A method, device and equipment for unmanned aerial vehicle wild animal feeding and a storage medium

Abstract

The present application relates to the technical field of wild animal feeding, and particularly relates to a method, device and equipment for unmanned aerial vehicle (UAV) wild animal feeding and a storage medium, wherein the method for UAV wild animal feeding comprises obtaining geographical space data of a wild animal protection zone, and generating a protection zone map; wherein the protection zone map comprises a plurality of wild animal management stations arranged at the boundary of the protection zone, and the wild animal management stations are provided with UAVs; the protection zone map is used to divide a feeding area according to the wild animal management stations; a monitoring video image of the protection zone is obtained, and a target wild animal to be fed is identified; and UAV movement guiding feeding information is output according to the position of the target wild animal to be fed in the feeding area. The wild animal to be fed is identified, and the area is divided according to the map; different feeding modes are selected according to the area and distribution of the wild animal to be fed, and automatic feeding is realized, which is easy to implement and efficient.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wild animal feeding, in particular to a wild animal feeding method, device, equipment and storage medium by using unmanned aerial vehicle. BACKGROUND

[0002] Wildlife reserves are protected areas established in typical natural areas, aiming to protect and develop natural biological species, communities and ecosystems. The selection of these areas is based on the protection needs of ecosystems and biodiversity, and sometimes includes some human disturbances, or some plots composed of natural secondary vegetation, but similar to the original vegetation and fauna can be restored with slight management.

[0003] Wild animals feed, live and reproduce in the protected area. Sometimes, under special circumstances, wild animals need to be fed, such as when wild animals are temporarily unable to feed themselves due to injury or illness, appropriate feeding can provide necessary nutritional support to help them recover; after extreme weather or natural disasters (such as severe cold, drought, flood, etc.), the food source of wild animals may be affected, and appropriate feeding can alleviate their survival pressure; in scientific research or wildlife protection projects, sometimes in order to monitor, study or protect specific species, it may be necessary to feed them.

[0004] However, the wild animal protection area covers a large area, and it is difficult and inefficient to rely on manual discovery of wild animals for feeding. SUMMARY

[0005] The purpose of the present application is to provide a wild animal feeding method, device, equipment and storage medium by using unmanned aerial vehicle, which can divide the protected area into different regions according to the protected area map, select different unmanned aerial vehicles in the wild animal management station according to the position of the wild animal, and automatically feed in different ways, which is easy to implement and efficient.

[0006] In a first aspect, the present application provides a wild animal feeding method by using unmanned aerial vehicle, the method comprising:

[0007] Obtain geographical spatial data of the wild animal protection area to generate a protected area map; wherein the protected area map comprises a plurality of wild animal management stations arranged at the boundary of the protected area, and the wild animal management station is provided with an unmanned aerial vehicle;

[0008] Divide the feeding area according to the wild animal management station based on the protected area map;

[0009] Obtain the monitoring video image of the protected area to identify the target wild animal to be fed;

[0010] Output the unmanned aerial vehicle movement guidance feeding information according to the position of the target wild animal to be fed in the feeding area.

[0011] In an embodiment, the method for obtaining the protection area map according to the wildlife management stations to divide the feeding area, specifically comprises:

[0012] According to the boundary of the protection area, a center point of the protection area map is calculated;

[0013] A first line segment of the center point and a plurality of wildlife management stations is constructed;

[0014] The first coordinate distance values corresponding to the plurality of first line segments are arranged in ascending order;

[0015] The target first line segment corresponding to the first coordinate distance value arranged first is selected;

[0016] A first feeding area is constructed according to a second line segment as a radius, wherein the second line segment is a connecting line segment of the center point and an overlapping point, and the overlapping point is located on the target first line segment.

[0017] In an embodiment, the method for obtaining the protection area map according to the wildlife management stations to divide the feeding area, specifically comprises:

[0018] A third line segment of two adjacent wildlife management stations is constructed;

[0019] A midpoint of the third line segment is obtained, and a fourth line segment of the midpoint and the center point is constructed;

[0020] The intersection point of the fourth line segment and the boundary of the first feeding area is identified as a first intersection point;

[0021] The intersection point of the extension line of the fourth line segment and the boundary of the protection area is identified as a second intersection point;

[0022] The connecting line segment of the first intersection point and the second intersection point is constructed as a boundary line segment;

[0023] The enclosed area of the adjacent two boundary line segments, the boundary of the first feeding area, and the boundary of the protection area is identified as a second feeding area;

[0024] The second feeding area is associated with the wildlife management stations located on the boundary of the second feeding area.

[0025] In an embodiment, the method for outputting the unmanned aerial vehicle movement guiding feeding information according to the position of the target wildlife to be fed in the feeding area, specifically comprises:

[0026] When the target wildlife to be fed is in the first feeding area, it is identified whether there is wildlife within a first preset distance of the target wildlife to be fed;

[0027] If there is no wildlife, a second coordinate distance value of the target wildlife to be fed and a plurality of wildlife management stations is obtained;

[0028] The second coordinate distance values are arranged in ascending order, and the wild animal management station corresponding to the first arranged second coordinate distance value is selected, and feeding information of the unmanned aerial vehicle at the position of the target wild animal to be fed is outputted.

[0029] If there is a wild animal, the unmanned aerial vehicle guiding wild animal movement information is outputted.

[0030] The target wild animal to be fed is re-identified within the first preset distance to determine whether there is a wild animal, until the target wild animal to be fed within the first preset distance does not have a wild animal.

[0031] In an embodiment, the unmanned aerial vehicle movement guiding feeding information is outputted according to the position of the target wild animal to be fed in the feeding area, specifically including:

[0032] When the target wild animal to be fed is in the second feeding area, a third coordinate distance value between the target wild animal to be fed and the associated wild animal management station is obtained.

[0033] It is determined whether the third coordinate distance value is greater than the distance threshold value.

[0034] If the third coordinate distance value is greater than the distance threshold value, the unmanned aerial vehicle feeding information at the position of the target wild animal to be fed is outputted.

[0035] If the third coordinate distance value is less than or equal to the distance threshold value, the unmanned aerial vehicle guiding information of the target wild animal to be fed moving in the direction of the first feeding area is outputted.

[0036] The third coordinate distance value is re-obtained and compared with the first distance threshold value.

[0037] Until the third coordinate distance value is greater than the distance threshold value, the unmanned aerial vehicle feeding information at the position of the target wild animal to be fed is outputted.

[0038] In an embodiment, the method further includes:

[0039] The species of the target wild animal to be fed is identified, and whether it is an endangered animal is determined based on the wild animal database.

[0040] If it is an endangered animal, it is determined whether there is a natural enemy within a second preset distance of the target wild animal to be fed.

[0041] If there is a natural enemy, the unmanned aerial vehicle guiding natural enemy movement information and the target wild animal to be fed moving into the safe house information are outputted.

[0042] In an embodiment, the method further includes:

[0043] The number of the target wild animal to be fed is identified and compared with a preset number.

[0044] If greater than the preset number, output the feeding information of the unmanned aerial vehicle of the adjacent wildlife management station at the target wildlife feeding position.

[0045] In a second aspect, the embodiments of the present application provide a kind of unmanned aerial vehicle wildlife feeding device, including the module for executing the unmanned aerial vehicle wildlife feeding method of the first aspect, the unmanned aerial vehicle wildlife feeding device includes acquisition generation module, acquisition division module, acquisition identification module and analysis output module, wherein,

[0046] The acquisition generation module is used to acquire the geographic space data of wildlife sanctuary, and generate a sanctuary map;Wherein, the sanctuary map includes a plurality of wildlife management stations arranged at the boundary of the sanctuary, and the wildlife management station is provided with an unmanned aerial vehicle;

[0047] The acquisition division module is used to divide the feeding area according to the wildlife management station based on the sanctuary map;

[0048] The acquisition identification module is used to acquire the monitoring video image of the sanctuary, and identify the target wildlife to be fed;

[0049] The analysis output module is used to output the unmanned aerial vehicle movement guide feeding information according to the position of the target wildlife to be fed in the feeding area.

[0050] In a third aspect, the embodiments of the present application provide an unmanned aerial vehicle wildlife feeding device, including a processor, a user interface and a memory, the processor, the user interface and the memory are connected with each other, wherein the memory is used to store computer program, the computer program includes program instructions, the processor is configured to call the program instructions, and execute the unmanned aerial vehicle wildlife feeding method of any one of the first aspect.

[0051] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, the computer readable storage medium stores computer program, the computer program includes program instructions, the program instructions are executed by processor to make the processor execute the unmanned aerial vehicle wildlife feeding method of any one of the first aspect.

[0052] In the embodiments of the present application, by acquiring the geographic space data of wildlife sanctuary, a sanctuary map is generated;Wildlife management stations are divided into feeding areas according to the sanctuary map;The monitoring video image of the sanctuary is acquired, and the target wildlife to be fed is identified;Unmanned aerial vehicle movement guide feeding information is output according to the position of the target wildlife to be fed in the feeding area. It realizes automatic identification of wildlife to be fed, and according to the region of the sanctuary map, the unmanned aerial vehicle in different wildlife management stations is selected according to the region, and different ways are automatically fed, which is easy to realize and efficient. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0054] Figure 1 is a flowchart of a wild animal feeding method by a UAV provided by the present application;

[0055] Figure 2 is a specific flowchart of an embodiment of a wild animal feeding method by a UAV provided by the present application;

[0056] Figure 3 is a specific flowchart of another embodiment of a wild animal feeding method by a UAV provided by the present application;

[0057] Figure 4 is a structural diagram of a wild animal feeding device by a UAV provided by the present application;

[0058] Figure 5 is a structural diagram of a wild animal feeding device by a UAV provided by the present application;

[0059] Figure 6 is an example diagram provided by the present application.

[0060] In the drawings: 400 - a wild animal feeding device by a UAV, 401 - an acquisition generation module, 402 - an acquisition division module, 403 - an acquisition identification module, 404 - an analysis output module, 600 - a wild animal feeding device by a UAV, 601 - a processor, 602 - a memory, 603 - a user interface, 604 - a bus. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0062] Please refer to Figure 1 , Figure 1 is a flowchart of a wild animal feeding method by a UAV provided by the present application. Specifically, as shown in Figure 1 , the wild animal feeding method by a UAV can include the following steps:

[0063] S101, acquiring geographical space data of a wild animal protection zone to generate a protection zone map.

[0064] In a first aspect, the protected area map includes a plurality of wildlife management stations arranged at the boundary of the protected area. The wildlife management stations are provided with unmanned aerial vehicles. The wildlife management stations have food for wild animals, which is delivered by the unmanned aerial vehicles. The unmanned aerial vehicles have self-navigation systems, such as GPS and inertial measurement units (IMU), to ensure that the unmanned aerial vehicles can fly autonomously according to a preset flight path. The unmanned aerial vehicles are equipped with sensors, such as high-definition cameras or infrared sensors, to identify target areas and determine the precise location of the feeding points. The sensors can transmit image data to the control system in real time, and the feeding targets can be automatically locked through image recognition and algorithm processing. There are feeding mechanisms, such as mechanical arms, electric slides, or air pressure feeding devices, which can accurately deliver food to the designated location according to the control instructions, i.e., feeding information. Wireless communication systems can be used to maintain contact with the management personnel of the wildlife management stations, allowing real-time monitoring of the status, location, and feeding of the unmanned aerial vehicles, and intervention or adjustment of the flight plan if necessary. The generation process of the protected area map includes data collection, data processing, map design, and map generation. Specifically, first, collect geographic spatial data related to the wildlife protected area, such as the boundary, terrain, vegetation, water system, and other natural feature data of the protected area, as well as biological data such as the distribution, activity range, and migration path of wild animals. These data can be obtained through satellite remote sensing, aerial photography, ground surveys, and other methods. Then, use GIS software to process and analyze the collected data, including data format conversion, coordinate unification, vectorization, and rasterization operations, to integrate the data into a unified geographic reference system. Spatial analysis and statistics can be performed as needed to extract key information and features within the protected area. Next, design the layout, color, symbol, and other elements of the map according to the characteristics and display requirements of the protected area, determine the overlay order and display method of the layers, and add labels and explanations. Finally, use GIS software or map-making tools to generate the wildlife protected area map based on the designed layers and styles. This can be a static image file (such as PNG, JPEG, etc.) or an interactive electronic map (such as WebGIS).

[0065] In S102, a protected area map is obtained according to the division of feeding areas by wildlife management stations.

[0066] In a second aspect, the wildlife protected area is divided into a first feeding area and a second feeding area according to location. The first feeding area is located at the center of the entire wildlife protected area, and the second feeding area is located on one side near the wildlife management station and surrounds the first feeding area. Different unmanned aerial vehicles of the wildlife management stations can be selected for feeding in different areas, and different feeding methods can be used to achieve the fastest feeding with the least intervention to the wildlife.

[0067] The first feeding area of the second aspect is divided according to the center point of the protected area map calculated according to the protected area boundary; a first line segment of the center point and a plurality of wildlife management stations is constructed; a first coordinate distance value corresponding to the plurality of first line segments is obtained and arranged in ascending order; a target first line segment corresponding to the first coordinate distance value arranged in the first place is selected; a first feeding area is constructed according to a second line segment as a radius, wherein the second line segment is a connecting line segment of the center point and an overlapping point, and the overlapping point is located on the target first line segment. The protected area map is obtained, and the center position is determined by calculating the map data bounding box (Bounding Box). The bounding box is the smallest rectangular area containing all data points, and the center point can be used as the center position of the entire map. The most east, west, south and north coordinate points in the map data can be obtained. The center coordinates of these boundary points are calculated. The average longitude of the east and west boundaries and the average latitude of the north and south boundaries are taken to complete the selection. The target first line segment corresponding to the first coordinate distance value arranged in the first place is selected, that is, the wildlife management station with the shortest distance from the center point of the protected area map is selected; and the overlapping point used to construct the first feeding area is located on the target first line segment, which indicates that the first feeding area is located within the wildlife protected area and at the center position. The overlapping point can be at one-third of the target first line segment, and the overlapping point is close to the center point. Please refer to Figure 6 , for example, the wildlife protected area is M, the center point of the wildlife protected area is B; A1, A2, A3, A4 are wildlife management stations located on the boundary of M, and the first line segment of the center point and the plurality of wildlife management stations is A1B, A2B, A3B, A4B. The corresponding first coordinate distance values are dA1B=180km, dA2B=100km, dA3B=150km, and dA4B=130km; arranged in ascending order are dA2B=100km, dA4B=130km, dA3B=150km, and dA1B=180km, and the first line segment A2B arranged in the first place is selected as the target first line segment. The overlapping point K is located at one-third of the target first line segment A2B, i.e. dA2K=67km and dKB=33km; the second line segment KB is constructed as a radius to construct a circular area, and the circular area is the first feeding area, i.e. the filled part in Figure 6 . The first feeding area is far away from the plurality of wildlife management stations.

[0068] The second partition of the second feeding area of the second aspect constructs a third line segment of two adjacent wildlife management stations; obtains a midpoint of the third line segment, and constructs a fourth line segment of the midpoint and the center point; identifies a boundary intersection point of the fourth line segment and the first feeding area as a first intersection point; identifies an intersection point of an extension line of the fourth line segment and the boundary of the protection area as a second intersection point; constructs a connecting line segment of the first intersection point and the second intersection point as a boundary line segment; identifies a closed area of the two adjacent boundary line segments, the boundary of the first feeding area, and the boundary of the protection area as a second feeding area; and associates the second feeding area with the wildlife management station located at the boundary of the second feeding area. The area surrounding the first feeding area in the protection area is divided into a plurality of second feeding areas with the same number of wildlife management stations, and each second feeding area has an associated nearest wildlife management station, which is responsible for the corresponding nearest area for wildlife management or feeding in a one-to-one manner, so that the management is convenient and orderly, and the feeding efficiency is high. As described in the above example, the third line segment of the two adjacent wildlife management stations is A1A2, A2A3, A3A4, and A4A1, and the corresponding midpoint of the third line segment is P1, P2, P3, and P4. The fourth line segment of the midpoint and the center point is P1B, P2B, P3B, and P4B. The four first intersection points are E1, E2, E3, and E4. The four second intersection points are C1, C2, C3, and C4. The four boundary line segments are C1E1, C2E2, C3E3, and C4E4. The four second feeding areas are A1C1E1E4C4, A2C1E1E2C2, A3C2E2E3C3, and A4C3E3E4C4. The second feeding area A1C1E1E4C4 is associated with the wildlife management station A1. The second feeding area A2C1E1E2C2 is associated with the wildlife management station A2. The second feeding area A3C2E2E3C3 is associated with the wildlife management station A3. The second feeding area A4C3E3E4C4 is associated with the wildlife management station A4. When the wildlife in the second feeding area A1C1E1E4C4 needs to be fed, the unmanned aerial vehicle of the wildlife management station A1 is used for feeding.

[0069] In S103, a monitoring video image of the protection area is obtained, and a target wildlife to be fed is identified.

[0070] In a third aspect, a plurality of poles are provided within the wildlife sanctuary, and cameras are installed on the poles, which are connected to the terminal of the wildlife management station. The cameras can capture images of the surrounding area and upload them to the terminal. The unmanned aerial vehicle of the wildlife management station will also patrol and capture images of the sanctuary within a certain time. The monitoring video images include the images captured by the cameras on the poles and the images captured by the unmanned aerial vehicle. The specific identification of the injured wildlife is as follows: the acquired monitoring video images are preprocessed to eliminate noise, enhance features, and improve image quality, including image filtering, contrast enhancement, size normalization, etc., so as to better extract and analyze the information in the images. Feature extraction: key features are extracted from the preprocessed images using image recognition algorithms, including the shape, texture, color, and changes in the injured part of the animal. These features will be used for subsequent classification and identification tasks. Model training: using a known dataset of images of injured and uninjured wildlife, a classification model is trained. This model can be a deep learning model, such as a convolutional neural network (CNN), which is used to learn how to extract useful information from images and distinguish between injured and uninjured animals. Injury detection: the trained model is applied to newly acquired wildlife images to detect whether the animals are injured. The model will judge whether the animal is injured based on the extracted features and learned rules. Result evaluation and optimization: the detection results of the model are evaluated, and the model parameters or optimization algorithm are adjusted to improve the accuracy and efficiency of the identification. The identification of wildlife that needs to be fed due to extreme weather is as follows: a large amount of image data containing different types of wildlife in different extreme weather conditions, such as heavy rain, snowstorm, drought, etc. is collected. These images are labeled to clearly indicate which animals may need to be fed in extreme weather, as well as their species, location, and state. The collected images are preprocessed to address image quality issues that may arise due to extreme weather, such as blurring, low contrast, color distortion, etc. Preprocessing steps may include denoising, contrast enhancement, color correction, etc. to improve the accuracy of image recognition. Key features are extracted from the images using image recognition algorithms, which should reflect the survival status and needs of animals in extreme weather. Select a combination of features to accurately identify animals that need to be fed by the subsequent classifier. A classification model is trained using the labeled image dataset, which can identify wildlife that needs to be fed in extreme weather. By adjusting model parameters, optimizing algorithms, or using more complex model structures, the recognition accuracy and performance of the model are improved.

[0071] S104, output unmanned aerial vehicle movement guidance feeding information according to the position of the target wildlife that needs to be fed in the feeding area.

[0072] In a fourth aspect, according to the target wildlife that needs to be fed in the first feeding area or the second feeding area, the unmanned aerial vehicle at different positions is output to guide the movement and feeding of the wildlife according to the predetermined route.

[0073] In a first embodiment of the fourth aspect, reference is made to Figure 2When the target wild animal that needs to be fed is in the first feeding area, it is identified whether there is a wild animal within the first preset distance of the target wild animal that needs to be fed. If there is no wild animal, the second coordinate distance value of the target wild animal that needs to be fed and the multiple wild animal management stations is obtained. The second coordinate distance value is arranged in ascending order, the wild animal management station corresponding to the first arranged second coordinate distance value is selected, and the feeding information of the unmanned aerial vehicle at the position of the target wild animal that needs to be fed is output. If there is a wild animal, the unmanned aerial vehicle guiding wild animal moving information is output. The target wild animal that needs to be fed is re-identified whether there is a wild animal within the first preset distance, until the target wild animal that needs to be fed has no wild animal within the first preset distance. When providing food for the target wild animal that needs to be fed, a large number of animals may gather at the feeding site. This gathering phenomenon not only increases the competition and conflict between animals, but also may exacerbate the risk of disease transmission. In addition, excessive gathering may also cause damage to the local ecological environment, such as trampling vegetation, disturbing the ecological balance, etc. The target wild animal that needs to be fed is in a survival situation due to illness or injury or lack of food sources after extreme weather or natural disasters, when there are other wild animals near the target wild animal that needs to be fed, the target wild animal that needs to be fed cannot compete with other wild animals, and it is very likely to become the foraging target of other animals. In the case of feeding food, the probability of wild animal gathering is greater, so when there is no other wild animal nearby, the unmanned aerial vehicle of the nearest wild animal management station is selected to fly to the position of the target wild animal that needs to be fed with food for feeding. When there are other wild animals nearby, the unmanned aerial vehicle of the nearest wild animal management station is selected to first guide other wild animals away from the target wild animal that needs to be fed, so that the target wild animal that needs to be fed is away from danger first, and then fed. The guiding method can be to use food to guide, use a specific sound signal to attract, or use light changes to simulate day and night alternation, affect the biological clock of animals, and thus guide their movement. The first preset distance is the product of the time required for the target wild animal that needs to be fed to eat the fed food and the moving speed of the wild animal with the first arranged moving speed in the preset database. For example, the target wild animal that needs to be fed is a Tibetan antelope, and the first preset distance is 10 kilometers in the first feeding area. There are chital and pronghorn within 10 kilometers. The second coordinate distance value of the Tibetan antelope to the wild animal management station A4 is 100 kilometers, the second coordinate distance value of the Tibetan antelope to the wild animal management station A2 is 133 kilometers, the second coordinate distance value of the Tibetan antelope to the wild animal management station A3 is 155 kilometers, and the second coordinate distance value of the Tibetan antelope to the wild animal management station A1 is 185 kilometers. The unmanned aerial vehicle of the wild animal management station corresponding to the first arranged second coordinate distance value is selected, that is, the unmanned aerial vehicle of the wild animal management station A4 is selected to output the moving information and the feeding information, to first guide the chital and the pronghorn away from the Tibetan antelope, until the distance between the chital, the pronghorn and the Tibetan antelope is greater than 10 kilometers, and then feed the Tibetan antelope.

[0074] In the second embodiment of the fourth aspect, referring to Figure 3 When the target wild animal to be fed is in the second feeding area, the third coordinate distance value between the target wild animal to be fed and the associated wild animal management station is obtained; it is determined whether the third coordinate distance value is greater than the distance threshold value; if the third coordinate distance value is greater than the distance threshold value, the feeding information of the UAV at the position of the target wild animal to be fed is output; if the third coordinate distance value is less than or equal to the distance threshold value, the information of the UAV guiding the target wild animal to be fed to move in the direction of the first feeding area is output; the third coordinate distance value is re-obtained and compared with the first distance threshold value; until the third coordinate distance value is greater than the distance threshold value, the feeding information of the UAV at the position of the target wild animal to be fed is output. If the feeding site of the target wild animal to be fed is close to the wild animal management station, the target wild animal to be fed will frequently enter the human living area or activity area, thereby increasing the possibility of conflict with humans. Such conflicts may result in animal injuries, human threats, and even attack incidents. Therefore, when the target wild animal to be fed is close to the wild animal management station, the target wild animal to be fed is first guided away from the wild animal management station, and then feeding is performed. As an example, the target wild animal to be fed is a wild boar, the distance threshold value is 30 kilometers, and the wild boar is in the second feeding area A1C1E1E4C4; when the third coordinate distance value between the wild boar and the wild animal management station A1 is 70 kilometers, 70 kilometers is greater than 30 kilometers, the wild boar is far away from the wild animal management station A1, and will not be close to the human living place, so that attack and injury incidents will not occur, and the information of the UAV of the wild animal management station A1 feeding at the position of the wild boar is output; when the third coordinate distance value between the wild boar and the wild animal management station A1 is 25 kilometers, 25 kilometers is less than 30 kilometers, the wild boar is close to the human living place, and has the possibility of attack and injury, so the information of the UAV of the wild animal management station A1 guiding the wild boar to move in the direction of the first feeding area, away from the wild animal management station A1, and then feeding is output.

[0075] In a third implementation form of the fourth aspect, the method further comprises: identifying the species of the target wild animal to be fed, and determining whether the target wild animal is an endangered animal based on the wild animal database; if the target wild animal is an endangered animal, identifying whether there is a natural enemy within a second preset distance of the target wild animal; if there is a natural enemy, outputting information for guiding the natural enemy to move away from the target wild animal and information for guiding the target wild animal to move into a safe house. The second preset distance is a product of the speed of the target wild animal to be fed and the feeding time, that is, the natural enemy cannot chase the target wild animal to be fed at the same time. For example, the target wild animal to be fed is a snow leopard, which is famous for its unique gray-white fur and long tail. Due to climate change, human activities and poaching, the habitat of the snow leopard is being lost, and the population is declining. The running speed of the snow leopard is 70 km / h, and the feeding time is 0.3 h. Therefore, the second preset distance is 70*3*0.3=63 km. If there is a wolf within 63 km of the snow leopard, the wolf is a natural enemy of the snow leopard, and information for guiding the natural enemy to move away from the target wild animal and information for guiding the target wild animal to move into a safe house are outputted. The safe house is arranged in the protection area, which can ensure the safety of the endangered animal snow leopard and normal feeding.

[0076] In a fourth implementation form of the fourth aspect, the method further comprises: identifying the number of the target wild animals to be fed and comparing the number with a preset number; and if the number is greater than the preset number, outputting feeding information of a drone of a neighboring wild animal management station at a position of the target wild animal to be fed. Specifically, when the number of the target wild animals to be fed is large, the drones of the wild animal management stations corresponding to the regions cannot meet the feeding demand, and the drones of the neighboring wild animal management stations can be used for feeding together to improve the feeding efficiency and avoid long feeding time and attracting too many wild animals to gather and cause food fighting and attack. The preset number is, for example, 10. For example, it is identified that there are 12 Tibetan antelopes to be fed in the second feeding area A1C1E1E4C4, and feeding information of the drones of the wild animal management stations A1 and A2 at the positions of the Tibetan antelopes is outputted.

[0077] In addition, the method further comprises:

[0078] If it is identified that the same feeding record exists at the same location within the first preset time, feeding information of the drone at a target position is outputted, where the target position is a position within a third preset distance from the position of the target wild animal to be fed.

[0079] Specifically, if the same kind of target wild animals to be fed are fed at the same location first, the target wild animals to be fed are provided with food supply once, and there is no risk of death due to food shortage in the current situation; if the same kind of target wild animals to be fed are fed again at the same location, the remaining wild animals are likely to gather at the location due to smell and other reasons, causing food fighting risk. Therefore, when feeding for the second time, feeding is selected to be carried out within a certain distance from the first feeding location, so as to avoid the situation that the target wild animals to be fed cannot find food due to injury or illness and cannot travel far, and also to avoid the situation that multiple animals gather and cause food fighting risk, and to avoid the situation that the target wild animals to be fed become dependent on the same location, promote the initiative of foraging, and reduce artificial intervention. As an example, the third preset distance is 5 kilometers. On May 10, the Tibetan antelope is fed at location X, and on May 12 of the same year, the Tibetan antelope to be fed is identified at location X, and then the unmanned aerial vehicle is output to feed at a location 5 kilometers away from location X.

[0080] In addition, the method further comprises:

[0081] Identifying that the same location has the same feeding record for a preset number of times within a second preset time;

[0082] Constructing a temporary feeding area, the temporary feeding area being a circular area with the location of the target wild animals to be fed as the starting point and a fourth preset distance as the radius;

[0083] Outputting feeding information of the unmanned aerial vehicle in the temporary feeding area.

[0084] Specifically, wild animal feeding may change the natural behavior of animals. Wild animals usually rely on their instincts and survival skills to find food, and artificial feeding may cause them to lose this ability and become dependent on human food. This dependence not only may affect the survival ability of animals, but also may make them more vulnerable to predators or diseases. That is, if the same location is fed multiple times, the wild animals will continue to wait there instead of actively foraging, and become too dependent. Therefore, by dispersing the feeding, the wild animals are prevented from waiting at the same location, the initiative of foraging of the wild animals is promoted, and after the environment improves or the illness improves, the feeding is gradually stopped, so that the wild animals do not silently wait and lose the ability to forage, and finally the artificial intervention to the survival of the wild animals is reduced. As an example, the fourth preset distance is 10 kilometers, the golden monkey is fed at location Y on June 18, the golden monkey is fed at location Y on June 20 of the same year, the golden monkey is fed at location Y on June 22 of the same year, and the golden monkey is fed at location Y on June 25 of the same year, and a temporary feeding area is constructed with Y as the center and 10 as the radius, and the feeding is dispersed in all directions in the temporary feeding area.

[0085] In the embodiment of the present application, the geographic spatial data of the wildlife protection area is acquired to generate a protection area map; the protection area map is divided into feeding areas according to the wildlife management stations; the monitoring video images of the protection area are acquired to identify target wild animals to be fed; and the unmanned aerial vehicle movement guiding feeding information is output according to the positions of the target wild animals to be fed in the feeding areas. The wild animals to be fed are automatically identified, the areas are divided according to the protection area map, the unmanned aerial vehicles in different wildlife management stations are selected according to the locations of the areas, and different ways are used for automatic feeding, which is easy to implement and efficient.

[0086] Please refer to Figure 4 , Figure 4 is a structural schematic diagram of a unmanned aerial vehicle wild animal feeding device 400 provided by the embodiment of the present application. The unmanned aerial vehicle wild animal feeding device 400 of the embodiment of the present application includes a module for executing the unmanned aerial vehicle wild animal feeding method described above. Specifically, the unmanned aerial vehicle wild animal feeding device 400 of the embodiment of the present application can include an acquisition and generation module 401, an acquisition and division module 402, an acquisition and identification module 403, and an analysis and output module 404, wherein,

[0087] The acquisition and generation module 401 is configured to acquire geographic spatial data of a wildlife protection area and generate a protection area map. The protection area map includes a plurality of wildlife management stations arranged at the boundary of the protection area, and the wildlife management stations are provided with unmanned aerial vehicles.

[0088] The acquisition and division module 402 is configured to divide the protection area map into feeding areas according to the wildlife management stations.

[0089] The acquisition and identification module 403 is configured to acquire monitoring video images of the protection area and identify target wild animals to be fed.

[0090] The analysis and output module 404 is configured to output unmanned aerial vehicle movement guiding feeding information according to the positions of the target wild animals to be fed in the feeding areas.

[0091] In an embodiment, when the protection area map is divided into feeding areas according to the wildlife management stations, the acquisition and division module 402 is specifically configured to: calculate a center point of the protection area map according to the boundary of the protection area;

[0092] Construct a first line segment of the center point and the plurality of wildlife management stations;

[0093] Arrange the first coordinate distance values corresponding to the plurality of first line segments in ascending order;

[0094] Select a target first line segment corresponding to the first coordinate distance value arranged first;

[0095] The first feeding area is constructed according to a second line segment as a radius, wherein the second line segment is a connecting line segment of the center point and an overlapping point on the target first line segment.

[0096] In an embodiment, the acquiring division module 402 is specifically configured to construct a third line segment of two adjacent wildlife management stations when the wildlife management station divides the feeding area.

[0097] A midpoint of the third line segment is acquired, and a fourth line segment of the midpoint and the center point is constructed.

[0098] A first intersection point of the fourth line segment and a boundary of the first feeding area is identified.

[0099] A second intersection point of an extension line of the fourth line segment and a boundary of the protected area is identified.

[0100] A connecting line segment of the first intersection point and the second intersection point is constructed as a boundary line segment.

[0101] A second feeding area is identified as a surrounding area of the two adjacent boundary line segments, the boundary of the first feeding area, and the boundary of the protected area.

[0102] The second feeding area is associated with the wildlife management station located on the boundary of the second feeding area.

[0103] In an embodiment, when the unmanned aerial vehicle moves to guide the feeding information according to the position of the target wildlife to be fed in the feeding area, the analysis output module 404 is specifically configured to identify whether there is wildlife within a first preset distance of the target wildlife to be fed when the target wildlife to be fed is in the first feeding area.

[0104] If there is no wildlife, a second coordinate distance value of the target wildlife to be fed and the plurality of wildlife management stations is acquired.

[0105] The second coordinate distance values are arranged in ascending order, and a wildlife management station corresponding to a first arranged second coordinate distance value is selected, and feeding information of the unmanned aerial vehicle at the position of the target wildlife to be fed is output.

[0106] If there is wildlife, the unmanned aerial vehicle moves to guide the feeding information.

[0107] The target wildlife to be fed is re-identified whether there is wildlife within the first preset distance, until the target wildlife to be fed has no wildlife within the first preset distance.

[0108] In an embodiment, the analysis output module 404 is configured to output the UAV movement guidance feeding information according to the position of the target wild animal to be fed in the feeding area. Specifically, when the target wild animal to be fed is in the second feeding area, the analysis output module 404 is configured to acquire a third coordinate distance value between the target wild animal to be fed and the associated wild animal management station.

[0109] determine whether the third coordinate distance value is greater than the distance threshold value.

[0110] If the third coordinate distance value is greater than the distance threshold value, the analysis output module 404 is configured to output the feeding information of the UAV at the position of the target wild animal to be fed.

[0111] If the third coordinate distance value is less than or equal to the distance threshold value, the analysis output module 404 is configured to output information guiding the target wild animal to be fed to move in the direction of the first feeding area.

[0112] re-acquire the third coordinate distance value and compare it with the first distance threshold value.

[0113] If the third coordinate distance value is greater than the distance threshold value, the analysis output module 404 is configured to output the feeding information of the UAV at the position of the target wild animal to be fed.

[0114] In an embodiment, the analysis output module 404 is further configured to identify the species of the target wild animal to be fed, and determine whether the target wild animal to be fed is an endangered animal based on the wild animal database.

[0115] If the target wild animal to be fed is an endangered animal, the analysis output module 404 is configured to identify whether there is a natural enemy within a second preset distance of the target wild animal to be fed.

[0116] If there is a natural enemy, the analysis output module 404 is configured to output information guiding the natural enemy to move and information guiding the target wild animal to be fed to move into the safety house.

[0117] In an embodiment, the analysis output module 404 is further configured to identify the number of the target wild animal to be fed and compare it with a preset number.

[0118] If the number of the target wild animal to be fed is greater than the preset number, the analysis output module 404 is configured to output the feeding information of the UAV of the adjacent wild animal management station at the position of the target wild animal to be fed.

[0119] Specifically, the UAV wild animal feeding device 400 can implement some or all steps of the UAV wild animal feeding method in the above-described modules. Figures 1 to 3 It should be understood that the embodiments of the present application are device embodiments corresponding to the method embodiments, and the description of the method embodiments also applies to the embodiments of the present application.

[0120] Please refer to Figure 5 , Figure 5 is a structural schematic diagram of a UAV wild animal feeding device 600 provided by an embodiment of the present application. The UAV wild animal feeding device 600 is configured to execute the above-described method. As shown inFigure 5 As shown, the unmanned aerial vehicle wildlife feeding device 600 in the embodiment can include one or more processors 601 and a memory 602. Optionally, the server can also include one or more user interfaces 603. The processor 601, the user interface 603 and the memory 602 can be connected through a bus 604, or can be connected in other manners, Figure 5 are exemplarily illustrated in a bus manner.

[0121] The processor 601 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0122] The user interface 603 can be used for interaction of information or signaling, and reception and transmission of signals. The user interface 603 can include a receiver and a transmitter for communication with other devices. The memory 602 can mainly include a program storage area and a data storage area. The program storage area can store an operating system and at least one function required storage program (such as a text storage function, a position storage function, etc.). The data storage area can store data (such as image data, text data) created according to use of the server, and can include application storage programs, etc. In addition, the memory 602 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device.

[0123] The memory 602 is also used for storing program instructions. The processor 601 can invoke the program instructions stored in the memory 602 to implement the unmanned aerial vehicle wildlife feeding method as shown in the embodiment of the application.

[0124] In a specific implementation, the processor 601 and the like described in the embodiment of the application can execute the above-mentioned Figures 1 to 3 The implementation manner described in the method embodiment as shown can also execute the implementation manner of the embodiment of the application Figure 4 The implementation manner of each module is not described here.

[0125] The embodiment of the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executable by a processor to realize Figures 1 to 3 The steps in the method for feeding wild animals by using the unmanned aerial vehicle described in the corresponding embodiment can also realize the present application Figure 4 The functions of the unmanned aerial vehicle wild animal feeding device 400 in the embodiment shown can also realize the present application Figure 5 The functions of the unmanned aerial vehicle wild animal feeding device 600 in the embodiment shown, which are not described here.

[0126] The computer readable storage medium can be an internal storage unit of the unmanned aerial vehicle wild animal feeding device 400 or the unmanned aerial vehicle wild animal feeding device 600, for example, a hard disk or a memory of the unmanned aerial vehicle wild animal feeding device 400 or the unmanned aerial vehicle wild animal feeding device 600. The computer readable storage medium can also be an external storage device of the unmanned aerial vehicle wild animal feeding device 400 or the unmanned aerial vehicle wild animal feeding device 600, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card and the like.

[0127] The embodiment of the present application also provides a computer program product containing instructions, which, when running on a computer, causes the computer to execute some or all of the steps in the above method.

[0128] In the present application, the term "and / or" is only used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents an "or" relationship between the front and rear associated objects.

[0129] In various embodiments of the present application, the size of the serial number of the above processes does not mean the order of execution, and the execution order of the processes should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0130] The above is only some embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A method for feeding wild animals using a drone, characterized in that, The method includes: The geospatial data of the wildlife reserve is acquired to generate a map of the reserve; wherein the map of the reserve includes multiple wildlife management stations set up at the boundary of the reserve, and the wildlife management stations are equipped with drones; Obtain a map of the protected area and delineate feeding zones based on wildlife management stations; Obtain surveillance video images of the protected area to identify targets that need to be fed to wild animals; Based on the location of the target wild animals to be fed in the feeding area, the drone outputs movement guidance information for feeding. The acquisition of protected area maps involves dividing feeding areas based on wildlife management stations, specifically including: The center point of the protected area map is calculated based on the protected area boundary. Construct the first line segment connecting the central point and multiple wildlife management stations; Get the first coordinate distance values ​​corresponding to multiple first line segments and sort them in ascending order; Select the first line segment of the target corresponding to the first coordinate distance value in the first ranking; A first feeding area is constructed with the second line segment as the radius, wherein the second line segment is the line segment connecting the center point and the coincident point, and the coincident point is located on the target first line segment; Construct a third line segment between two adjacent wildlife management stations; Find the midpoint of the third line segment, and construct the fourth line segment between the midpoint and the center point; The intersection of the fourth line segment and the boundary of the first feeding area is designated as the first intersection point; The intersection of the fourth line segment extension and the boundary of the protected area is designated as the second intersection point; Construct the line segment connecting the first intersection point and the second intersection point as the dividing line segment; The area enclosed by the two adjacent boundary lines, the boundary of the first feeding area, and the boundary of the protected area is designated as the second feeding area; Link the second feeding area with the wildlife management station located at the boundary of the second feeding area.

2. The method for feeding wild animals using a drone as described in claim 1, characterized in that, Based on the location of the target wild animals to be fed in the feeding area, the system outputs drone movement guidance information for feeding, specifically including: When the target needs to feed wild animals in the first feeding area, identify whether there are wild animals within a first preset distance of the target need to feed wild animals; If there are no wild animals, obtaining the target requires feeding wild animals and the second coordinate distance values ​​between multiple wildlife management stations; Obtain the second coordinate distance values ​​in ascending order, select the wildlife management station corresponding to the first second coordinate distance value in the sorted list, and output the feeding information of the drone at the target wildlife feeding location; If wild animals are present, the system will output information on how to guide the movement of wild animals using drones. Re-identify whether there are wild animals within the first preset distance of the target wild animal to be fed, until there are no wild animals within the first preset distance of the target wild animal to be fed.

3. The method for feeding wild animals using a drone as described in claim 2, characterized in that, Based on the location of the target wild animals to be fed in the feeding area, the system outputs drone movement guidance information for feeding, specifically including: When the target needs to feed wild animals in the second feeding area, obtain the third coordinate distance value between the target need to feed wild animals and the associated wildlife management station; Determine if the distance value at the third coordinate is greater than the distance threshold; If the distance exceeds the threshold, output the feeding information of the drone at the location of the target wild animal to be fed; If the distance is less than or equal to the distance threshold, the drone will output information guiding the target wild animal to move towards the first feeding area. Re-acquire the third coordinate distance value and compare it with the first distance threshold; Once the distance value at the third coordinate is greater than the distance threshold, the feeding information of the drone at the target location where the wild animal needs to be fed will be output.

4. The method for feeding wild animals using a drone as described in claim 1, characterized in that, The method further includes: Identify the species of wild animals that need to be fed to the target, and determine whether they are endangered animals based on a wildlife database; If the animal is endangered, it is necessary to identify whether there are natural enemies within a second preset distance of the wild animal being fed. If there are natural enemies, the drone will be used to guide the movement of these enemies and to guide the target to move into the safe house where wild animals need to be fed.

5. The method for feeding wild animals using a drone as described in claim 2 or 3, characterized in that, The method further includes: Compare the number of wild animals to be fed to the target with the preset number; If the number exceeds the preset limit, the feeding information of drones from adjacent wildlife management stations at the target wildlife feeding location will be output.

6. A drone-based wildlife feeding device, characterized in that, The device includes modules for performing the drone-based wildlife feeding method as described in any one of claims 1 to 5, wherein the drone-based wildlife feeding device includes an acquisition generation module, an acquisition segmentation module, an acquisition identification module, and an analysis output module, wherein... The acquisition and generation module is used to acquire geospatial data of the wildlife reserve and generate a map of the reserve; wherein, the map of the reserve includes multiple wildlife management stations set up at the boundary of the reserve, and the wildlife management stations are equipped with drones; The acquisition and division module is used to acquire a map of the protected area and divide feeding areas according to the wildlife management stations; The acquisition and identification module is used to acquire surveillance video images of the protected area and identify targets that need to be fed to wild animals; The analysis output module is used to output drone movement guidance feeding information based on the location of the target wild animal to be fed in the feeding area.

7. A drone-based wildlife feeding device, characterized in that, The device includes a processor, a user interface, and a memory, which are interconnected. The memory is used to store a computer program, which includes program instructions. The processor is configured to invoke the program instructions to execute the drone-based wildlife feeding method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the unmanned aerial vehicle (UAV) wildlife feeding method as described in any one of claims 1 to 5.

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