Bird repelling system adopting bird repelling unmanned aerial vehicle and bird repelling method thereof

Abstract

The invention belongs to the technical field of intelligent bird repelling, solves the defects of low intelligent degree and poor bird repelling effect in bird repelling in the prior art, and provides a bird repelling system adopting bird repelling unmanned aerial vehicles and a bird repelling method thereof.The bird repelling system comprises the multiple bird repelling unmanned aerial vehicles and a center console, and the multiple bird repelling unmanned aerial vehicles comprise the first bird repelling unmanned aerial vehicle; the bird repelling method comprises the steps that a first bird repelling unmanned aerial vehicle is controlled to fly in a preset flight area according to a preset flight route; the first bird repelling unmanned aerial vehicle judges detection information obtained by detecting the existence condition and the orientation of the birds in the flying process; when it is judged that the birds exist, the detected birds are captured, and a captured picture is generated; generating identification information according to the captured picture so as to determine sounding information according to the identification information; and controlling the first bird repelling unmanned aerial vehicle to sound according to the sound production information to repel birds. The bird repelling system adopting the bird repelling unmanned aerial vehicle and the bird repelling method of the bird repelling system have the advantages of being high in bird repelling intelligence degree and good in bird repelling effect.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent bird-repelling technology, and in particular to a bird-repelling system and a bird-repelling method using a bird-repelling drone. Background Art

[0002] With the improvement of the environment and the increasing awareness of human beings on bird protection, the number and species of birds are increasing, resulting in an increasing number of problems such as food problems caused by birds eating and destroying crops in farmland, aviation safety problems caused by collisions with aircraft, and more and more power failures such as flashover and short circuits caused by birds stopping on power lines.

[0003] To address the food shortages caused by birds, there are several common methods of bird repelling: Manual bird repelling: Birds are most harmful in the early morning, midday, and dusk. Arrive at the fields early and repel the birds promptly. Check and re-escape the birds after 15 minutes, and generally re-escape 3-5 times during each period. This method is time-consuming and labor-intensive. Sound repelling: Record sounds such as knocking, firecrackers, hawk calls, and bird cries, and play them at high volume in the fields at irregular intervals to repel birds. Sound equipment should be placed around crops and at bird entrances, amplifying the sound through wind direction and echo. However, this will have a significant noise impact on nearby residents. Object-based bird repelling: Place dummies, fake hawks, etc. in the fields. This may prevent the intrusion of harmful birds in the short term, but will be ineffective in the long term.

[0004] Regarding the aviation safety issues brought by birds, since bird strikes are defined by the International Civil Aviation Organization as one of the major hazards of Class A air accidents, in order to protect aviation safety and safeguard the property and life safety of passengers, airports have adopted various bird-repelling measures, such as: bird-repelling scarecrows, inflatable people, automatic laser bird repellents, bird-repelling falcons, bird-repelling vehicles, bird-detecting radars and other means. However, these solutions have defects such as being easily restricted by time and airspace and having poor bird-repelling effects.

[0005] For power failures caused by birds, a common method is to use bird-proofing spikes. This involves installing radial upward spikes on power lines to prevent birds from stopping and nesting. However, this method has a limited bird-repellent protection radius, the spikes age and fall off easily, and it may also affect maintenance work.

[0006] Based on the fixed bird-repelling methods adopted to address the above three problems caused by birds, although some technologies have been developed to achieve mobile bird-repelling by installing bird natural enemy tracking devices on drones, the bird natural enemy tracking devices on drones have a large size, such as eagle tracking devices. The large tracking devices are easily affected by the flying wind speed and natural wind speed during flight, causing the drone to rise and fall violently, yaw, or even fall, resulting in low reliability. In addition, the bird species targeted are single, resulting in poor bird-repelling effect.

[0007] In summary, the existing technology has the shortcomings of low intelligence and poor bird-repelling effect for bird repelling. Therefore, there is an urgent need to provide a bird-repelling system and a bird-repelling method using a bird-repelling drone with high intelligence and good bird-repelling effect. Summary of the Invention

[0008] The present invention addresses the shortcomings of the above-mentioned prior art in bird repelling, which have low intelligence and poor effect. To achieve one purpose of the present invention, a bird repelling method of a bird repelling system using a bird repelling drone is provided. The bird repelling system includes multiple bird repelling drones and a central control console, and the multiple bird repelling drones include a first bird repelling drone. The bird repelling method includes: controlling the first bird repelling drone to fly in a preset flight area and a preset flight route; the first bird repelling drone judges the detection information obtained by detecting the presence and position of birds during the flight; when it is determined that birds exist, the detected birds are captured and a captured picture is generated; identification information is generated according to the captured picture, and sound information is determined according to the identification information; and the first bird repelling drone is controlled to make sounds according to the sound information to repel birds.

[0009] Furthermore, the step of controlling the first bird-scaring drone to fly in a preset flight area along a preset flight route includes: controlling the first bird-scaring drone to automatically cruise within the preset flight area and at a preset distance from the vertical edge of the area; obtaining environmental factors along the preset flight route; and controlling the first bird-scaring drone to adjust the flight altitude and flight speed on the preset flight route in response to the environmental factors.

[0010] Furthermore, when it is determined that birds are present, the steps of capturing the detected birds and generating captured pictures include: adjusting the flight direction of the first bird-scaring UAV according to the detection information so as to track the birds; adjusting the flight posture of the first bird-scaring UAV so as to capture the detected birds at the desired location; and generating a long-range captured picture and a close-up captured picture of the captured birds.

[0011] Furthermore, the step of generating identification information based on the captured pictures and then determining the sound information from the identification information includes: determining the number of birds based on the distant captured pictures; determining the type of birds based on the close-up captured pictures; and determining the ultrasonic frequency and / or voice content in the sound information based on the type of birds.

[0012] Furthermore, the multiple bird-repellent drones also include multiple second bird-repellent drones, the first bird-repellent drone is used to be in a flying state first, and the second bird-repellent drone is used to be in a ready-to-fly state; the bird-repellent method also includes, before the step of controlling the first bird-repellent drone to make sounds to repel birds according to the sound information: obtaining detection information, capturing pictures and real-time location information of the first bird-repellent drone; determining bird-repellent team information according to the detection information and the captured pictures and determining flight route information according to the real-time location information; determining a corresponding number of second bird-repellent drones to enter a flight state according to the bird-repellent team information; controlling the second bird-repellent drones to fly to a preset range of the first bird-repellent drone according to the flight route information so as to jointly participate in bird repelling; controlling the second bird-repellent drones to make sounds according to the sound information to repel birds.

[0013] Furthermore, the step of determining a corresponding number of second bird-repellent drones to enter a flight state based on the bird-repellent team information includes: dividing the second bird-repellent drones and birds into corresponding multiple groups based on the detection information and identification information; determining corresponding flight route information for each group of second bird-repellent drones; controlling the second bird-repellent drones to fly within a preset range of the first bird-repellent drone according to the flight route information so as to jointly participate in the bird-repelling step includes: controlling the first bird-repellent drone to keep tracking the detected birds before each group of second bird-repellent drones flies within the preset range of the first bird-repellent drone according to their corresponding flight route information; controlling the second bird-repellent drones to fly within the preset range of the first bird-repellent drone in different groups and with their respective corresponding flight route information so as to drive away the birds in the corresponding groups accordingly.

[0014] Furthermore, controlling the second bird-repelling drone to fly within the preset range of the first bird-repelling drone according to the flight route information so as to jointly participate in the bird-repelling step also includes: when each group of second bird-repelling drones flies to the preset range of the first bird-repelling drone and carries out bird-repelling, dynamically adjusting the total number of groups and the number of second bird-repelling drones in each group according to the flight distribution of each group of birds after being driven away; controlling the second bird-repelling drones in each group to fly along the flight route closest to the vertical edge of the preset flight area, thereby driving the corresponding groups of birds out of the preset flight area; the step of controlling the first bird-repelling drone to make sound according to the sound information to drive away birds includes: controlling the first bird-repelling drone to make sound according to the sound information to drive away birds in a manner that targets the group of birds closest to it.

[0015] To achieve another object of the present invention, a bird-repelling system using a bird-repelling drone is provided, comprising a plurality of bird-repelling drones and a central control console; the bird-repelling drone comprises a bird-repelling control module, the bird-repelling control module comprises a detection module, a visual detection module, a sound module and a communication interaction module; the central control console comprises an information transceiver module, an identification and judgment module, an operation and processing module and a flight control module; the detection module is used to detect the presence and position of birds and generate detection information; the visual detection module is used to capture birds in flight and generate captured images; the communication interaction module is used to maintain communication with the information transceiver module; the plurality of bird-repelling drones comprises a first first first first second ... The bird-repellent drone, when the first bird-repellent drone determines the presence of birds based on detection information, controls the visual detection module to generate a captured image; the communication interaction module of the first bird-repellent drone sends the captured image and detection information to the information transceiver module, and the information transceiver module transmits the captured image to the recognition and judgment module and transmits the detection information to the operation and processing module; the recognition and judgment module recognizes and judges the captured image to generate recognition information; the operation and processing module is used to determine the sound information based on the recognition information; the information transceiver module sends the sound information to the communication interaction module of the first bird-repellent drone, so that the sound module of the first bird-repellent drone makes a sound based on the sound information to repel birds.

[0016] Furthermore, the multiple bird-repellent drones also include other second bird-repellent drones in a ready-to-fly state in addition to the first bird-repellent drone; the bird-repellent control module also includes a position determination module, which is used to generate real-time position information of the bird-repellent drone in real time; the communication interaction module of the first bird-repellent drone also sends the real-time position information to the information transceiver module, and the information transceiver module transmits the real-time position information to the operation and processing module; the operation and processing module is also used to determine the bird-repellent team information based on the detection information and determine the flight route information based on the real-time position information; the flight control module is also used to determine the corresponding number of second bird-repellent drones to enter the flight state according to the bird-repellent team information, and control the second bird-repellent drones to fly to the preset range of the first bird-repellent drone according to the flight route information, so as to jointly participate in bird-repelling; the information transceiver module also sends sound information to the communication interaction module of each second bird-repellent drone, so that the sound module of the second bird-repellent drone makes sound according to the sound information to drive away birds.

[0017] Furthermore, the flight control module controls the first bird-repellent UAV to fly in an automatic cruise mode in a preset flight area. During the flight, the first bird-repellent UAV captures the detected birds according to the detection information and generates a captured picture. The identification information includes the bird species, and the detection information includes the number of birds and the bird coordinates. The bird coordinates are the coordinates corresponding to the preset flight area; the operation processing module simultaneously divides the second bird-repellent UAVs and the birds into corresponding groups according to the identification information and the detection information, and determines the corresponding flight route information for each group of second bird-repellent UAVs. Before each group of second bird-repellent UAVs flies to the preset position of the first bird-repellent UAV according to its corresponding flight route information, the flight control module controls the first bird-repellent UAV to keep tracking the detected birds according to the detection information, and the second bird-repellent UAVs fly to the preset position of the first bird-repellent UAV with their respective corresponding flight route information, thereby respectively driving away the birds in the corresponding groups.

[0018] The beneficial effects of the present invention are:

[0019] The bird-repelling system and bird-repelling method using a bird-repelling drone provided by the present invention utilize a first bird-repelling drone to fly according to a preset flight route to an area where birds need to be repelled, and can automatically detect birds during the flight, generate captured pictures to obtain identification information and then obtain sound information. Therefore, it can not only detect birds in a timely manner, but also distinguish bird types and generate corresponding repelling sounds. Therefore, it has the advantages of high intelligence and good bird-repelling effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work, and these are all within the scope of protection of the present invention.

[0021] Figure 1 This is a flowchart of the steps of a bird-repelling method using a bird-repelling drone system provided by an embodiment of the present invention;

[0022] Figure 2 1 is a schematic diagram of the structure of a bird-repelling system using a bird-repelling drone provided in an embodiment of the present invention;

[0023] Figure 3 A schematic structural diagram of a bird-repelling drone of a bird-repelling system provided by an embodiment of the present invention, viewed from the front sight axis;

[0024] Figure 4 A schematic structural diagram of a bird-repelling drone of a bird-repelling system provided by an embodiment of the present invention in the rear axial direction;

[0025] Figure 5A schematic structural diagram of a bird-repelling drone of a bird-repelling system provided by an embodiment of the present invention, viewed from the upward axis;

[0026] Figure 6 To correspond to Figure 5 The structural diagram of the second shell is omitted;

[0027] Figure 7 A schematic structural diagram of a fixing frame of a bird-repelling drone of a bird-repelling system provided by an embodiment of the present invention;

[0028] Description of reference numerals:

[0029] 1. Casing; 11. Bottom casing; 111. First positioning protrusion; 112. Second positioning protrusion; 12. Top casing; 13. Side casing; 131. Third positioning protrusion; 2. Flight drive component; 21. First propeller; 22. Second propeller; 3. Sound-generating device; 31. First shell; 311. First fixing hole; 32. Second shell; 321. Sound-transmitting hole; 33. Rechargeable battery; 4. Fixing assembly; 41. Fixing frame; 411. Bottom plate; 4111. First positioning hole; 4112. Second positioning hole; 412. Fixing plate; 4121. Second fixing hole; 413. Elastic clamp; 4131. Third positioning hole; 4132. Reinforcement plate; 4133. Opening; 4134. Fixing slot; 42. Fixing clip. DETAILED DESCRIPTION

[0030] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and Examples. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present invention by illustrating examples of the present invention.

[0031] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0032] It should be noted that all actions of acquiring signals, information or data in the present invention are performed in compliance with the corresponding local data protection laws and policies and with authorization from the corresponding device owner.

[0033] Example 1

[0034] See Figure 1 As an object of the present invention, an embodiment of the present invention provides a bird-repelling method using a bird-repelling drone system, wherein the bird-repelling system includes multiple bird-repelling drones and a central console, wherein the multiple bird-repelling drones include a first bird-repelling drone, and the central console can be understood as a drone central control console equipped with a display screen, a drone operating handle, etc. The central console is connected to the Internet via a wired or wireless connection and can be connected to a large artificial intelligence model in a local deployment or networking manner. In addition, the specific structure of the bird-repelling drone will be further described in detail below. The bird-repelling method includes:

[0035] S1. Control the first bird-scaring drone to fly in a preset flight area and along a preset flight route;

[0036] Specifically, the preset flight area can be the area occupied by farmland, or the area along the power lines, especially the ultra-high voltage power lines in remote areas, or the adjacent area close to the no-fly zone determined on the premise of meeting the suitable airspace for civil airports for civil aircraft and the low-altitude flight routes of low-altitude aircraft. Generally speaking, the airport clearance protection zone for civil airports is an area designated to ensure the safety of aircraft takeoff and landing, and usually expands outward from the airport runway as the center. The specific ranges of different airports may vary slightly, but generally follow the following standards: lateral range: 10 kilometers on each side of the runway centerline; longitudinal range: 20 kilometers on each end of the runway. Therefore, the suitable flight airspace must at least be outside the airport's clear air protection zone. For drones, that is, the bird-scaring drones applicable to the present invention, their flight altitude must not exceed 120 meters. No-fly zones include airport clear air zones, military restricted areas, and airspace over government agencies. Flights are prohibited without approval. The suitable flight airspace is an area outside the controlled airspace. Light and small drones are allowed to fly within visual range in this area, but they must still comply with altitude restrictions. In addition, the preset flight area described in the present invention can be an area that has completed registration, filing, and takeoff and landing through the "National Unmanned Aerial Vehicle Integrated Comprehensive Supervision Service Platform." In summary, the preset flight area is an area that complies with laws and regulations and allows the bird-scaring drone of the present invention to fly, and is more likely to be infested by birds, which may cause problems such as food, aviation safety, and power failures. In addition, in the present invention, the preset flight area is taken as an example of the range of farmland where birds that devour food need to be driven away.

[0037] Furthermore, based on the determination of the preset flight area, a preset flight route can be determined based on the preset flight area, especially the vertical edge position surrounding the preset flight area, thereby driving harmful birds (further detailed below) away from the preset flight area in the initial stage. In addition, a flight route can be formed starting from the vertical edge position, and multiple additional flight routes can be formed by gradually shrinking parallel to the initial flight route at preset distances toward the center of the preset flight area. Generally speaking, the preset flight area is generally set to have a rectangular projection on the ground. The initial flight route and the additional flight routes form multiple rectangular edges with overlapping center points and shrinking parallel to each other, thereby forming multiple lines of defense for repelling birds. Therefore, the preset flight route can be set according to actual needs, and the preset flight route can be pre-stored in the storage module of the control module of the first bird-repelling drone, so that the first bird-repelling drone can autonomously cruise along the preset flight route. It can also be stored or adjusted by the central console to remotely control the first bird-repelling drone to automatically cruise along the preset flight route.

[0038] S3. The first bird-scaring UAV determines the detection information obtained by detecting the presence and position of birds during flight;

[0039] Specifically, the detection information is obtained and judged by the detection module included in the bird-repelling control module of the bird-repelling drone. More specifically, the detection module may include a microwave radar and an infrared detector, so as to accurately detect whether there are birds within a certain distance from it and their relative position.

[0040] S5. When it is determined that a bird exists, the detected bird is captured and a captured image is generated;

[0041] Specifically, the captured image is generated by a snapshot camera with a visual dynamic tracking function included in the visual detection module of the bird-scaring drone. This type of snapshot camera belongs to existing technology and will not be described in detail here. Thus, the first bird-scaring drone can capture birds in flight and obtain captured images sufficient for subsequent generation of reliable and accurate identification information.

[0042] S7, generating identification information based on the captured image and determining the sound information based on the identification information;

[0043] Specifically, the recognition and judgment module of the central console or a similar recognition and judgment module set in the bird-repelling control module of the bird-repelling drone can be used to perform convolutional neural network processing on the captured images to obtain recognition information for distinguishing harmful birds from harmless birds. Then, through the preset mapping database of bird species and sound patterns, the sound information such as ultrasonic frequency and / or voice content can be determined. Ultrasonic waves can stimulate the nervous system of harmful birds and make them depressed and uncomfortable, and voice content can scare birds, so that both can achieve the purpose of driving harmful birds away from the preset flight area. Therefore, the repellent described in the manual The objects of chasing or driving away birds refer to harmful birds that may cause problems such as food, aviation safety, and power failures due to their easy appearance, and are simply referred to as birds. For example, for food problems, harmful birds are generally sparrows and pigeons, and the identification information is 25kHz-60kHz ultrasound and pre-recorded or real-time collected voice content such as the calls of bird natural enemies, alarms, gunshots, explosions, etc.; for power failure problems, harmful birds are generally magpies and turtledoves, and the identification information is 20kHz-25kHz ultrasound; therefore, the corresponding vocal information can be determined for different bird species through identification information, so that birds can be driven away in a targeted manner.

[0044] S9. Control the first bird-repelling drone to make sounds to repel birds according to the sound information.

[0045] Specifically, the generation information is executed by the sound module included in the bird-repellent control module of the bird-repellent drone. More specifically, the sound module may include two sound devices for emitting ultrasonic waves and voice respectively. Since from a physical point of view, ultrasonic waves and voice are both sounds, the two are collectively referred to as sounds in this article. At least one of the two sound devices makes sounds for the determined bird species, thereby achieving a targeted bird-repellent effect.

[0046] As described above, the bird-repelling method of the bird-repelling system using a bird-repelling drone provided by the present invention utilizes a first bird-repelling drone to fly according to a preset flight route to an area where birds need to be repelled, and during the flight, it can automatically detect birds, generate captured pictures to obtain identification information and then obtain sound information. Therefore, it can not only detect birds in a timely manner, but also distinguish bird types and generate corresponding repelling sounds, thereby achieving a technical effect of high intelligence and good bird-repelling effect.

[0047] Preferably, step S1 of controlling the first bird-repelling drone to fly in a preset flight area and along a preset flight route includes:

[0048] S11, controlling the first bird-scaring drone to automatically cruise within a preset flight area and at a preset distance from a vertical edge of the area;

[0049] Specifically, the preset flight area is generally a projection surface with the above-mentioned rectangular shape, so that the vertical edge of the area corresponds to the rectangular edge projected on the ground. Therefore, by adopting a preset distance, the bird-repelling operation of the first bird-repelling UAV can be provided with a certain reserved flight space, and the number of unnecessary bird-repelling operations can be reduced to a certain extent. The use of automatic cruise can improve the intelligence and efficiency of the bird-repelling.

[0050] S12. Obtaining environmental factors along the preset flight route;

[0051] Specifically, environmental factors may include mountains, climate, living areas and uninhabited areas, etc. These factors can be obtained in advance using map information stored in the central console or weather information received, or can be obtained using a snapshot camera or other camera during the flight of the first bird-scaring drone.

[0052] S13. Controlling the first bird-scaring UAV to adjust the flight altitude and flight speed according to environmental factors along the preset flight route.

[0053] Preferably, when the first bird-scaring drone passes through cloudy weather, the flight altitude is lowered; when the first bird-scaring drone passes through many high mountains, the flight altitude is increased; when the first bird-scaring drone passes through a living area, the flight altitude is increased and the flight speed is reduced. In short, the corresponding adjustment of the flight altitude and flight speed according to the actual environmental factors has achieved the goal of reducing the adverse effects of the environment on flight and improving the accuracy of bird detection.

[0054] By adopting the above steps S11 to S13, the bird-repelling method can be operated with higher intelligence and efficiency and the accuracy of bird detection can be significantly improved.

[0055] Please refer to, preferably, when it is determined that there are birds, the step S5 of capturing the detected birds and generating a captured image includes:

[0056] S51. Adjust the flight direction of the first bird-scaring drone based on the detection information to track the bird;

[0057] Specifically, after obtaining detection information using microwave radar and infrared detectors, the direction of the birds can be determined, and the flight direction of the first bird-scaring drone, which is originally flying according to a preset flight route, can be adjusted to achieve the purpose of better tracking the detected birds at a certain distance that is not easily detected by the birds.

[0058] S52, adjusting the flight attitude of the first bird-scaring UAV so as to capture the detected bird at the position;

[0059] Preferably, the flight attitude is adjusted in a comprehensive and overall manner by adjusting the flight altitude of the first bird-scaring drone while adjusting the capture camera toward the birds, thereby obtaining high-quality captured images with high resolution and high confidence, for example.

[0060] S53: Generate a distant view capture image and a close view capture image for the captured bird.

[0061] Specifically, long-range captured images can provide identification information on the number of birds, while close-range captured images can provide information on the number and species of birds, thereby facilitating more targeted bird repelling measures in the future.

[0062] By adopting the above steps S51 to S53, the bird-repelling method can not only obtain high-quality captured pictures, but also obtain a variety of pictures that fully reflect the number and types of birds.

[0063] Please refer to the embodiment of the present invention. Preferably, generating identification information according to the captured image and determining the sound information according to the identification information in step S7 includes:

[0064] S71. Capture pictures based on the distant view and determine the number of birds;

[0065] Since long-range capture images can reflect the characteristics of an entire bird group, especially when there are multiple long-range capture images that verify each other, the number of birds can be accurately determined.

[0066] S72. Determine the species of the bird based on the close-up captured image;

[0067] Since close-up images can reflect the individual characteristics of birds such as body shape, feathers, and face, especially when there are multiple close-up images to verify each other, the species of birds can be accurately determined.

[0068] S73. Determine the ultrasonic frequency and / or voice content in the vocalization information according to the type of bird.

[0069] Based on the determination of bird species using close-up images, the number of birds determined by long-range images can be used to determine the group situation of bird flight, and the group situation of whether the birds fly alone or in groups can be used to further verify the determined bird species. Then, based on the bird species, the ultrasonic frequency and / or voice content for the bird can be accurately determined. In the present invention, the frequency range of the ultrasonic wave is set to 12kHz-50kHz, and the sound pressure level of the voice content is set to 90dB-120dB / meter.

[0070] By adopting the above steps S71 to S73, the bird-repelling method can accurately obtain the species and number of birds, thereby accurately determining the sound information to obtain an excellent bird-repelling effect.

[0071] Preferably, the multiple bird-repellent drones also include multiple second bird-repellent drones. The first bird-repellent drones are used to be in a flying state first, and preferably a small number or even a single one is used. The second bird-repellent drones are used to be in a ready-to-fly state. It should be noted that, except for the different flight order, the two second bird-repellent drones have the same structure and function.

[0072] The bird-repelling method further includes, before step S9 of controlling the first bird-repelling drone to emit sound according to the sound information to repel birds:

[0073] S81, obtaining detection information, capturing pictures and real-time location information of the first bird-scaring UAV;

[0074] Specifically, the real-time location information is generated in real time by a location determination module, for example, using Beidou technology, included in the bird-repelling control module of the bird-repelling UAV.

[0075] S82, determining bird-repelling team information based on the detection information and determining flight route information based on the real-time location information;

[0076] Specifically, when the positions of multiple birds are determined by the detection information obtained through the microwave radar and the infrared detector, and when the captured pattern contains multiple birds, when the number of the multiple birds exceeds a first preset value, it is necessary to determine the bird-scaring team information and real-time position information to provide a basis for subsequent control of the second bird-scaring drone to enter the flight state.

[0077] S83, determining a corresponding number of second bird-repellent drones to enter a flight state according to the bird-repellent team information;

[0078] Specifically, since the number of birds exceeds the first preset value, a small number of or even a single first bird-repelling drone cannot guarantee a reliable bird-repelling effect, and thus a corresponding number of second bird-repelling drones need to be added to drive away the birds. The corresponding number can be actually determined based on the actual number, type, flight density, etc. of the birds.

[0079] S84, controlling the second bird-repelling drone to fly to a preset range of the first bird-repelling drone according to the flight route information so as to jointly participate in the bird-repelling operation;

[0080] Preferably, the preset range of the first bird-repelling drone is a range in which the sound emitted by the second bird-repelling drone can have a bird-repelling effect.

[0081] S85. Control the second bird-repelling drone to emit sound according to the sound information to repel birds.

[0082] Specifically, the second bird-repelling drone can emit corresponding ultrasonic waves and / or voice content according to the type of bird. It can be seen that at the same time, the first bird-repelling drone also makes the same sound as the second bird-repelling drone.

[0083] By adopting the above steps S81 to S85, when the number of birds exceeds that of a small number of the first bird-repelling drones, a corresponding number of second bird-repelling drones corresponding to the number of birds can be controlled to join in the bird-repelling, thereby further improving the bird-repelling effect, especially for bird flocks.

[0084] Preferably, the step S83 of determining a corresponding number of second bird-repelling drones to enter a flight state according to the bird-repelling team information includes:

[0085] S831. Divide the second bird-repelling drone and the birds into corresponding groups based on the detection information and the identification information.

[0086] Specifically, when the number of birds exceeds the second preset value, the second preset value is greater than the first preset value. Since the number of birds is greater than the first preset value, the number of second bird-repellent drones entering the flight state will also increase accordingly. Therefore, the second bird-repellent drones and birds can be divided into multiple equal groups.

[0087] S832: Determine corresponding flight route information for each group of second bird-repelling drones;

[0088] Specifically, referring to the above-mentioned method for determining the flight route information, the flight route information of each group of second bird-scaring drones can be determined according to the coordinate center position of each group of birds.

[0089] Preferably, controlling the second bird-repelling drone to fly to within a preset range of the first bird-repelling drone according to the flight route information so as to jointly participate in the bird-repelling step S84 includes:

[0090] S841. Before each group of second bird-repellent drones arrives within a preset range of the first bird-repellent drone according to its corresponding flight route information, control the first bird-repellent drone to keep tracking the detected birds;

[0091] Specifically, in order to prevent the first bird-scaring drone from driving away a large number of birds and causing them to scatter and be outnumbered, before each group of second bird-scaring drones arrives to participate in the bird-scaring, the first bird-scaring drone only tracks the birds.

[0092] S842: Control the second bird-repelling drones to fly in different groups and according to their corresponding flight route information to a preset range of the first bird-repelling drone, thereby repelling birds in corresponding groups.

[0093] In this way, after each group of second bird-repellent drones flies to the position where they can make sounds to repel birds, each group of second bird-repellent drones can repel the corresponding group of birds. Even if each group of birds flies in different directions, there will be a corresponding second bird-repellent drone to track and repel them.

[0094] By adopting the above steps S841 to S842, when the number of birds greatly exceeds that which can be driven away by a small number of the first bird-repelling drones, the second bird-repelling drones can be divided into multiple groups corresponding to the number of bird groups to carry out bird repelling, thereby significantly improving the targeting and bird-repelling effect.

[0095] Preferably, controlling the second bird-repelling drone to fly to within a preset range of the first bird-repelling drone according to the flight route information so as to jointly participate in the bird-repelling step S84 further includes:

[0096] S843. When each group of second bird-repelling drones arrives at the preset range of the first bird-repelling drone and carries out bird-repelling, dynamically adjust the total number of groups of second bird-repelling drones and the number of second bird-repelling drones in each group according to the flight distribution of each group of birds after being repelled;

[0097] Specifically, since the direction in which each group of birds is driven to fly away is often random, the number of birds flying in basically the same direction will change. Therefore, the total number of birds flying in basically the same direction and the number in each group will change, so the total number of groups and the number in each group of the second bird-scaring drone need to be dynamically adjusted according to this change.

[0098] S844, controlling the second bird-repelling drone in each group to fly along a flight path closest to the vertical edge of the preset flight area, thereby driving the corresponding group of birds out of the preset flight area;

[0099] Specifically, each group of second bird-repelling drones after dynamic adjustment will drive the corresponding groups of birds out of the preset flight area along the direction of the vertical edge of the area closest to the preset flight area, so that the repelling is highly targeted and efficient.

[0100] The step S9 of controlling the first bird-repelling drone to emit sound to repel birds according to the sound information includes:

[0101] S91. Control the first bird-repelling drone to target a group of birds closest to it and make sounds based on the sound information to repel the birds.

[0102] In this case, the first bird-scaring drone participates as an additional participant in the bird-scaring of the second bird-scaring drone in one group, and the first bird-scaring drone drives away the group of birds closest to it. This way, the driving away is more direct and has relatively little impact on the scattering of other groups.

[0103] Example 2

[0104] See Figure 2 As another object of the present invention, an embodiment of the present invention provides a bird-repelling system using a bird-repelling drone. The bird-repelling system can implement the above-mentioned bird-repelling method. Therefore, Example 2 and Example 1 can refer to each other and, when there is no conflict, work together to achieve the purpose of the present invention. The bird-repelling system can obtain the technical effect corresponding to the above-mentioned bird-repelling method, which will not be repeated here.

[0105] The bird-repelling system using bird-repelling drones includes multiple bird-repelling drones and a central control console.

[0106] The bird-repelling drone includes a bird-repelling control module, which includes a detection module, a visual detection module, a sound module, and a communication and interaction module. The central control console includes an information transceiver module, a recognition and judgment module, a calculation and processing module, and a flight control module.

[0107] The detection module is used to detect the presence and location of birds and generate detection information; the visual detection module is used to capture birds in flight and generate captured images; and the communication and interaction module is used to maintain communication with the information transceiver module. The multiple bird-repelling drones include a first bird-repelling drone that is initially in flight. When the first bird-repelling drone determines the presence of birds based on the detection information, it controls the visual detection module to generate a captured image. The communication and interaction module of the first bird-repelling drone transmits the captured image and the detection information to the information transceiver module, which transmits the captured image to the recognition and judgment module and the detection information to the calculation and processing module. The recognition and judgment module identifies and judges the captured image to generate identification information; the calculation and processing module determines sound information based on the identification information; the information transceiver module transmits the sound information to the communication and interaction module of the first bird-repelling drone, so that the sound module of the first bird-repelling drone emits sound based on the sound information to repel birds.

[0108] Preferably, the multiple bird-repelling drones also include, in addition to the first bird-repelling drone, second bird-repelling drones in a flight-ready state. The bird-repelling control module also includes a location determination module, which is configured to generate real-time location information for each bird-repelling drone. The communication and interaction module of each first bird-repelling drone also transmits the real-time location information to the information transceiver module, which in turn transmits the real-time location information to the processing module. The processing module is further configured to determine bird-repelling team information based on the detection information and flight route information based on the real-time location information. The flight control module is further configured to determine a corresponding number of second bird-repelling drones to enter flight based on the bird-repelling team information and control the second bird-repelling drones to fly within a preset range of the first bird-repelling drones according to the flight route information, thereby jointly participating in the bird-repelling operation. The information transceiver module also transmits sound information to the communication and interaction module of each second bird-repelling drone, so that the sound modules of the second bird-repelling drones emit sound according to the sound information to repel birds.

[0109] Preferably, the flight control module controls the first bird-repelling drone to fly in an automatic cruise mode within a preset flight area. During flight, the first bird-repelling drone captures detected birds based on detection information and generates captured images. The identification information includes the bird species, and the detection information includes the number of birds and the bird coordinates, where the bird coordinates correspond to coordinates within the preset flight area. The processing module also divides the second bird-repelling drones and birds into corresponding groups based on the identification information and the detection information, and determines corresponding flight path information for each group of second bird-repelling drones. Before each group of second bird-repelling drones arrives at a preset position of the first bird-repelling drone according to its corresponding flight path information, the flight control module controls the first bird-repelling drone based on the detection information to maintain tracking of the detected birds. The second bird-repelling drones then fly to the preset position of the first bird-repelling drone using their respective flight path information, thereby repelling the birds in the corresponding group.

[0110] Preferably, after each group of subsequent bird-repellent drones arrives near the first bird-repellent drone according to their respective flight route information, the communication interaction module of the subsequent bird-repellent drone sends the detection information to the information transceiver module, and the flight control module determines the flight distribution of the birds after being driven away based on all the detection information, dynamically adjusts the total number of groups of subsequent bird-repellent drones and the number of birds in each group, and controls the subsequent bird-repellent drones in each group to fly along the flight route closest to the edge of the preset flight area, thereby driving the corresponding groups of birds out of the preset flight area.

[0111] Example 3

[0112] See also Figures 3 to 7 As another object of the present invention, an embodiment of the present invention provides a bird-repelling drone for use in the above-mentioned bird-repelling system. The bird-repelling drone comprises a housing 1, a pair of sound-generating devices 3 serving as sound-generating modules, and a fixing assembly 4. The housing 1 is provided with a flight drive 2; at least one of the sound-generating devices 3 operates to produce bird-repelling sounds. The fixing assembly 4 symmetrically secures the pair of sound-generating devices 3 to either side of the housing 1. Therefore, the bird-repelling drone provided by the present invention, by providing the sound-generating devices 3 and securing them to either side of the housing 1 using the fixing assembly 4, not only is the sound-generating device 3 relatively small, but also less susceptible to the effects of wind speed and natural wind speed, which could cause the drone to rise and fall violently, yaw, or even fall during flight, thereby ensuring high reliability. Furthermore, the sounds generated by the sound-generating devices 3 can be flexibly invoked based on pre-stored sound information for different bird species, making it suitable for repelling a variety of bird species and achieving excellent bird-repelling effectiveness.

[0113] Please refer to Figures 4 to 6Specifically, the housing 1 includes a bottom housing 11, a top housing 12, and a pair of side housings 13. The two side housings 13 are opposite to each other and are respectively connected between the bottom housing 11 and the top housing 12. The sound-emitting device 3 includes a first shell 31 and a second shell 32 fixed to each other to form a cavity. The first shell 31 is provided with a first fixing hole 311, and the second shell 32 is provided with a sound-transmitting hole 321. The fixing assembly 4 includes a fixing frame 41 and a fixing clamp 42. The fixing frame 41 includes a bottom plate 411, a pair of fixing plates 412, and a pair of elastic clamps 42 spaced apart from each other. 13, a pair of elastic clamps 413 extend from both sides of the fixing plate 412 in a direction away from the fixing plate 412, and a fixing plate 412 provided on each of the pair of elastic clamps 413 extends relatively away from each other. The bottom plate 411 abuts against the bottom shell 11, and the pair of elastic clamps 413 are clamped on the outside of the pair of machine side shells 13. The fixing clamp 42 connects the pair of elastic clamps 413 above the top shell 12. A second fixing hole 4121 is provided on the fixing plate 412, and the first fixing hole 311 and the second fixing hole 4121 are connected and fixed by a fixing piece. In this way, the fixing assembly 4 can reliably fix the pair of sound-generating devices 3 on both sides of the machine side shell 13, ensuring the high reliability of the bird-repelling drone.

[0114] Please refer to Figure 5 and Figure 7 Preferably, the bottom shell 11 is provided with a first positioning protrusion 111 and a second positioning protrusion 112, and the bottom plate 411 is provided with a first positioning hole 4111 and a second positioning hole 4112. The first positioning protrusion 111 and the second positioning protrusion 112 are respectively positioned opposite to the first positioning hole 4111 and the second positioning hole 4112, thereby positioning the bottom plate 411 in a fixed position on the bottom shell 11. The pair of side shells 13 are each provided with a third positioning protrusion 131, and the pair of elastic clamping plates 413 are each provided with a third positioning hole 4131. The third positioning protrusion 131 is respectively positioned opposite to the third positioning hole 4131, thereby positioning the elastic clamping plates 413 in a fixed position on the side shells 13. In this way, the fixing bracket 41 can be well positioned on all four shell parts of the shell 1, thereby ensuring that the pair of sound-emitting devices 3 are symmetrically fixed on both sides of the shell 1, which not only ensures the flight balance of the bird-repelling drone, but also ensures good propagation symmetry when the two sound-emitting devices 3 emit sounds simultaneously.

[0115] Please refer to reference 4 and Figure 7Preferably, multiple pairs of opposing reinforcing plates 4132 are provided on the pair of elastic clamping plates 413. Each reinforcing plate 4132 on each elastic clamping plate 413 is arranged perpendicularly relative to the fixed plate 412. The first end of the reinforcing plate 4132 is connected to the fixed plate 412 and extends from the first end to the second end in a direction perpendicularly away from the fixed plate 412. Therefore, by symmetrically arranging multiple pairs of reinforcing plates 4132, the elastic clamping plates 413 have high structural strength and sufficient elastic restoring force, thereby ensuring that the elastic clamping plates 413 exert a sufficiently large elastic force on the machine-side housing 13 to clamp the machine-side housing 13, thereby ensuring that the pair of sound-emitting devices 3 are well-positioned and securely fixed.

[0116] Please refer to Figure 7 Preferably, the bottom plate 411 and the elastic clamping plate 413 are both set to be an outward-protruding arc shape, the outer side surface of the reinforcing plate 4132 facing away from the elastic clamping plate 413 is set to a circular arc surface, and the reinforcing plate 4132 is gradually reduced from the second end relative to the first end. Therefore, the bottom plate 411 and the elastic clamping plate 413 with an outward-protruding arc shape can respectively better elastically abut against the bottom shell 11 and the side shell 13, and the tapered reinforcing plate 4132 can enhance the fixed connection between the fixing plate 412 and the elastic clamping plate 413 and reduce wind resistance.

[0117] Please refer to Figure 7 Preferably, a pair of elastic clamping plates 413 is further provided with multiple pairs of opposing openings 4133. The vertical centerline of each opening 4133 on the elastic clamping plates 413 extends perpendicularly to the intersection of the fixing plate 412 on the elastic clamping plates 413. In other words, the openings 4133 on each elastic clamping plate 413 are arranged horizontally parallel to one another. The openings 4133 are configured as waist-shaped holes, with a reinforcing plate 4132 positioned between adjacent openings 4133. In this manner, the waist-shaped openings 4133 increase the elastic restoring force of the elastic clamping plates 413 and reduce stress concentration, further enhancing the clamping effect of the elastic clamping plates 413 on the machine-side housing 13.

[0118] Please refer to Figure 4 and Figure 7 Specifically, a pair of elastic clamps 413 are each provided with a fixing slot 4134 near their respective free ends. A fixing clip 42 is passed through each fixing slot 4134 and applies a clamping force to the two fixing slots 4134. The fixing clip 42 is a Velcro cable tie. This makes it easy to pass through each fixing slot 4134 and to apply and maintain the desired clamping force.

[0119] Please refer to Figure 3Specifically, the flight drive unit 2 includes a pair of first propellers 21 and a pair of second propellers 22, both connected to the side housing 13. The first propellers 21 are located on a first horizontal plane, and the second propellers 22 are located on a second horizontal plane. In the horizontal flight direction of the bird-scaring drone, the first propellers 21 are located in front of the second propellers 22, and in the direction of gravity, the first horizontal plane is located below the second horizontal plane. This arrangement of two pairs of propellers ensures that the bird-scaring drone has excellent flight stability and accuracy during both ascent and descent, facilitating applications for precise tracking and continuous bird repelling.

[0120] Please refer to Figure 6 Preferably, a rechargeable battery 33, such as a lithium battery, is fixed in each cavity of the two sound-emitting devices 3. The two rechargeable batteries 33 are arranged to be obliquely symmetrical with respect to the vertical symmetry plane of the casing 1. Since the rechargeable batteries 33 have a large weight, by being arranged in an obliquely symmetrical form, when birds are driven away and accidentally hit the bird-repelling drone, a certain anti-deflection force can be generated for the deflection caused by the impact of the bird-repelling drone, so that the bird-repelling drone can quickly restore balance.

[0121] Please refer to Figure 3 and Figure 6 Specifically, one of the sound-emitting devices 3 is used to emit ultrasonic waves, and the other sound-emitting device 3 is used to emit voice. The voice content can be customized, and the voice content can be pre-recorded or real-time collected bird predator calls, alarms, gunshots, explosions, etc., to scare birds. The frequency range of the ultrasonic wave is set to 12kHz-50kHz, and the boost level of the voice is set to 90dB-120dB / meter. As needed, the ultrasonic bird-repelling mode and the voice bird-repelling mode can be switched, or both modes can be turned on simultaneously to achieve the best bird-repelling effect. It can be seen that the bird-repelling drone has a controller, and the controller, the sound-emitting device 3, and the flight drive 2 are all electrically connected to the rechargeable battery 33. The controller can receive control commands from the above-mentioned center console or a mobile phone control APP with the same function to control the flight drive 2 and the sound-emitting device 3, thereby emitting targeted bird-repelling sounds for different species of birds along the predetermined flight route.

[0122] Example 4

[0123] In addition, in conjunction with the bird repelling method using a bird repelling drone system in the above-mentioned embodiments, embodiments of the present invention may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when executed by a processor, the computer program instructions implement any of the bird repelling methods using a bird repelling drone system in the above-mentioned embodiments.

[0124] It should be understood that the present invention is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted. In the above embodiments, several specific steps are described and illustrated as examples. However, the method of the present invention is not limited to the specific steps described and illustrated. Those skilled in the art may make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present invention.

[0125] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0126] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0127] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0128] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0129] It should also be noted that the exemplary embodiments described herein describe methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the steps described above. In other words, the steps may be performed in the order described in the embodiments, or in a different order, or several steps may be performed simultaneously.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A bird-repelling method using a bird-repelling drone and a bird-repelling system, characterized in that: The bird-repelling system includes a plurality of bird-repelling drones and a central console, wherein the plurality of bird-repelling drones include a first bird-repelling drone; The bird-repelling method comprises: Controlling the first bird-repelling drone to fly in a preset flight area and along a preset flight route; The first bird-repellent UAV judges the detection information obtained by detecting the presence and position of birds during flight; When it is determined that a bird exists, the detected bird is captured and a captured image is generated; generating identification information according to the captured image and determining the sound information according to the identification information; The first bird-repelling drone is controlled to emit sound according to the sound emission information to repel birds.

2. The bird-repelling method according to claim 1, characterized in that: The step of controlling the first bird-repelling drone to fly in a preset flight area and along a preset flight route includes: Controlling the first bird-repelling drone to automatically cruise within the preset flight area and at a preset distance from a vertical edge of the area; Acquiring environmental factors along the preset flight route; The first bird-repelling UAV is controlled to adjust a flight altitude and a flight speed along the preset flight route in response to the environmental factors.

3. The bird-repelling method according to claim 1, wherein: When it is determined that there are birds, the steps of capturing the detected birds and generating a captured image include: adjusting the flight direction of the first bird-repelling drone according to the detection information so as to track the bird; Adjusting the flight attitude of the first bird-repelling drone so as to capture the detected birds at the desired location; A distant view capture picture and a close view capture picture are generated for the captured bird.

4. The bird-repelling method according to claim 1, wherein: The step of generating identification information according to the captured image and determining the sound information according to the identification information includes: Capture pictures based on the vista and determine the number of birds; Determine the species of the bird based on the close-up captured image; The ultrasonic frequency and / or voice content in the vocalization information is determined according to the type of the bird.

5. The bird-repelling method according to claim 1, wherein: The plurality of bird-repellent drones further include a plurality of second bird-repellent drones, wherein the first bird-repellent drones are configured to be in a flying state first, and the second bird-repellent drones are configured to be in a ready-to-fly state; The bird-repelling method further includes, before the step of controlling the first bird-repelling drone to make sounds according to the sound information to repel birds: Obtaining the detection information, the captured image, and real-time location information of the first bird-repelling drone; Determine the bird-repelling team information according to the detection information and the captured image and determine the flight route information according to the real-time location information; Determining, according to the bird-repelling team information, that a corresponding number of the second bird-repelling drones enter a flight state; Controlling the second bird-repelling drone to fly to a preset range of the first bird-repelling drone according to the flight route information so as to jointly participate in bird-repelling; The second bird-repelling drone is controlled to emit sound according to the sound information to repel birds.

6. The bird-repelling method according to claim 5, characterized in that: The step of determining a corresponding number of the second bird-repelling drones to enter a flight state according to the bird-repelling team information includes: dividing the second bird-repellent drone and the birds into corresponding groups according to the detection information and the identification information; Determining the corresponding flight route information for each group of the second bird-repelling drones; The step of controlling the second bird-repelling drone to fly to a preset range of the first bird-repelling drone according to the flight route information so as to jointly participate in the bird-repelling includes: Before each group of the second bird-repellent drones arrives within a preset range of the first bird-repellent drone according to the corresponding flight route information, controlling the first bird-repellent drone to keep tracking the detected birds; The second bird-repelling drones are controlled to fly in different groups and according to the corresponding flight route information to a preset range of the first bird-repelling drone, thereby driving away birds in corresponding groups.

7. The bird-repelling method according to claim 1, characterized in that: The step of controlling the second bird-repelling drone to fly to a preset range of the first bird-repelling drone according to the flight route information so as to jointly participate in the bird-repelling step further includes: When each group of the second bird-repellent drones arrives at the preset range of the first bird-repellent drone and repels birds, the total number of groups of the second bird-repellent drones and the number of drones in each group are dynamically adjusted according to the flight distribution of each group of birds after being repelled; Controlling the second bird-repelling drone in each group to fly along a flight path closest to a vertical edge of the preset flight area, thereby driving the birds in the corresponding group out of the preset flight area; The step of controlling the first bird-repelling drone to make sounds to repel birds according to the sound information includes: controlling the first bird-repelling drone to make sounds to repel birds according to the sound information in a manner of targeting a group of birds closest to the drone.

8. A bird-repelling system using a bird-repelling drone, characterized in that: Includes multiple bird-scaring drones and a center console; The bird-repelling drone includes a bird-repelling control module, which includes a detection module, a visual detection module, a sound module and a communication interaction module; The central console includes an information transceiver module, an identification and judgment module, a calculation and processing module, and a flight control module; The detection module is used to detect the presence and location of birds and generate detection information; The visual detection module is used to capture birds in flight and generate captured images; The communication interaction module is used to maintain communication with the information transceiver module; The plurality of bird-repellent drones include a first bird-repellent drone that is first in a flying state; When the first bird-repellent UAV determines that there are birds according to the detection information, controlling the visual detection module to generate the captured image; The communication interaction module of the first bird-repelling drone sends the captured image and the detection information to the information transceiver module, and the information transceiver module transmits the captured image to the recognition and judgment module and transmits the detection information to the calculation and processing module; The recognition and judgment module recognizes and judges the captured image to generate recognition information; The operation processing module is used to determine the sound information according to the identification information; The information transceiver module sends sound information to the communication interaction module of the first bird-repelling drone, so that the sound module of the first bird-repelling drone makes a sound according to the sound information to repel birds.

9. The bird repelling system according to claim 8, characterized in that: The plurality of bird-repellent drones further include a second bird-repellent drone in a ready-to-fly state in addition to the first bird-repellent drone; The bird-repelling control module further includes a position determination module, which is used to generate real-time position information of the bird-repelling drone in real time; The communication interaction module of the first bird-repelling drone further sends the real-time location information to the information transceiver module, and the information transceiver module transmits the real-time location information to the calculation processing module; The operation processing module is further used to determine the bird-repelling team information according to the detection information and to determine the flight route information according to the real-time position information; The flight control module is further configured to determine a corresponding number of the second bird-repelling drones to enter a flight state according to the bird-repelling team information, and control the second bird-repelling drones to fly within a preset range of the first bird-repelling drones according to the flight route information, thereby jointly participating in bird-repelling; The information transceiver module also sends sound information to the communication interaction module of each second bird-repelling drone, so that the sound module of the second bird-repelling drone makes a sound according to the sound information to repel birds.

10. The bird repelling system according to claim 8, characterized in that: The flight control module controls the first bird-repelling drone to fly in an automatic cruise mode within a preset flight area. During the flight, the first bird-repelling drone captures detected birds according to the detection information and generates the captured images. The identification information includes the bird species, and the detection information includes the number of birds and bird coordinates. The bird coordinates are coordinates corresponding to the preset flight area. The operation processing module simultaneously divides the second bird-repellent drones and the birds into corresponding multiple groups based on the identification information and the detection information, and determines the corresponding flight route information for each group of the second bird-repellent drones. Before the second bird-repellent drones in each group fly to the preset position of the first bird-repellent drone according to their corresponding flight route information, the flight control module controls the first bird-repellent drone to keep tracking the detected birds based on the detection information, and the second bird-repellent drones fly to the preset position of the first bird-repellent drone according to their respective corresponding flight route information, thereby respectively driving away the birds in the corresponding groups.

Images