, the hull will continue to cruise. Once the signal is detected, the hull will change the course and accelerate to the direction of the golden apple snail egg mass, and move to the vicinity of the golden apple snail egg mass.

3. The intelligent killing device for Pomacea canaliculata eggs according to claim 2 is characterized in that When the main camera detects that the distance is appropriate, it will wake up the high-pressure water gun killing device, and the high-pressure water gun killing device in dormant state will be activated. The auxiliary camera of the robotic arm will accurately locate the position of the golden apple snail egg mass, and then the high-pressure water gun killing device will start working, crushing the golden apple snail egg mass and flushing the residue into the water; when the auxiliary camera of the robotic arm cannot detect the biological characteristic signal of the golden apple snail egg mass, the high-pressure water gun killing device will stop working and the hull will continue to cruise.

4. The intelligent killing device for Pomacea canaliculata eggs according to claim 3 is characterized in that When the hull moves to the vicinity of the egg mass of the golden apple snail, the auxiliary camera of the robotic arm accurately locates the position of the egg mass of the golden apple snail. At the same time, the robotic arm moves to the top of the egg mass with the nozzle of the high-pressure water gun. The high-pressure water gun pressurizes and sprays a high-pressure water column to break the egg mass of the golden apple snail and flush the residue of the egg mass into the water.

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