A control method and system for drone picking honeycombs

Abstract

The present invention discloses a control method and system for drone beehive picking, which mainly includes bagging, spraying, cutting, self-tightening and separation. The drone identifies the specific location of the hornet's nest and the specific environment around it through a monitoring system. After identifying the location of the hornet's nest, the drone flies to the hornet's nest, keeps a distance, turns on the spray device and extends a long rod to cover the hornet's nest from bottom to top with a bag, turns on the power, and cuts the hornet's nest by heating and tightening the resistance wire. After the cutting is completed, the bag mouth is sealed by shrinking and sticking tightly, the hornet's nest falls, the drone breaks the rod, the hornet's nest falls to the ground, the drone flies back, and the removal of the hornet's nest is completed. The present invention uses the drone to intelligently identify the location, size and shape of the hornet's nest, and takes corresponding removal measures in combination with the environment, thereby efficiently completing the removal work, being more environmentally friendly, and having a lower possibility of residual harm.

Description

Technical Field

[0001] The invention relates to a control method and system for unmanned aerial vehicle (UAV) honeycomb picking, and belongs to the technical field of UAV intelligent equipment. Background Art

[0002] Wasps, also known as hornets, are bee insects that pose a great threat to humans, but they are quite different from ordinary bees. Wasps have a strong sense of attack, and once disturbed or angered, they will attack outsiders in groups. Once stung by a wasp, it can cause redness, swelling and pain at the mildest, or allergies, shock or even death at the worst.

[0003] In summer and autumn, wasps always build their nests on trees, eaves, electric poles, air conditioner outdoor units, and even on clothes hanging indoors. Wasps have a strong sense of territory. Once someone approaches their nest, the worker bees in the hive will attack and defend the hive at the risk of their lives.

[0004] The main food of wasps is not pollen but various insects. The large amount of domestic garbage and the increasing green area in the city provide suitable growth conditions for these insects. It also provides a sufficient food source for wasps, so the number of wasps and wasp nests in cities is increasing.

[0005] The traditional bagging method can only remove hornets' nests on balconies or indoors. For hornets' nests on roofs and trees, fire attack is used, but it is easy to cause fires, and hornets may escape and cause harm to residents. Summary of the invention

[0006] In view of the problems existing in the above-mentioned prior art, the present invention provides a control method and system for drone honeycomb picking, thereby solving the above-mentioned technical problems.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a control method and system for unmanned aerial vehicle picking honeycombs, the system includes a monitoring module; the monitoring module is used to detect abnormal survey information, the existence of a hornet's nest, and determine the location information and morphological information of the hornet's nest, and includes an image recognition module, an infrared sensing component and a positioning component; the image recognition module is used to obtain image information of the hornet's nest; the positioning component is used to obtain the location information of the hornet's nest; the positioning component is located inside the unmanned aerial vehicle; the infrared sensing component is connected to the gimbal for communication, and is used to collect image information of the area where the hornet's nest is located;

[0008] A gimbal is connected to the drone and is in communication with the server, and is used to send the image information and the hornet's nest morphology information to the server via a wireless network; and a server is in communication with the gimbal and is used to receive the image information obtained by the drone;

[0009] The drone device comprises a drone body; a hovering bracket is arranged at the bottom of the drone body, a breaking rod assembly is connected to one side of the bottom of the drone body; a picking assembly is connected to one side of the breaking rod assembly; a battery assembly is arranged inside the drone body, which is located inside the drone and is used to provide power for the entire device; a quad-rotor is arranged on the drone body, which is used to provide stable power; the picking assembly comprises a ring-shaped resistance wire fuse device, a self-tightening device and a spray device;

[0010] The annular resistance wire fuse device is connected to the drone and is used to cut a hornet's nest;

[0011] The spraying device is connected to the drone and is used to spray pesticides to prevent wasps from escaping;

[0012] The self-tightening device is connected to the drone and is used to wrap the hornet's nest to prevent the hornets from escaping and to prevent the fragments of the hornet's nest from falling to the ground and breaking into pieces.

[0013] The rod-breaking assembly is used to separate the device from the drone body in a timely manner after cutting and bagging are completed to prevent the weight of the hornet's nest from affecting the balance of the drone.

[0014] Furthermore, the annular resistance wire fusing device includes a resistance wire, a resistance wire track for placing the resistance wire, and a heating motor; the heating motor is fixedly connected to the end rod of the breaking rod assembly through a fixing member.

[0015] Furthermore, the breaking rod assembly includes a primary connecting rod, a secondary connecting rod and a tertiary connecting rod; the primary connecting rod is fixedly connected to one side of the drone body; a fixing buckle 1 is provided between the secondary connecting rod and the primary connecting rod; a fixing buckle 2 is provided between the secondary connecting rod and the tertiary connecting rod; one end of the tertiary connecting rod is connected to the picking assembly.

[0016] Furthermore, the spraying device includes a nozzle, which is located on the annular fixing frame at the front section of the broken rod assembly, and is used to spray pesticides around the hornet's nest and into the bag; a hose, which is located on the broken rod assembly and connected to the nozzle, and is used to provide transportation of pesticides; an pesticide storage tank, which is located at the bottom of the drone and is connected to the nozzle through a water pipe and is used to store pesticides.

[0017] Furthermore, a sensor component is provided on one side of the annular resistance wire fuse device, which is used to transmit the fusing condition to the control unit in the drone.

[0018] Furthermore, the automatic tightening device includes a bag and an elastic rope located at the bag opening; the bag opening is set on an annular fixing frame through the elastic rope, and the annular fixing frame is connected to the breaking rod assembly; a sensor assembly is also provided on one side of the automatic tightening device, which is used to receive fuse information and determine whether tightening is required; a connecting rope connected to a hook on the annular fixing frame is provided on one side of the elastic rope.

[0019] Further, the method comprises the following steps:

[0020] Step S1: A hornet's nest is found or its approximate range is known, and the drone is released to the designated flight area to search for the hornet's nest; based on the corresponding area, the drone is controlled to search, and the hornet's nest removal situation is obtained based on the drone's monitoring system and uploaded to the server in real time through the cloud;

[0021] Step S2: Identify and classify the wasp nest according to its size and shape, and in response to the wasp nest information, send the wasp nest related information and the location information of the wasp nest area to relevant personnel through the cloud; and control the drone to move to a position obliquely below the wasp nest, control the nozzle to be placed below the wasp nest, start the spraying device, and spray the insecticide to carry out the first pest control;

[0022] Step S3: After the first pest control is completed, the location of the hornet's nest is identified, the drone posture is adjusted to select a suitable bagging angle, and the bagging is performed from bottom to top until the bagging completely covers the hornet's nest and prevents scattered hornets from circling around the hornet's nest;

[0023] Step S4: spraying insecticide a second time through the nozzle arranged on the inner side to disinfect the wasps on the edge of the wasp nest and prevent the wasps from flying around;

[0024] Step S5: The resistance wire at the top of the bag starts to fuse the wasp nest, and at the same time, the motor drives the resistance wire to tighten the bag opening; in response to the completion of the cutting, the bag starts to tighten itself and the rod separates itself, so that the bag containing the wasp nest falls freely to the ground. While the bag opening is being tightened, if the wasp nest falls into the bag, the bag is pulled by gravity to automatically disconnect the buckle at the rod, and the bag, the rod-breaking device and the front end of the rod fall to the ground;

[0025] Step S6: After separation is completed, the drone sends the image and location information of the hornet's nest on the ground to relevant personnel through the cloud, and the drone returns to the release area;

[0026] Step S7: If the cutting is unsuccessful, the drone is controlled to automatically disconnect the rod-breaking device to separate from the drone, thereby avoiding damage to the drone equipment.

[0027] Furthermore, the location of the hornet's nest includes but is not limited to a suspended type and a wall-mounted type; if it is a suspended type, the drone is controlled to approach from below and directly put all of them into the bag; if it is a wall-mounted type, the drone is controlled to approach from the side of the wall and cut after the bag opening fits the wall.

[0028] Furthermore, in the step S1: based on the sensing component and the image recognition component in the monitoring system, determine whether there is a hornet's nest in the area and confirm the relevant information of the hornet's nest; if a hornet's nest appears, control the drone to reach the hornet's nest area; based on the image recognition component in the monitoring system, obtain the image information of the hornet's nest; based on the positioning component in the monitoring system, obtain the location information of the hornet's nest area.

[0029] The beneficial effects of the present invention are:

[0030] 1. By using drones for removal work, the cost is relatively lower and the time spent is reduced compared to the traditional hornet nest removal workers using ladders, hydraulic platforms, booms and other tools to remove hornet nests.

[0031] 2. Automatic removal drones allow operators to remove wasp nests from a personal safety perspective, and the bagging device makes the removal of wasp nests safer, avoiding the risk of wasp stings to workers and unrelated personnel in the removal process.

[0032] 3. The present application uses the visual recognition of the UAV to find the location of the hornet's nest, detects the hornet's nest in the flight area and determines the hive information through the monitoring module, and controls the bagging device of the UAV to perform corresponding killing operations according to the hornet's nest information, thereby completing the intelligent detection and timely handling of hornet disasters. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the process of removing a hornet's nest by the drone of the present invention;

[0034] Figure 2 It is a structural schematic diagram of the present invention;

[0035] Figure 3 It is a schematic enlarged view of the picking device structure of the present invention.

[0036] In the figure: 1. UAV body, 2. Hovering bracket, 3. Breaking rod assembly, 31. Primary connecting rod, 32. Secondary connecting rod, 321. Fixing buckle 1, 322. Fixing buckle 2, 33. Third-level connecting rod, 4. Resistance wire, 5. Resistance wire track, 6. Heating motor, 7. Ring fixing bracket. Implementation

[0037] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0039] like Figure 1 , Figure 2 and Figure 3 As shown, a control method and system for a drone to pick honeycombs, the system includes a monitoring module; the monitoring module is used to detect abnormal survey information, the presence of a hornet's nest, and determine the location information and morphological information of the hornet's nest, and includes an image recognition module, an infrared sensing component, and a positioning component; the image recognition module is used to obtain image information of the hornet's nest; the positioning component is used to obtain location information of the hornet's nest; the positioning component is located inside the drone; the infrared sensing component is connected to the gimbal for communication, and is used to collect image information of the area where the hornet's nest is located;

[0040] A gimbal is connected to the drone and is in communication with the server, and is used to send the image information and the hornet's nest morphology information to the server via a wireless network; and a server is in communication with the gimbal and is used to receive the image information obtained by the drone;

[0041] The drone device comprises a drone body 1; a hovering bracket 2 is arranged at the bottom of the drone body 1, a breaking rod assembly 3 is connected to one side of the bottom of the drone body 1; a picking assembly is connected to one side of the breaking rod assembly 3; a battery assembly is arranged inside the drone body 1, which is located inside the drone and is used to provide power for the entire device; a quad-rotor is arranged on the drone body 1, which is used to provide stable power; the picking assembly comprises a ring-shaped resistance wire fuse device, a self-tightening device and a spray device;

[0042] A ring-shaped resistance wire fuse device, connected to the drone, for cutting a hornet's nest;

[0043] A spraying device, connected to the drone, for spraying pesticides to prevent wasps from escaping;

[0044] A self-tightening device, connected to the drone, used to wrap the hornet's nest to prevent the hornets from escaping and to prevent the fragments of the hornet's nest from falling to the ground and breaking into pieces;

[0045] After cutting and bagging, separate the rod-breaking assembly from the drone body in time to prevent the weight of the hornet's nest from affecting the balance of the drone.

[0046] Preferably, the annular resistance wire fusing device of this embodiment includes a resistance wire 4, a resistance wire track 5 for placing the resistance wire 4, and a heating motor 6; the heating motor 6 is fixedly connected to the end rod of the breaking rod assembly 3 through a fixing piece.

[0047] Preferably, the breaking rod assembly 3 includes a primary connecting rod 31, a secondary connecting rod 32 and a tertiary connecting rod 33; the primary connecting rod 31 is fixedly connected to one side of the drone body 1; a fixed buckle 1 321 is provided between the secondary connecting rod 32 and the primary connecting rod 31; a fixed buckle 2 322 is provided between the secondary connecting rod 32 and the tertiary connecting rod 33; one end of the tertiary connecting rod 33 is connected to the picking assembly.

[0048] Preferably, the spraying device of this embodiment includes a nozzle, which is located on the annular fixing frame 7 of the front section of the broken rod assembly 3, and is used to spray pesticides around the hornet's nest and into the bag; a hose, which is located on the broken rod assembly 3 and connected to the nozzle, is used to provide transportation of pesticides; an pesticide storage tank is located at the bottom of the drone, connected to the nozzle through a water pipe, and is used to store pesticides.

[0049] Preferably, in this embodiment, a sensor component is also provided on one side of the annular resistance wire fuse device, which is used to transmit the fusing condition to the control unit in the drone.

[0050] Preferably, the automatic tightening device of this embodiment includes a bag and an elastic rope located at the bag opening; the bag opening is set on the annular fixing frame 7 through the elastic rope, and the annular fixing frame 7 is connected to the breaking rod assembly 3; a sensor assembly is also provided on one side of the automatic tightening device, which is used to receive fuse information and determine whether tightening is required; a connecting rope connected to a hook on the annular fixing frame 7 is provided on one side of the elastic rope.

[0051] Preferably, the method comprises the following steps:

[0052] Step S1: A hornet's nest is found or its approximate range is known, and the drone is released to the designated flight area to search for the hornet's nest; based on the corresponding area, the drone is controlled to search, and the hornet's nest removal situation is obtained based on the drone's monitoring system and uploaded to the server in real time through the cloud;

[0053] Step S2: Identify and classify the wasp nest according to its size and shape, and in response to the wasp nest information, send the wasp nest related information and the location information of the wasp nest area to relevant personnel through the cloud; and control the drone to move to a position obliquely below the wasp nest, control the nozzle to be placed below the wasp nest, start the spraying device, and spray the insecticide to carry out the first pest control;

[0054] Step S3: After the first pest control is completed, the location of the hornet's nest is identified, the drone posture is adjusted to select a suitable bagging angle, and the bagging is performed from bottom to top until the bagging completely covers the hornet's nest and prevents scattered hornets from circling around the hornet's nest;

[0055] Step S4: spraying insecticide a second time through the nozzle arranged on the inner side to disinfect the wasps on the edge of the wasp nest and prevent the wasps from flying around;

[0056] Step S5: The resistance wire at the top of the bag starts to fuse the wasp nest. In response to the completion of the cutting, the bag starts to tighten and the rod separates, so that the bag containing the wasp nest falls freely to the ground. While the bag mouth is tightened, if the wasp nest falls into the bag, the bag is pulled by gravity to pull the rope so that the buckle at the rod is automatically disconnected, and the bag, the rod breaking device and the front end of the rod fall to the ground;

[0057] Step S6: After separation is completed, the drone sends the image and location information of the hornet's nest on the ground to relevant personnel through the cloud, and the drone returns to the release area;

[0058] Step S7: If the cutting is unsuccessful, the drone is controlled to automatically disconnect the rod-breaking device to separate from the drone, thereby avoiding damage to the drone equipment.

[0059] Preferably, the position of the hornet's nest in this embodiment includes but is not limited to a suspended type and a wall-mounted type. If it is a suspended type, the drone is controlled to approach from below and directly put it all into the bag. If it is a wall-mounted type, the drone is controlled to approach from the side of the wall and cut it after the bag mouth fits the wall.

[0060] Preferably, in step S1 of the present embodiment: based on the sensing component and the image recognition component in the monitoring system, determine whether there is a hornet's nest in the area and confirm the relevant information of the hornet's nest; if a hornet's nest appears, control the drone to reach the hornet's nest area; based on the image recognition component in the monitoring system, obtain the image information of the hornet's nest; based on the positioning component in the monitoring system, obtain the location information of the hornet's nest area.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control system for drones picking honeycombs. It is characterized in that The system includes a monitoring module; the monitoring module is used to detect abnormal survey information, the presence of a hornet's nest, and determine the location information and morphological information of the hornet's nest, including an image recognition module, an infrared sensing component and a positioning component; the image recognition module is used to obtain image information of the hornet's nest; the positioning component is used to obtain location information of the hornet's nest; the positioning component is located inside the drone; the infrared sensing component is connected to the gimbal for collecting image information of the area where the hornet's nest is located; A gimbal is connected to the drone and is in communication with the server, and is used to send the image information and the hornet's nest morphology information to the server via a wireless network; the server is in communication with the gimbal, and is used to receive the image information obtained by the drone; A drone device comprises a drone body (1); a suspension bracket (2) is arranged at the bottom of the drone body (1); a breaking rod assembly (3) is connected to one side of the bottom of the drone body (1); a picking assembly is connected to one side of the breaking rod assembly (3); a battery assembly is arranged inside the drone body (1), which is located inside the drone and is used to provide electrical energy for the entire device; a quad-rotor is arranged on the drone body (1) and is used to provide stable power; the picking assembly comprises a ring-shaped resistance wire fuse device, a self-tightening device and a spray device; The annular resistance wire fuse device is connected to the drone and is used to cut a hornet's nest; The spraying device is connected to the drone and is used to spray pesticides to prevent wasps from escaping; The self-tightening device is connected to the drone and is used to wrap the hornet's nest to prevent the hornets from escaping and to prevent the fragments of the hornet's nest from falling to the ground and breaking into pieces. The rod-breaking assembly separates the picking assembly from the drone body in time after cutting and bagging to prevent the weight of the hornet's nest from affecting the balance of the drone; The annular resistance wire fusing device comprises a resistance wire (4), a resistance wire track (5) for placing the resistance wire (4), and a heating motor (6); the heating motor (6) is fixedly connected to the end rod of the breaking rod assembly (3) via a fixing member; the resistance wire (4) is heated, contracted, and fused by the motor.

2. A control system for picking honeycombs using an unmanned aerial vehicle according to claim 1, It is characterized in that The rod breaking assembly (3) comprises a primary connecting rod (31), a secondary connecting rod (32) and a tertiary connecting rod (33); the primary connecting rod (31) is fixedly connected to one side of the drone body (1); a first fixing buckle (321) is provided between the secondary connecting rod (32) and the primary connecting rod (31); a second fixing buckle (322) is provided between the secondary connecting rod (32) and the tertiary connecting rod (33); and one end of the tertiary connecting rod (33) is connected to the picking assembly.

3. A control system for drone honeycomb picking according to claim 1, It is characterized in that The spraying device comprises a spray head, which is located on the annular fixing frame (7) at the front section of the broken rod assembly (3) and is used to spray the insecticide around the hornet's nest and into the bag; The hose is located on the broken rod assembly (3) and connected to the nozzle, and is used to transport the pesticide; the pesticide storage tank is located at the bottom of the drone and is connected to the nozzle through a water pipe and is used to store the pesticide.

4. A control system for drone honeycomb picking according to claim 1, It is characterized in that A sensor component is also provided on one side of the annular resistance wire fusing device, which is used to transmit the fusing condition to the control unit in the drone.

5. A control system for drone honeycomb picking according to claim 1, It is characterized in that The self-tightening device comprises a bag and an elastic rope located at the bag opening; the bag opening is arranged on an annular fixing frame (7) via the elastic rope, and the annular fixing frame (7) is connected to the breaking rod assembly (3); a sensor assembly is also arranged on one side of the self-tightening device, which is used to receive fuse information and determine whether tightening is required; and a connecting rope connected to a hook on the annular fixing frame (7) is arranged on one side of the elastic rope.

6. A method for controlling a drone to harvest honeycombs, using the control system as claimed in claim 1. It is characterized in that The method comprises the following steps: Step S1: A hornet's nest is found, and the drone is released to the designated flight area to search for the hornet's nest; based on the corresponding area, the drone is controlled to search, and the hornet's nest removal situation is obtained based on the drone's monitoring system and uploaded to the server in real time through the cloud; Step S2: Identify and classify the wasp nest according to its size and shape, and in response to the wasp nest information, send the wasp nest related information and the location information of the wasp nest area to relevant personnel through the cloud; and control the drone to move to a position obliquely below the wasp nest, control the nozzle to be placed below the wasp nest, start the spraying device, and spray the insecticide to carry out the first pest control; Step S3: After the first pest control is completed, the location of the hornet's nest is identified, the drone posture is adjusted to select a suitable bagging angle, and the bagging is performed from bottom to top until the bagging completely covers the hornet's nest and prevents scattered hornets from circling around the hornet's nest; Step S4: spraying insecticide a second time through the nozzle arranged on the inner side to disinfect the wasps on the edge of the wasp nest and prevent the wasps from flying around; Step S5: The resistance wire at the top of the bag begins to melt, and in response to the completion of the cutting, the bag begins to tighten and the rod separates, causing the bag containing the wasp nest to fall freely to the ground. While the bag mouth is tightening, if the wasp nest falls into the bag, the bag is pulled by gravity to pull the rope so that the buckle at the rod is automatically disconnected, and the bag, the rod-breaking device and the front end of the rod fall to the ground; Step S6: After separation is completed, the drone sends the image and location information of the hornet's nest on the ground to relevant personnel through the cloud, and the drone returns to the release area; Step S7: If the cutting is unsuccessful, the drone is controlled to automatically disconnect the rod-breaking device to separate from the drone, thereby avoiding damage to the drone equipment.

7. A control method for picking honeycombs by a drone according to claim 6, It is characterized in that The locations of hornet's nests include suspended type and wall-mounted type. If it is suspended type, control the drone to approach from below and directly put it all into the bag. If it is wall-mounted type, control the drone to approach from the side of the wall and cut it after the bag opening fits the wall.

8. A control method for picking honeycombs by a drone according to claim 6, It is characterized in that In step S1: Based on the sensing components and image recognition components in the monitoring system, it is determined whether there is a hornet's nest in the area and the relevant information of the hornet's nest is confirmed; if a hornet's nest appears, the drone is controlled to reach the hornet's nest area; based on the image recognition component in the monitoring system, the image information of the hornet's nest is obtained; based on the positioning component in the monitoring system, the location information of the hornet's nest area is obtained.

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