Deinsectization device and method

Abstract

The invention relates to a deinsectization device and method in the technical field of agricultural deinsectization, the deinsectization device comprises an aircraft, a laser, a positioning piece, a laser emission assembly and an image acquisition assembly, and the aircraft, the laser, the positioning piece, the laser emission assembly and the image acquisition assembly are arranged and are connected and matched with one another, so that the deinsectization effect is improved. The deinsectization device can automatically conduct deinsectization operation, and meanwhile has the advantages of being capable of adapting to various terrains, avoiding damage to plants, being used in the whole period of plant growth, avoiding pesticide residues and the like. The positioning piece dynamically adjusts and aims at the target to drive the laser emitting assembly and the image collecting assembly to rotate together, so that the laser emitting assembly and the positioning piece can synchronously lock the target according to image information collected by the image collecting assembly, laser is emitted to the target, the target is removed through the heat effect of the laser, and deinsectization operation is accurately completed.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural pest control, and in particular to a pest control device and method. Background Art

[0002] In the technical field of pest control, pest control plays a key role in the quality and yield of crops, which in turn affects the development of the sericulture industry. The existing pest control methods are generally manual killing, physical control and chemical control. Among them, manual killing is less efficient. Physical control generally uses insecticidal lamps, sticky insect boards and other traps, which lack the initiative to kill insects and require manual recovery of insecticidal tools, which is time-consuming and labor-intensive. Chemical control generally chooses pesticides. According to the occurrence of pests and diseases, appropriate pesticides are selected, which have pesticide residues and pollute the environment. Summary of the invention

[0003] The technical problem to be solved by the present invention is that the existing pest control technology has the disadvantages of low efficiency and pesticide residues, and therefore provides a pest control device and method.

[0004] The present invention aims to design a pest control device, comprising:

[0005] Aircraft;

[0006] A laser, which is disposed on the aircraft and is used to generate a laser beam;

[0007] A positioning member, wherein the positioning member is arranged on the aircraft;

[0008] A laser emitting assembly, wherein the laser emitting assembly is disposed on the positioning member and is connected to the laser via an optical fiber, and is used to emit laser light based on the laser beam generated by the laser;

[0009] An image acquisition component, which is disposed on the positioning member and is used to acquire images;

[0010] Wherein, the positioning member is configured to: drive the image acquisition component to rotate to acquire images, and drive the laser emitting component to rotate so that the laser emitting component can aim at a target and emit laser.

[0011] In some embodiments, the insect removal device further comprises:

[0012] A controller, the controller being designed to:

[0013] Controlling the aircraft to fly along a preset cruising path,

[0014] controlling the image acquisition component to acquire images in the cruise path, and identifying the location of the target according to information of the acquired images,

[0015] The positioning member is controlled to drive the laser emitting assembly to rotate to aim at a target, and the laser is controlled to generate the laser beam to emit laser from the laser emitting assembly.

[0016] In some embodiments, the positioning member includes a connecting portion, a first rotating portion, and a second rotating portion;

[0017] The connecting portion is arranged at the bottom of the aircraft;

[0018] The first rotating part is rotatably connected to the connecting part, and the second rotating part is rotatably connected to the first rotating part;

[0019] The laser emitting component and the image acquisition component are both integrated into the second rotating part;

[0020] Wherein, the rotation planes of the laser emitting component and the image acquisition component are perpendicular to the rotation plane of the first rotating part.

[0021] In some embodiments, the connecting portion is configured as a circular plate structure.

[0022] In some embodiments, the first rotating portion is formed with an extended end away from the connecting portion, and the extended end includes a first extended end and a second extended end opposite to each other;

[0023] One end of the second rotating portion is rotatably connected to the first extending end, and the other end is rotatably connected to the second extending end;

[0024] The first rotating part is designed to be driven to rotate by a first motor located on the connecting part;

[0025] The second rotating portion is designed to be driven to rotate by a second motor located at the first extending end and / or the second extending end.

[0026] In some embodiments, the laser is disposed on top of the aircraft.

[0027] In some embodiments, a pest control method is provided, wherein the pest control method uses the above-mentioned pest control device.

[0028] In some embodiments, a method for disinsection comprises:

[0029] In response to the pest control instruction, controlling the aircraft to fly along a preset cruising path;

[0030] Controlling the image acquisition component to acquire images in the cruise path, and identifying the location of the target according to information of the acquired images;

[0031] The positioning member is controlled to drive the laser emitting assembly to rotate to aim at a target, and the laser is controlled to generate the laser beam to emit laser from the laser emitting assembly.

[0032] In some embodiments, a pest control method is provided, wherein the pest control method uses the above pest control device, and the pest control method comprises:

[0033] In response to the pest control instruction, controlling the aircraft to fly along a preset cruising path;

[0034] Controlling the image acquisition component to acquire images in the cruise path, and identifying the location of the target according to information of the acquired images;

[0035] When the aircraft is in a hovering state, controlling the first motor to drive the first rotating part to drive the laser emitting assembly toward the target in a horizontal dimension, and controlling the second motor to drive the second rotating part to drive the laser emitting assembly toward the target in a vertical dimension;

[0036] The laser is controlled to generate the laser beam and emit laser light from the laser emitting assembly.

[0037] In some embodiments, the preset cruise path includes: a first attribute point indicating a starting point and an end point, a second attribute point indicating a crop, a third attribute point indicating the end of each ridge, and a fourth attribute point indicating a guiding direction of the cruise path;

[0038] The controlling the image acquisition component to acquire images in the preset cruising path includes:

[0039] The image acquisition component is controlled to cruise along the fourth attribute point from the starting point in the first attribute point to the end point in the first attribute point, to capture images of the second attribute point, and to change the cruise direction at the third attribute point.

[0040] The solution provided by the present invention has the following beneficial effects compared with the prior art:

[0041] By setting up an aircraft, a laser, a positioning part, a laser emission component and an image acquisition component, and connecting and cooperating with each other, the insect removal device can automatically perform insect removal operations while also having the advantages of being able to adapt to various terrains, avoid causing damage to plants, be used for the entire cycle of plant growth, and avoid pesticide residues. The positioning part dynamically adjusts the aiming target, drives the laser emission component and the image acquisition component to rotate together, so that the laser emission component can synchronize with the positioning part to lock the target according to the image information collected by the image acquisition component, and emit laser to the target, remove the target through the thermal effect of the laser, and accurately complete the insect removal operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the drawings described below are only some embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0043] Figure 1 1 is a schematic structural diagram of an insect removal device according to an embodiment of the present invention;

[0044] Figure 2 is a schematic structural diagram of a positioning member shown in an embodiment of the present invention;

[0045] Figure 3 It is one of the flow charts of the pest control method shown in the embodiment of the present invention;

[0046] Figure 4 This is the second flow chart of the pest control method shown in the embodiment of the present invention;

[0047] Figure 5 It is a schematic diagram of a preset cruise path shown in an embodiment of the present invention.

[0048] In the figure: 1-aircraft, 2-laser, 3-positioning piece, 301-connecting part, 302-first rotating part, 303-second rotating part, 3011-first extending end, 3012-second extending end, 4-laser emitting component, 5-image acquisition component, 6-first attribute point, 7-second attribute point, 8-third attribute point, 9-fourth attribute point.

[0049] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0050] In the description of the present invention, it should be noted that the terms "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "contacted", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] The existing pest control methods are generally manual killing, physical control and chemical control. Among them, manual killing has a low efficiency. Physical control generally uses insecticidal lamps, sticky insect boards and other traps, which lack the initiative to kill insects and require manual recovery of insecticidal tools, which is time-consuming and laborious. Chemical control generally uses pesticides. According to the occurrence of pests and diseases, the appropriate pesticide is selected, which has pesticide residues and pollutes the environment.

[0053] Based on this, the following embodiments are proposed.

[0054] Embodiment 1:

[0055] like Figure 1-2 As shown, this embodiment provides an insect removal device, comprising:

[0056] Aircraft 1;

[0057] A laser 2, wherein the laser 2 is disposed on the aircraft 1 and is used to generate a laser beam;

[0058] A positioning member 3, wherein the positioning member 3 is arranged on the aircraft 1;

[0059] A laser emitting component 4, wherein the laser emitting component 4 is disposed on the positioning member 3, and the laser emitting component 4 is connected to the laser 2 via an optical fiber, and is used for emitting laser based on the laser beam generated by the laser 2;

[0060] An image acquisition component 5, the image acquisition component 5 is arranged on the positioning member 3 and is used for acquiring images;

[0061] The positioning member 3 is configured to: drive the image acquisition component 5 to rotate to acquire images, and drive the laser emission component 4 to rotate so that the laser emission component 4 can aim at a target and emit laser.

[0062] In this embodiment, Figure 1-2As shown, the pest control device includes an aircraft 1, a laser 2, a positioning member 3, a laser emission assembly 4 and an image acquisition assembly 5. The aircraft 1 is used to provide power for the pest control device to fly and move, and the pest control device does not need to contact the branches and leaves of the plant. While not causing damage to the plant, it can also greatly reduce the terrain impact on the pest control device during operation, so that the pest control device can adapt to various terrains. The laser 2 can convert electrical energy into excitation energy to allow the working substance to achieve energy level transition and generate photons. The laser 2 is set on the aircraft 1 so that the laser 2 can move synchronously with the aircraft 1. The positioning member 3 is also set on the aircraft 1. The positioning member 3 can dynamically track and aim at the target through dynamic adjustment. The laser emission assembly 4 can output energy to the target. The laser emission assembly 4 is set on the positioning member 3 so that the laser emission assembly 4 can move with the positioning member 3. The laser emission assembly 4 and the laser 2 are connected by optical fiber, which can ensure that the laser 2 transmits the excitation energy to the laser emission assembly 4 at the speed of light. Since the laser emitting component 4 is arranged on the positioning part 3, when the positioning part 3 aims at the target through dynamic adjustment, it will also drive the laser emitting component 4 and the image acquisition component 5 to rotate together, so that the laser emitting component 4 can synchronously lock the target with the positioning part 3 according to the image information collected by the image acquisition component 5, and emit laser to the target, thereby clearing the target through the thermal effect of the laser and completing the pest control operation.

[0063] Preferably, the dynamic adjustment of the positioning member 3 includes adjustment actions such as horizontal rotation and pitch rotation.

[0064] Preferably, the insect removal device is provided with only one battery module, and the battery module provides integrated power supply to the laser 2 and the positioning member 3, and the laser 2 is a fiber pulse laser with a wavelength of 1080 μm.

[0065] By arranging an aircraft 1, a laser 2, a positioning member 3, a laser emitting component 4 and an image acquisition component 5 in the insect removal device and connecting and cooperating with each other, the insect removal device can not only automatically perform insect removal operations, but also has the advantages of being able to adapt to various terrains, avoiding damage to plants, being able to be used in the entire cycle of plant growth, and avoiding pesticide residues.

[0066] In the insecticide removal device of this embodiment, the aircraft 1 can carry a large weight, more than 50kg for flight, and the total weight of the laser 2 with a power of 1000w and a wavelength of 1064nm, the positioning member 3 and other components is less than 50kg, thereby realizing the integrated setting of the aircraft 1 and the laser 2, eliminating the wired connection, avoiding the blocking of crops by cables, and avoiding affecting the operation of the insecticide removal device.

[0067] Optionally, in an implementation of this embodiment, the insect removal device further includes:

[0068] A controller, the controller being designed to:

[0069] Controlling the aircraft 1 to fly along a preset cruising path,

[0070] controlling the image acquisition component 5 to acquire images in the cruise path, and identifying the location of the target according to the information of the acquired images,

[0071] The positioning member 3 is controlled to drive the laser emitting assembly 4 to rotate to aim at a target, and the laser 2 is controlled to generate the laser beam so as to emit laser from the laser emitting assembly 4 .

[0072] In this embodiment, the insect removal device also includes a controller. By setting the internal program of the controller, the controller can control the aircraft 1 to automatically fly along a preset cruising path. When the aircraft 1 automatically flies along the preset cruising path, the controller can also control the image acquisition component 5 to acquire images. The controller can identify the target to be removed and the location of the target based on the information acquired by the image. The controller controls the aircraft 1 to enter a hovering state, thereby controlling the positioning member 3 to drive the laser emission component 4 to rotate. When the laser emission component 4 is aligned with the target, the laser emission component 4 can aim and lock the target synchronously with the positioning member 3. When the target is aimed, the controller controls the laser 2 to work. The laser 2 transmits the excitation energy to the laser emission component 4 at the speed of light through the optical fiber, and causes the laser emission component 4 to emit a laser to irradiate the target, thereby removing the target.

[0073] Preferably, the number of cruises of the insect removal device can be increased. When the laser emitted by the laser emission assembly 4 fails to clear the target once, the laser emission assembly 4 will no longer continue to emit laser light to the target, and the insect removal device will continue to move along the preset cruise path, thereby increasing the number of cruises of the insect removal device to perform multiple cycles of emission on the target until the target is cleared.

[0074] Optionally, in an implementation of this embodiment, as Figure 1-2 As shown,

[0075] The positioning member 3 includes a connecting portion 301, a first rotating portion 302 and a second rotating portion 303;

[0076] The connecting portion 301 is disposed at the bottom of the aircraft 1;

[0077] The first rotating part 302 is rotatably connected to the connecting part 301, and the second rotating part 303 is rotatably connected to the first rotating part 302;

[0078] The laser emitting component 4 and the image acquisition component 5 are both integrated into the second rotating part 303;

[0079] The rotation planes of the laser emitting component 4 and the image acquisition component 5 are perpendicular to the rotation plane of the first rotating part 302 .

[0080] In this embodiment, Figure 1-2 As shown, the positioning member 3 includes a connecting portion 301, a first rotating portion 302 and a second rotating portion 303. The connecting portion 301 is rotatably connected to the bottom of the aircraft 1. The first rotating portion 302 can rotate relative to the aircraft 1 on the connecting portion 301. The rotating surface of the first rotating portion 302 is parallel to the surface where the aircraft 1 is located, so that the first rotating portion 302 can complete a 360-degree rotation parallel to the surface where the aircraft 1 is located without dead angles, and can also not affect the balance state of the aircraft 1 during the rotation. The first rotating part 302 is rotatably connected to the connecting part 301. The first rotating part 302 forms an extended end away from the connecting part 301. The second rotating part 303 is rotatably connected to the extended end, so that the laser emitting assembly 4 can rotate 360 ​​degrees relative to the extended end. The rotating plane of the laser emitting assembly 4 is perpendicular to the plane where the aircraft 1 is located, so that the positioning member 3 can not only rotate 360 ​​degrees in the horizontal direction, but also rotate 360 ​​degrees in the vertical direction, which greatly expands the movement range of the positioning member 3, thereby reducing the adjustment of the flight altitude of the aircraft 1, so that the laser emitting assembly 4 can aim at the target more quickly according to the image information collected by the image acquisition assembly 5.

[0081] Preferably, the protruding end extends in a direction away from the connecting portion 301, and the distance between the protruding end and the connecting portion 301 is greater than the radius of the laser emitting component 4. The larger the distance between the protruding end and the connecting portion 301, the smaller the shielding range of the laser emitting component 4 and the image acquisition component 5 by the connecting portion 301, and the larger the laser output range and image acquisition range of the laser emitting component 4 and the image acquisition component 5.

[0082] Preferably, the positioning member 3 can be a three-dimensional pan-tilt platform, and the rotation speed of the positioning member 3 can reach 120 degrees per second, and the error range of the rotation accuracy can reach within 0.1 degrees. During the cruising process of the insect removal device, the image acquisition component 5 can take images in real time and feed them back to the image recognition system in the insect removal device. After the image recognition system identifies the target and determines the target position, it feeds back the target position to the three-dimensional pan-tilt platform. The three-dimensional pan-tilt platform rotates to make the laser emission component 4 aim at the target, and then the laser emission component 4 emits laser to the target to remove the target.

[0083] The laser emitting component 4 and the image acquisition component 5 are both integrated in the second rotating part 303. Since the laser emitting component 4 and the image acquisition component 5 rotate with the second rotating part 303, the laser emitting component 4 can aim at the target more quickly according to the image information collected by the image acquisition component 5.

[0084] Furthermore, the laser emitting component 4 and the image acquisition component 5 are both integrated into the second rotating part 303. On the one hand, it is convenient for the laser emitting component 4 to aim at the target. On the other hand, the laser emitting component 4 and the image acquisition component 5 can cooperate better during cruising. After the image acquisition component 5 captures the target position, the laser emitting component 4 also points to the position synchronously. There is no need to adjust the aiming position again with large movements, thereby improving the overall working efficiency of the component.

[0085] Preferably, the image acquisition component 5 is a miniature industrial camera lens, which can help the insect removal device to achieve image acquisition, and the response time range of laser output and image acquisition is between 0.1 seconds and 1 second.

[0086] Optionally, in an implementation of this embodiment, as Figure 2 As shown,

[0087] The connecting portion 301 is configured as a circular plate structure.

[0088] In this embodiment, Figure 2 As shown, the connecting portion 301 is constructed as a circular plate-like structure, and the axis of the circular plate-like structure coincides with the axis of the aircraft 1. When the first rotating portion 302 and the second rotating portion 303 on the connecting portion 301 rotate separately or simultaneously, there is a relatively small impact on the balance of the aircraft 1.

[0089] By constructing the connecting part 301 as a circular plate-shaped structure, the aircraft 1 can maintain a balanced state during the flight and disinsection process, so as not to deviate from the preset cruising path. The connecting part 301 with a circular plate-shaped structure has a small air resistance during flight, thereby preventing the aircraft 1 from rapidly decreasing its battery power due to excessive wind resistance during flight, thereby extending the use time of the disinsection device and improving the disinsection efficiency.

[0090] Optionally, in an implementation of this embodiment, as Figure 2 As shown,

[0091] The first rotating portion 302 is formed with an extended end away from the connecting portion 301, and the extended end includes a first extended end 3011 and a second extended end 3012 opposite to each other;

[0092] One end of the second rotating portion 303 is rotatably connected to the first extending end 3011, and the other end is rotatably connected to the second extending end 3012;

[0093] The first rotating part 302 is designed to be driven to rotate by a first motor located on the connecting part 301;

[0094] The second rotating portion 303 is designed to be driven to rotate by a second motor located at the first extending end 3011 and / or the second extending end 3012 .

[0095] In this embodiment, Figure 2 As shown, the extension end includes a first extension end 3011 and a second extension end 3012, the first extension end 3011 and the second extension end 3012 are equal in length, one end of the laser emitting assembly 4 is rotatably connected to the first extension end 3011, and the other end is rotatably connected to the second extension end 3012, the first motor is operated to drive the first rotating part 302 to rotate, the rotating surface of the first rotating part 302 is parallel to the aircraft 1, the second motor is operated to drive the second rotating part 303 to rotate, the rotating surface of the second rotating part 303 is perpendicular to the rotating surface of the first rotating part 302, so that the laser emitting assembly 4 and the image acquisition assembly 5 can rotate without dead angle in the space where both are located, so that the laser emitting assembly 4 can aim at the target more quickly according to the image information collected by the image acquisition assembly 5. It can also maximize the laser output range and image acquisition range of the laser emitting assembly 4 and the image acquisition assembly 5, so that the laser emitting assembly 4 can determine the position of the target more accurately.

[0096] By setting the protruding end, the shielding range of the connecting part 301 to the laser emitting component 4 and the image acquisition component 5 is reduced, and the movement range of the positioning member 3 is expanded, thereby expanding the laser output range and image acquisition range of the laser emitting component 4 and the image acquisition component 5, thereby avoiding the rapid drop in power of the aircraft 1 due to frequent adjustment of the flight altitude, thereby extending the use time of the insect removal device and improving the insect removal efficiency.

[0097] Optionally, in an implementation of this embodiment, as Figure 1 As shown,

[0098] The laser 2 is arranged on the top of the aircraft 1 .

[0099] In this embodiment, Figure 1 As shown, setting the laser 2 on the top of the aircraft 1 can reduce the number of components between the laser emitting assembly 4 and the aircraft 1, thereby reducing the shielding range of the laser emitting assembly 4, further improving the image acquisition range and laser output range of the laser emitting assembly 4, and enabling the laser emitting assembly 4 to more accurately determine the position of the target.

[0100] Embodiment 2:

[0101] This embodiment provides an insect removal method, which uses the insect removal device in the above-mentioned embodiment 1.

[0102] In this embodiment, since the pest control method adopts the pest control device in the above embodiment 1, the pest control method has all the beneficial effects of the pest control device in the above embodiment 1, which will not be described in detail here.

[0103] Specifically, Figure 3 As shown, pest control methods include:

[0104] In response to the pest control instruction, controlling the aircraft 1 to fly along a preset cruising path;

[0105] Controlling the image acquisition component 5 to acquire images in the cruise path, and identifying the location of the target according to information of the acquired images;

[0106] The positioning member 3 is controlled to drive the laser emitting assembly 4 to rotate to aim at a target, and the laser 2 is controlled to generate the laser beam so as to emit laser from the laser emitting assembly 4 .

[0107] In this embodiment, Figure 3 As shown, the pest control method includes: after the controller responds to the pest control instruction, it controls the aircraft 1 to automatically fly along a preset cruising path, the controller controls the image acquisition component 5 to perform image acquisition in the cruising path, and the controller can identify the target and the position of the target based on the image acquisition information. At this time, the controller controls the positioning member 3 to drive the laser emitting component 4 to rotate to aim at the target. When the laser emitting component 4 is aimed at the target, the controller controls the laser 2 to work so as to emit a laser beam from the laser emitting component 4. When the laser clears the target, the pest control device completes an pest control operation, and the controller controls the aircraft 1 to continue flying along the cruising path.

[0108] Optionally, in an implementation of this embodiment, as Figure 4 As shown, the pest control method uses the pest control device of the first embodiment to control the aircraft 1 to fly along a preset cruising path in response to a pest control instruction;

[0109] Controlling the image acquisition component 5 to acquire images in the cruise path, and identifying the location of the target according to information of the acquired images;

[0110] When the aircraft 1 is in a hovering state, the first motor is controlled to drive the first rotating part 302 to drive the laser emitting assembly 4 toward the target in the horizontal dimension, and the second motor is controlled to drive the laser emitting assembly 4 toward the target in the vertical dimension;

[0111] The laser 2 is controlled to generate the laser beam and the laser is emitted from the laser emitting component 4 .

[0112] In this embodiment, Figure 4As shown, the pest control method includes: after the controller responds to the pest control instruction, it controls the aircraft 1 to automatically fly along a preset cruising path, the controller controls the image acquisition component 5 to perform image acquisition in the cruising path, and the controller can identify the target and the target's position based on the image acquisition information. When the aircraft 1 is in a hovering state, the controller controls the first motor to drive the first rotating part 302 to rotate, thereby driving the laser emitting component 4 to face the target in the horizontal dimension. At this time, the controller controls the second motor to drive the second rotating part 303 to rotate, so that the laser emitting component 4 also faces the target in the vertical dimension, thereby determining the target position. At this time, the controller controls the laser 2 to work to generate the laser beam and emit the laser from the laser emitting component 4. After the laser clears the target, the pest control device completes an pest control operation, and the controller controls the aircraft 1 to continue flying along the cruising path.

[0113] Optionally, in an implementation of this embodiment, as Figure 5 As shown,

[0114] The preset cruise path includes: a first attribute point 6 indicating the starting point and the end point, a second attribute point 7 indicating the crop, a third attribute point 8 indicating the end of each ridge, and a fourth attribute point 9 indicating the guiding direction of the cruise path;

[0115] The controlling the image acquisition component 5 to acquire images in the preset cruising path includes:

[0116] The image acquisition component 5 is controlled to cruise along the fourth attribute point 9 from the starting point in the first attribute point 6 to the end point in the first attribute point 6 , to capture images of the second attribute point 7 , and to change the cruise direction at the third attribute point 8 .

[0117] Preferably, the controller can determine the position of the pest control device by transmitting signals with a GPS system, a Global Positioning System or a Beidou satellite positioning system. The pest control device is made to fly along a preset cruising path by a dual antenna, a GPS module, an IMU inertial measurement unit, an Inertial measurement unit and a control terminal, etc. The main principle is based on the RTK principle, the differential positioning principle, and Real-Time Kinematics. The preset cruising path of the pest control device requires the use of a flight route manually collected by the user in the early stage. After the flight route is collected, the user needs to control the aircraft 1 to move along the flight route manually collected in the early stage. The collection scheme adopts manual collection and marking, and can form a preset cruising path by setting the first attribute point 6 representing the starting point and the end point of the flight area, the second attribute point 7 representing the crop, the fourth attribute point 9 representing the guiding direction of the cruising path, and the third attribute point 8 representing the end of each ridge, marking the crops to be dewormed and marking the special point at the end of each ridge of plants, and storing it in the pest control device, so that the pest control device can deworm according to the preset cruising path. The preset cruising path enables the pest control device to deworm the crops more comprehensively.

[0118] By setting up a controller, the insect removal device can automatically move along the cruising path preset by the user, and search for and discover the target during the cruising process. Finally, the insect removal operation is completed by locating the target and firing a laser at the target. The insect removal device realizes all automated operations in the insect removal process without human intervention, thereby improving the insect removal efficiency and enhancing the user experience.

[0119] In summary, the ingenious design of the insect removal device is:

[0120] First, by setting up an aircraft, a laser, a positioning part, a laser emission component and an image acquisition component, and connecting and cooperating with each other, the insect removal device can automatically perform insect removal operations while also having the advantages of being able to adapt to various terrains, avoid causing damage to plants, be used for the entire cycle of plant growth, and avoid pesticide residues. The positioning part dynamically adjusts the aiming target, drives the laser emission component and the image acquisition component to rotate together, so that the laser emission component can synchronize with the positioning part to lock the target according to the image information collected by the image acquisition component, and emit laser to the target, remove the target through the thermal effect of the laser, and accurately complete the insect removal operation.

[0121] Second, by setting up a controller, the insect removal device can automatically move along the cruising path preset by the user, and search for and discover the target during the cruising process. Finally, the insect removal operation is completed by locating the target and firing a laser at the target. The insect removal device realizes all automated operations in the insect removal process without human participation, thereby improving the insect removal efficiency and enhancing the user experience.

[0122] Third, by providing a connecting part, a first rotating part and a second rotating part, the image acquisition component and the laser emitting component can rotate without dead angles in the space where the two are located without affecting the balance of the aircraft. The setting of the protruding end reduces the blocking range of the laser emitting component and the image acquisition component by the connecting part, expands the movement range of the positioning part, thereby expanding the image acquisition range and laser output range of the image acquisition component and the laser emitting component, avoiding the rapid drop in power due to frequent adjustment of the flight altitude of the aircraft, thereby extending the use time of the insect removal device and improving the insect removal efficiency.

[0123] It is further understood that in the present disclosure, "plurality" refers to two or more than two, and other quantifiers are similar thereto. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. The singular forms "a", "the" and "the" are also intended to include plural forms, unless the context clearly indicates other meanings.

[0124] It is further understood that the terms "first", "second", etc. are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other, and do not indicate a specific order or degree of importance. In fact, the expressions "first", "second", etc. can be used interchangeably. For example, without departing from the scope of the present disclosure, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.

[0125] It is further understood that, although the operations are described in a specific order in the drawings in the embodiments of the present disclosure, it should not be understood as requiring the operations to be performed in the specific order shown or in a serial order, or requiring the execution of all the operations shown to obtain the desired results. In certain environments, multitasking and parallel processing may be advantageous.

[0126] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0127] It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the scope of the appended claims.

Claims

1. An insect removal device, characterized in that: include: Aircraft (1); a laser (2), the laser (2) being arranged on the aircraft (1) and being used to generate a laser beam; A positioning member (3), the positioning member (3) being arranged on the aircraft (1); a laser emitting assembly (4), the laser emitting assembly (4) being arranged on the positioning member (3), and the laser emitting assembly (4) being connected to the laser (2) via an optical fiber, and being used for emitting laser light based on the laser beam generated by the laser (2); An image acquisition component (5), the image acquisition component (5) being arranged on the positioning member (3) and being used for acquiring images; The positioning member (3) is configured to: drive the image acquisition component (5) to rotate to acquire images, and drive the laser emission component (4) to rotate so that the laser emission component (4) can aim at a target and emit laser light.

2. The insect removal device according to claim 1, characterized in that: The insect removal device also includes: A controller, the controller being designed to: Controlling the aircraft (1) to fly along a preset cruising path, controlling the image acquisition component (5) to acquire images in the cruising path, and identifying the position of the target based on information from the acquired images, The positioning member (3) is controlled to drive the laser emitting assembly (4) to rotate to align with a target, and the laser (2) is controlled to generate the laser beam and emit laser light from the laser emitting assembly (4).

3. The insect removal device according to claim 1, characterized in that: The positioning member (3) comprises a connecting portion (301), a first rotating portion (302) and a second rotating portion (303); The connecting portion (301) is arranged at the bottom of the aircraft (1); The first rotating part (302) is rotationally connected to the connecting part (301), and the second rotating part (303) is rotationally connected to the first rotating part (302); The laser emitting component (4) and the image acquisition component (5) are both integrated into the second rotating part (303); Wherein, the rotation planes of the laser emitting component (4) and the image acquisition component (5) are perpendicular to the rotation plane of the first rotating part (302).

4. The insect removal device according to claim 3, characterized in that: The connecting portion (301) is constructed as a circular plate structure.

5. The insecticide device according to claim 3, characterized in that: The first rotating portion (302) is formed with an extended end away from the connecting portion (301), and the extended end includes a first extended end (3011) and a second extended end (3012) opposite to each other; One end of the second rotating portion (303) is rotatably connected to the first extending end (3011), and the other end is rotatably connected to the second extending end (3012); The first rotating part (302) is designed to be driven to rotate by a first motor located on the connecting part (301); The second rotating portion (303) is designed to be driven to rotate by a second motor located at the first extending end (3011) and / or the second extending end (3012).

6. The insect removal device according to claim 3, characterized in that: The laser (2) is arranged on the top of the aircraft (1).

7. A method for disinfestation, characterized in that: The pest control method adopts the pest control device according to any one of claims 1 to 6.

8. The pest control method according to claim 7, wherein: include: In response to an insect removal instruction, controlling the aircraft (1) to fly along a preset cruising path; Controlling the image acquisition component (5) to acquire images in the preset cruising path, and identifying the position of the target based on information from the acquired images; The positioning member (3) is controlled to drive the laser emitting assembly (4) to rotate to align with a target, and the laser (2) is controlled to generate the laser beam and emit laser light from the laser emitting assembly (4).

9. A method for disinfestation, characterized in that: The pest control method uses the pest control device according to claim 5, and the pest control method includes: In response to an insect removal instruction, controlling the aircraft (1) to fly along a preset cruising path; controlling the image acquisition component (5) to acquire images in the cruising path, and identifying the position of the target based on information from the acquired images; When the aircraft (1) is in a hovering state, controlling the first motor to drive the first rotating part (302) to drive the laser emitting assembly (4) toward the target in a horizontal dimension; controlling the second motor to drive the second rotating part (303) to drive the laser emitting assembly (4) toward the target in the vertical dimension; The laser (2) is controlled to generate the laser beam and the laser is emitted from the laser emitting assembly (4).

10. The pest control method according to claim 8 or 9, characterized in that: The preset cruise path includes: a first attribute point (6) indicating a starting point and an end point, a second attribute point (7) indicating a crop, a third attribute point (8) indicating the end of each ridge, and a fourth attribute point (9) indicating a guiding direction of the cruise path; The controlling the image acquisition component (5) to acquire images in the preset cruising path comprises: The image acquisition component (5) is controlled to cruise along the fourth attribute point (9) from the starting point in the first attribute point (6) to the end point in the first attribute point (6), to capture an image of the second attribute point (7), and to change the cruise direction at the third attribute point (8).

Images