Bird repelling system and method using bird repelling drone

Abstract

This invention belongs to the field of intelligent bird control technology, addressing the shortcomings of existing technologies in terms of low intelligence and poor bird control effectiveness. It provides a bird control system and method using bird-repelling drones. The bird control system includes multiple bird-repelling drones and a central control unit. The multiple bird-repelling drones include a first bird-repelling drone. The bird control method includes: controlling the first bird-repelling drone to fly within a preset flight area along a preset flight route; judging the presence and location of birds during flight; capturing the detected birds and generating capture images when birds are detected; generating identification information based on the capture images, and determining sound information based on the identification information; and controlling the first bird-repelling drone to emit sound according to the sound information to scare away the birds. The bird control system and method using bird-repelling drones provided by this invention have the advantages of high intelligence and excellent bird control effectiveness.

Description

Technical Field

[0001] This invention relates to the field of intelligent bird deterrence technology, and in particular to a bird deterrence system and method using a bird deterrence drone. Background Technology

[0002] With the improvement of the environment and the increase in human awareness of bird protection, the types and numbers of birds are increasing day by day. This has led to an increase in various problems, such as food problems caused by birds eating and destroying crops in farmland, aviation safety problems caused by birds hitting aircraft, and power failures caused by birds stopping on power lines, such as flashover and short circuits.

[0003] Common bird control methods for addressing crop damage caused by birds include: Manual bird control: Birds are most harmful in the early morning, midday, and evening. Arrive in the fields early to scare them away. Check and scare them away again after 15 minutes, repeating this process 3-5 times per period. This method is time-consuming and labor-intensive. Sound-based bird control: Record sounds such as knocking, firecrackers, hawk calls, and bird cries, and play them loudly in the fields at irregular intervals to scare away birds. Place the sound devices around crops and at bird entry points to amplify the sound using wind and echoes. However, this will have a significant noise impact on nearby residents. Object-based bird control: Place mannequins, hawks, etc., in the fields. This prevents bird intrusion in the short term, but becomes ineffective in the long run.

[0004] Regarding aviation safety issues caused by birds, since bird strikes are defined by the International Civil Aviation Organization as one of the major hazards of Class A air accidents, airports have adopted various bird control measures to protect aviation safety and safeguard the property and lives of passengers. These measures include scarecrows, inflatable figures, automatic laser bird deterrents, bird-scaring falcons, bird-scaring vehicles, and bird-detecting radar. However, these solutions have drawbacks such as being easily limited by time and airspace and having poor bird control effects.

[0005] A common method for dealing with power outages caused by birds is to use bird spikes. This involves installing radial, upward-pointing spikes on power lines to prevent birds from perching and nesting. However, this method has a limited bird-repelling radius, the spikes are prone to aging and falling off, and it may also interfere with maintenance work.

[0006] While fixed bird control methods have been adopted to address the three bird-related problems mentioned above, some technologies have been developed that utilize bird predator mimicry devices mounted on drones for mobile bird control. However, these mimicry devices on drones are relatively large, such as those mimicking eagles. These large mimicry devices are easily affected by wind speed and natural wind speed during flight, causing the drone to rise and fall violently, veer off course, or even fall, resulting in low reliability. In addition, they only target a single bird species, thus failing to achieve good bird control results.

[0007] In summary, existing technologies for bird control suffer from low intelligence and poor bird control effectiveness. Therefore, there is an urgent need to provide a bird control system and method using bird control drones that has high intelligence and good bird control effectiveness. Summary of the Invention

[0008] This invention addresses the shortcomings of existing bird-repelling technologies, such as low intelligence and poor effectiveness. To achieve one objective, it provides a bird-repelling method using a bird-repelling drone system. The bird-repelling system includes multiple bird-repelling drones and a central control unit. The multiple bird-repelling drones include a first bird-repelling drone. The bird-repelling method includes: controlling the first bird-repelling drone to fly within a preset flight area along a preset flight route; judging the presence and location of birds during flight using detection information obtained by the first bird-repelling drone; capturing the detected birds and generating capture images when birds are detected; generating identification information based on the capture images, thereby determining sound information based on the identification information; and controlling the first bird-repelling drone to emit sound based on the sound information to repel the birds.

[0009] Furthermore, the steps for controlling the first bird-repelling drone to fly within a preset flight area and along a preset flight route include: controlling the first bird-repelling drone to automatically cruise within the preset flight area and at a preset distance from the vertical edge of the area; acquiring environmental factors along the preset flight route; and controlling the first bird-repelling drone to adjust its flight altitude and speed according to the environmental factors along the preset flight route.

[0010] Furthermore, when birds are detected, the steps for capturing the detected birds and generating capture images include: adjusting the flight direction of the first bird-repelling drone based on the detection information to track the birds; adjusting the flight attitude of the first bird-repelling drone to capture the detected birds at their designated locations; and generating distant and close-up capture images of the captured birds.

[0011] Furthermore, the step of generating recognition information based on captured images and then determining the vocal information from the recognition information includes: determining the number of birds based on distant captured images; determining the species of birds based on close-up captured images; and determining the ultrasonic frequency and / or speech content in the vocal information based on the species of birds.

[0012] Furthermore, the multiple bird-repelling drones also include multiple second bird-repelling drones. The first bird-repelling drone is initially in flight mode, while the second bird-repelling drones are in standby mode. Before controlling the first bird-repelling drone to emit sound based on the sound information to repel birds, the bird-repelling method also includes: obtaining detection information, capturing images, and the real-time location information of the first bird-repelling drone; determining bird-repelling team information based on the detection information and captured images, and determining flight route information based on the real-time location information; determining the appropriate number of second bird-repelling drones to enter flight mode based on the bird-repelling team information; controlling the second bird-repelling drones to fly to the preset range of the first bird-repelling drone according to the flight route information to jointly participate in bird repelling; and controlling the second bird-repelling drones to emit sound based on the sound information to repel birds.

[0013] Furthermore, the steps for determining the appropriate number of second bird-repelling drones to enter flight mode based on bird-repelling group information include: dividing the second bird-repelling drones and birds into corresponding groups based on detection and identification information; determining corresponding flight route information for each group of second bird-repelling drones; and controlling the second bird-repelling drones to fly to the preset range of the first bird-repelling drone according to the flight route information to jointly participate in bird repelling. These steps include: before each group of second bird-repelling drones flies to the preset range of the first bird-repelling drone according to its corresponding flight route information, controlling the first bird-repelling drone to maintain tracking of the detected birds; and controlling the second bird-repelling drones to fly to the preset range of the first bird-repelling drone in different groups and according to their respective corresponding flight route information to drive away the birds in the corresponding groups.

[0014] Furthermore, the step of controlling the second bird-repelling drones to fly to the preset range of the first bird-repelling drone according to the flight route information to jointly participate in bird repelling also includes: when each group of second bird-repelling drones flies to the preset range of the first bird-repelling drone and performs bird repelling, dynamically adjusting the total number of second bird-repelling drones and the number 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 of the area 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 emit sound to repel birds according to the sound information includes: controlling the first bird-repelling drone to emit sound to repel birds by targeting the group of birds closest to it.

[0015] To achieve another objective of this invention, a bird deterrence system employing bird deterrence drones is provided, comprising multiple bird deterrence drones and a central control unit. Each bird deterrence drone includes a bird deterrence control module, which further includes a detection module, a visual detection module, a sound generation module, and a communication interaction module. The central control unit includes an information transceiver module, an identification and judgment module, a computational processing module, and a flight control module. The detection module detects the presence and location of birds and generates detection information. The visual detection module captures birds in flight and generates capture images. The communication interaction module maintains communication with the information transceiver module. The multiple bird deterrence drones include a first bird deterrence drone initially in flight. When the first bird deterrence drone determines the presence of birds based on the detection information, it controls the visual detection module to generate capture images. The communication interaction module of the first bird deterrence drone sends the capture images and detection information to the information transceiver module, which then transmits the capture images to the identification and judgment module and the detection information to the computational processing module. The recognition and judgment module identifies and judges the captured images to generate recognition information; the calculation and processing module determines the sound information based on the recognition information; the information sending and receiving module sends the sound information to the communication interaction module of the first bird deterrence drone, so that the sound module of the first bird deterrence drone emits sound to deter birds based on the sound information.

[0016] Furthermore, the multiple bird-repelling drones also include other second bird-repelling drones in a ready-to-fly state besides the first bird-repelling drone; the bird-repelling control module also includes a position determination module, which is used to generate real-time position information of the bird-repelling drones; the communication interaction module of the first bird-repelling drone also sends the real-time position information to the information transceiver module, which transmits the real-time position information to the computing module; the computing module is also used to determine the bird-repelling team information based on the detection information and 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-repelling drones to enter the flight state based on the bird-repelling team information, and control the second bird-repelling drones to fly to the preset range of the first bird-repelling 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-repelling drone, so that the sound module of the second bird-repelling drone emits sound to repel birds according to the sound information.

[0017] Furthermore, 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 and generates images of detected birds based on detection information. The identification information includes bird species, and the detection information includes the number of birds and their coordinates, which correspond to the coordinates within the preset flight area. Simultaneously, the processing module divides the second bird-repelling drone and the birds into multiple groups based on the identification and detection information, and determines corresponding flight path information for each group of second bird-repelling drones. Before each group of second bird-repelling drones reaches the preset location of the first bird-repelling drone according to its corresponding flight path information, the flight control module controls the first bird-repelling drone to maintain tracking of the detected birds based on the detection information. The second bird-repelling drones then fly to the preset location of the first bird-repelling drone according to their respective flight path information, thereby driving away the birds in their respective groups.

[0018] The beneficial effects of this invention are as follows:

[0019] The bird deterrence system and method using a bird deterrence drone provided by this invention utilizes a first bird deterrence drone to fly along a preset flight route to the area where birds need to be deterred. During the flight, the drone can automatically detect birds, generate and capture images to obtain identification information and then generate sound information. Therefore, it can detect birds in a timely manner, distinguish bird types, and generate corresponding deterrence sounds. Thus, it has the advantages of high intelligence and excellent bird deterrence effect. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, and these are all within the protection scope of the present invention.

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

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

[0023] Figure 3 A schematic diagram of the structure of the bird-repelling drone in the forward-looking axis direction of the bird-repelling system provided in an embodiment of the present invention;

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

[0025] Figure 5A schematic diagram of the structure of the bird-repelling drone of the bird-repelling system provided in the embodiment of the present invention from the upward-looking axis direction;

[0026] Figure 6 For corresponding Figure 5 Furthermore, the structural schematic diagram of the second shell is omitted;

[0027] Figure 7 This is a schematic diagram of the structure of the fixing frame of the bird-repelling drone in the bird-repelling system provided in an embodiment of the present invention;

[0028] Explanation of reference numerals in the attached figures:

[0029] 1. Casing; 11. Bottom shell; 111. First positioning protrusion; 112. Second positioning protrusion; 12. Top shell; 13. Side shell; 131. Third positioning protrusion; 2. Flight drive component; 21. First propeller; 22. Second propeller; 3. Sound generating device; 31. First housing; 311. First fixing hole; 32. Second housing; 321. Sound transmission hole; 33. Rechargeable battery; 4. Fixing assembly; 41. Fixing frame; 411. Base plate; 4111. First positioning hole; 4112. Second positioning hole; 412. Fixing plate; 4121. Second fixing hole; 413. Elastic clamping plate; 4131. Third positioning hole; 4132. Reinforcing plate; 4133. Opening; 4134. Fixing groove; 42. Fixing clamp. Detailed Implementation

[0030] The features and exemplary embodiments of various aspects of the present invention will now be described in detail. To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. 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 practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the invention.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0032] It should be noted that all actions involving the acquisition of signals, information, or data in this invention are carried out in compliance with the relevant data protection laws and regulations of the locality and with authorization from the owner of the relevant device.

[0033] Example 1

[0034] Please see Figure 1 As an objective of this invention, embodiments of this invention provide a bird-repelling method using a bird-repelling drone system. The bird-repelling system includes multiple bird-repelling drones and a central control unit. The multiple bird-repelling drones include a first bird-repelling drone. The central control unit can be understood as a central control console for the drones equipped with a display screen, drone control handles, etc. The central control unit is connected to the Internet via wired or wireless means and can be locally deployed or connected to a large-scale artificial intelligence model. Furthermore, the specific structure of the bird-repelling drones will be described in further detail below. This bird-repelling method includes:

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

[0036] Specifically, the pre-defined flight area can be the area occupied by farmland, the area along power lines, especially ultra-high voltage power lines in remote areas, or the adjacent area near the no-fly zone determined under the premise of meeting the airspace suitable for civil aircraft and low-altitude flight routes of civil airports and low-altitude aircraft. Generally speaking, the airport airspace protection zone of civil airports is an area designated to ensure the safety of aircraft take-off and landing, and it usually extends outward from the airport runway. The specific scope may vary slightly for different airports, but generally follows these standards: lateral range: 10 kilometers on each side of the runway centerline; longitudinal range: 20 kilometers on each side of the runway. Therefore, the suitable airspace must be outside the airport's airspace protection zone. For drones, i.e., the bird-repelling drones applicable to this invention, their flight altitude must not exceed 120 meters, they may not fly without approval, and the suitable 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 this invention can be an area that has been registered and filed through the "National Unmanned Aerial Vehicle Integrated Supervision and Service Platform". In summary, the preset flight area is an area that complies with laws and regulations and allows the bird-repelling drones of this invention to fly, and where birds are likely to appear, potentially causing problems such as food, aviation safety, and power failures. Furthermore, in this invention, the preset flight area is the area of ​​farmland that needs to be driven away from birds that eat the crops in the farmland for illustration.

[0037] Furthermore, based on the predetermined flight area, a predetermined flight route can be determined according to the predetermined flight area, especially the position of the vertical edge around the predetermined flight area. This drives harmful birds (which will be explained in more detail below) away from the predetermined flight area in the initial stage. In addition, multiple additional flight routes can be formed by starting from the vertical edge position and gradually narrowing towards the center of the predetermined flight area at predetermined distances, parallel to the initial flight route. Generally, the predetermined flight area is set as a rectangular shape on the ground projection surface. The initial flight route and the additional flight routes form multiple rectangular sides with overlapping center points and parallel narrowing sides, which is equivalent to forming multiple lines of defense to drive away birds. Therefore, the predetermined flight route can be set according to actual needs, and the predetermined 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 automatically cruise and fly according to the predetermined flight route. Alternatively, it can be stored or adjusted by the central control station to remotely control the first bird-repelling drone to automatically cruise and fly according to the predetermined flight route.

[0038] S3. The first bird-repelling drone judges the detection information obtained during flight based on the presence and location of birds.

[0039] Specifically, the detection information is obtained and judged through the detection module included in the bird control module of the bird-scaring drone. More specifically, the detection module may include microwave radar and infrared detectors, which can accurately detect whether there are birds within a certain distance and their relative position.

[0040] S5. When birds are detected, capture the detected birds and generate capture images;

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

[0042] S7. Generate recognition information based on the captured image, and then determine the vocal information from the recognition information;

[0043] Specifically, a similar identification and judgment module can be used in the central control unit or the bird control module of the bird-repelling drone to process the acquired images using a convolutional neural network. This process distinguishes between harmful and harmless birds. Then, through a pre-set mapping database of bird species and vocalization patterns, the vocalization information, such as ultrasonic frequency and / or voice content, can be determined. Ultrasonic waves stimulate the nervous system of harmful birds, causing them to become lethargic and uncomfortable, while voice content frightens them. Both methods effectively drive harmful birds away from the preset flight area. Therefore, the bird-repelling drone described in the manual... The targets of bird control or deterrence are harmful birds that are prone to appearing and may cause problems such as food shortages, aviation safety, and power outages. For example, for food shortages, harmful birds are generally sparrows and pigeons, and the identification information is 25kHz-60kHz ultrasound as well as pre-recorded or real-time collected voice content such as calls of bird predators, alarms, gunshots, and explosions. For power outages, harmful birds are generally magpies and doves, and the identification information is 20kHz-25kHz ultrasound. Therefore, by identifying the information, the corresponding sound information can be determined for different bird species, so that birds can be deterred in a targeted manner.

[0044] S9. Control the first bird-repelling drone to emit sounds to scare away birds based on the sound information.

[0045] Specifically, the sound information is generated by the sound generation module included in the bird control module of the bird deterrence drone. More specifically, the sound generation module may include two sound generation devices for emitting ultrasonic waves and voice respectively. Since both ultrasonic waves and voice are considered sound generation in physics, they are collectively referred to as sound generation in this article. At least one of the two sound generation devices emits sound for the identified bird species, thereby achieving a targeted bird deterrence effect.

[0046] As described above, the bird-repelling method using a bird-repelling drone provided by the present invention utilizes a first bird-repelling drone to fly along a preset flight route to the area where birds need to be repelled. During the flight, the drone can automatically detect birds, generate and capture images to obtain identification information, and then generate sound information. Therefore, it can detect birds in a timely manner, distinguish bird types, and generate corresponding repelling sounds, thus achieving a high degree of intelligence and excellent bird-repelling effect.

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

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

[0049] Specifically, the preset flight area is generally a projection surface with the above-mentioned rectangular shape, so the vertical edge of the area corresponds to the rectangular side projected on the ground. Therefore, by using a preset distance, it can provide a certain amount of reserved flight space for the bird-repelling operation of the first bird-repelling drone, and can also reduce the number of unnecessary bird-repelling operations to a certain extent. Moreover, the use of automatic cruise can improve the intelligence and efficiency of bird repelling.

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

[0051] Specifically, environmental factors can include mountains, climate, residential areas and uninhabited areas. These factors can be obtained in advance using map information stored in the central control unit or received weather information, or they can be obtained using capture cameras or other cameras during the flight of the first bird-avoiding drone.

[0052] S13. Control the first bird-repelling drone to adjust its flight altitude and speed according to environmental factors on the preset flight route.

[0053] Preferably, when the weather is cloudy during the first bird-scare drone's flight path, the flight altitude is lowered; when the first bird-scare drone passes through multiple high mountains, the flight altitude is raised; and when the first bird-scare drone passes through residential areas, the flight altitude is raised and the flight speed is reduced. In short, the flight altitude and flight speed are adjusted accordingly based on actual environmental factors to reduce the adverse effects of the environment on flight and improve the accuracy of bird detection.

[0054] By employing the steps S11 to S13 described above, the bird deterrence method can fly with greater intelligence and efficiency and significantly improve the accuracy of bird detection.

[0055] Preferably, when the presence of birds is determined, step S5 of capturing the detected birds and generating capture images includes:

[0056] S51. Based on the detection information, adjust the flight direction of the first bird-sniffing drone to track the birds;

[0057] Specifically, after obtaining detection information using microwave radar and infrared detectors, the location of birds can be determined. Therefore, the flight direction of the first bird-repelling drone, which was originally flying along a preset flight route, can be adjusted to achieve the goal of tracking and detecting birds at a distance that is not easily detected by the birds.

[0058] S52. Adjust the flight attitude of the first bird-catching drone in order to capture the detected birds at the designated location.

[0059] Preferably, the flight attitude of the capture camera is adjusted in a comprehensive and holistic manner, while simultaneously adjusting the flight altitude of the first bird-control drone, in order to obtain high-quality capture images, such as high resolution and high confidence.

[0060] S53. Generate distant and close-up images of the captured birds.

[0061] Specifically, long-range images can be used to obtain information on the number of birds, while close-up images can be used to obtain information on the species of birds, thus facilitating more targeted bird control measures.

[0062] By employing the steps S51 to S53 described above, the bird deterrence method can not only obtain high-quality captured images, but also obtain a variety of images that comprehensively reflect the number and species of birds.

[0063] Please refer to the above. Preferably, step S7, which involves generating recognition information based on the captured image and then determining the vocal information from the recognition information, includes:

[0064] S71. Determine the number of birds based on distant view images;

[0065] Because long-range images can reflect the characteristics of the entire bird population, especially when multiple long-range images are cross-referenced, the number of birds can be accurately determined.

[0066] S72. Determine the species of birds based on close-up images;

[0067] Because close-up images can reflect individual characteristics of birds such as body size, feathers, and facial features, especially when multiple close-up images are cross-referenced, the species of birds can be accurately identified.

[0068] S73. Determine the ultrasonic frequency and / or speech content in the vocal information based on the bird species.

[0069] Based on the identification of bird species using close-up captured images, the number of birds identified through distant captured images can determine the flocking behavior of the birds. By analyzing whether they fly alone or in flocks, the identified bird species can be further verified. Consequently, the ultrasonic frequency and / or speech content for a particular bird species can be accurately determined. In this invention, the ultrasonic frequency range is set to 12kHz-50kHz, and the sound pressure level of the speech content is set to 90dB-120dB / meter.

[0070] By employing the steps S71 to S73 described above, the bird deterrence method can accurately obtain the species and number of birds, thereby accurately determining the sound information to achieve excellent bird deterrence results.

[0071] Preferably, the multiple bird-repelling drones also include multiple second bird-repelling drones. The first bird-repelling drone is used to be in flight first, and preferably a small number or even a single drone is used. The second bird-repelling drone is used to be in a ready-to-fly state. It should be noted that, apart from the different flight order, the two types of bird-repelling drones have the same structure and function.

[0072] The bird deterrence method, prior to step S9 whereby the first bird deterrence drone emits sound based on the sound information to deter birds, also includes:

[0073] S81. Obtain detection information, capture images, and obtain the real-time location information of the first bird-repelling drone;

[0074] Specifically, real-time location information is generated in real time through a location determination module, such as one using BeiDou technology, included in the bird control module of the bird-scaring drone.

[0075] S82. Determine bird deterrence team information based on detection information and captured images, and determine flight route information based on real-time location information;

[0076] Specifically, when the location of multiple birds is determined by the detection information obtained through microwave radar and infrared detectors, and when the captured image contains multiple birds, if the number of multiple birds exceeds the first preset value, it is necessary to determine the bird deterrence team information and real-time location information to provide a basis for subsequently controlling the second bird deterrence drone to enter the flight state.

[0077] S83. Based on the bird deterrence team information, determine the corresponding number of second bird deterrence drones to enter flight status;

[0078] Specifically, since the number of birds exceeds the first preset value, a small number or even a single bird-repelling drone cannot guarantee a reliable bird-repelling effect. Therefore, it is necessary to add a corresponding number of second bird-repelling drones to drive away the birds. This corresponding number can be determined based on the actual number, species, and density of the birds.

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

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

[0081] S85. Control the second bird-repelling drone to emit sounds to scare away birds based on the sound information.

[0082] Specifically, the second bird-repelling drone can emit corresponding ultrasonic waves and / or voice messages based on the type of bird. It is known that at the same time, the first bird-repelling drone also emits the same sounds as the second bird-repelling drone.

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

[0084] Preferably, step S83, which determines the corresponding number of second bird-repelling drones to enter flight mode based on bird-repelling team information, includes:

[0085] S831. Based on the detection and identification information, the second bird-repelling drone and the birds are divided into corresponding groups;

[0086] Specifically, when the number of birds exceeds the second preset value, which is greater than the first preset value, the number of birds entering flight should also increase accordingly because the number of birds is greater than the first preset value. Therefore, the second bird-repelling drone and the birds can be divided into multiple equal groups.

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

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

[0089] Preferably, controlling the second bird-repelling drone to fly to 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 S84, includes:

[0090] S841. Before each group of second bird-repelling drones flies to the preset range of the first bird-repelling drone according to its corresponding flight route information, control the first bird-repelling drone to maintain tracking of the detected birds.

[0091] Specifically, to avoid the first bird-repelling drone scattering and becoming outnumbered due to driving away a large number of birds, the first bird-repelling drone only tracks the birds before the second group of bird-repelling drones arrives to participate in bird control.

[0092] S842. Control the second bird-repelling drone to fly to the preset range of the first bird-repelling drone in different groups and with their respective corresponding flight route information, so as to drive away the birds of the corresponding groups.

[0093] In this way, once each group of second bird deterrence drones flies to the location where they can emit sound to deter birds, each group of second bird deterrence drones can drive away each corresponding group of birds. Even if each group of birds flies in different directions, there will be corresponding second bird deterrence drones to track and drive them away.

[0094] By employing the steps S841 to S842 described above, when the number of birds is significantly greater than that that can be driven away by a small number of first bird-repelling drones, the second bird-repelling drone can be used to divide the birds into multiple groups corresponding to the number of bird groups, thereby significantly improving the targeting and bird-repelling effect.

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

[0096] S843. When each group of second bird-repelling drones flies to the preset range of the first bird-repelling drone and performs bird-repelling, the total number of second bird-repelling drones and the number in each group are dynamically adjusted according to the flight distribution of birds after they are driven away.

[0097] Specifically, since the direction in which each group of birds is driven 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-repelling drone need to be dynamically adjusted to accommodate this change.

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

[0099] Specifically, the dynamically adjusted second group of bird-repelling drones will drive the birds corresponding to each group out of the preset flight area along the vertical edge of the area closest to the preset flight area. This method of driving away birds is highly targeted and efficient.

[0100] Step S9, which controls the first bird-repelling drone to emit sound to scare away birds based on the sound information, includes:

[0101] S91. Control the first bird deterrence drone to deter birds by making sounds based on vocalization information, targeting the group of birds closest to it.

[0102] In this case, the first bird-repelling drone participated as an additional participant in the bird-repelling of one of the groups of second bird-repelling drones. The first bird-repelling drone was the one that drove away the birds that were closest to it, so the driving away was more direct and had a relatively smaller impact on the flight of other groups.

[0103] Example 2

[0104] Please see Figure 2 As another objective of the present invention, this embodiment provides a bird deterrence system using a bird deterrence drone. This bird deterrence system can achieve the bird deterrence method described above. Therefore, Embodiment 2 and Embodiment 1 can be referred to each other and, without conflict, can work together to achieve the inventive objective of the present invention. The bird deterrence system can obtain the technical effects corresponding to the bird deterrence method described above, which will not be elaborated further here.

[0105] A bird control system that uses bird-repelling drones includes multiple bird-repelling drones and a central control station.

[0106] The bird-scare drone includes a bird-scare control module, which comprises a detection module, a visual detection module, a sound generation module, and a communication interaction module. The central control unit includes an information transmission and reception module, an identification and judgment module, a computing and processing module, and a flight control module.

[0107] The detection module detects the presence and location of birds and generates detection information; the visual detection module captures birds in flight and generates captured images; the communication interaction module maintains communication with the information transceiver module; multiple bird-repelling drones are included, with the first drone initially in flight. When the first drone determines the presence of birds based on the detection information, it controls the visual detection module to generate captured images. The communication interaction module of the first drone sends the captured images and detection information to the information transceiver module, which then transmits the captured images to the recognition and judgment module and the detection information to the processing module. The recognition and judgment module identifies and judges the captured images to generate recognition information; the processing module determines the sound information based on the recognition information; the information transceiver module sends the sound information to the communication interaction module of the first drone, causing the first drone's sound module to emit sound to scare away the birds.

[0108] Preferably, the multiple bird-repelling drones also include other second bird-repelling drones in a ready-to-fly state besides the first bird-repelling drone. The bird-repelling control module also includes a position determination module, which generates real-time position information of the bird-repelling drones. The communication interaction module of the first bird-repelling drone also sends the real-time position information to the information transceiver module, which transmits the real-time position information to the calculation and processing module. The calculation and processing module is also used to determine bird-repelling platooning information based on the detection information and to determine flight route information based on the real-time position information. The flight control module is also used to determine the appropriate number of second bird-repelling drones to enter flight state based on the bird-repelling platooning information, and to control the second bird-repelling drones to fly to the preset range of the first bird-repelling 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-repelling drone, so that the sound module of the second bird-repelling drone emits sound to repel birds according to the sound information.

[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 and generates captured images based on detection information. The identification information includes bird species, and the detection information includes bird quantity and bird coordinates, with the bird coordinates corresponding to coordinates within the preset flight area. The processing module simultaneously divides the second bird-repelling drone and the birds into multiple groups based on the identification and detection information, and determines corresponding flight path information for each group of second bird-repelling drones. Before each group of second bird-repelling drones reaches the preset location of the first bird-repelling drone according to its corresponding flight path information, the flight control module controls the first bird-repelling drone to maintain tracking of the detected birds based on the detection information. The second bird-repelling drones then fly to the preset location of the first bird-repelling drone according to their respective flight path information, thereby driving away the birds in their respective groups.

[0110] Preferably, after each group of second bird-repelling drones flies to the vicinity of the first bird-repelling drone according to its own flight route information, the communication interaction module of the second bird-repelling drone sends the detection information to the information transceiver module. The flight control module determines the flight distribution of the birds after they are driven away based on all the detection information and dynamically adjusts the total number of groups of second bird-repelling drones and the number in each group. It also controls the second bird-repelling drones in each group to fly along the flight route closest to the edge of the preset flight area, thereby driving the birds in each group out of the preset flight area.

[0111] Example 3

[0112] See Figures 3 to 7 As another objective of this invention, embodiments of the invention provide a bird-repelling drone applied to the aforementioned bird-repelling system. The bird-repelling drone includes a housing 1, a pair of sound-generating devices 3 serving as sound-generating modules, and a fixing assembly 4. The housing 1 is equipped with a flight drive component 2; at least one of the sound-generating devices 3 operates to generate bird-repelling sounds. The fixing assembly 4 symmetrically fixes the pair of sound-generating devices 3 to both sides of the housing 1. Therefore, the bird-repelling drone provided by this invention, by setting the sound-generating devices 3 and fixing them to both sides of the housing 1 using the fixing assembly 4, not only has a small volume for the sound-generating devices 3, making them less susceptible to the influence of flight wind speed and natural wind speed, thus preventing violent ascent and descent, yawing, or even falling during flight, ensuring high reliability, but also allows the sound generation of the sound-generating devices 3 to be flexibly invoked based on pre-stored sound information for different bird species, making it suitable for repelling various types of birds and thus achieving excellent bird-repelling effects.

[0113] Please refer to the reference. Figures 4 to 6Specifically, the housing 1 includes a connected 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-generating device 3 includes a first housing 31 and a second housing 32 that are fixed to each other to form a cavity. The first housing 31 is provided with a first fixing hole 311, and the second housing 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 base plate 411, a pair of fixing plates 412, and a pair of spaced-apart elastic clamps 413. The pair of elastic clamps 413 extend from both sides of the fixing plates 412 in a direction away from the fixing plates 412. The fixing plates 412 provided on each of the pair of elastic clamps 413 extend away from each other. The base plate 411 abuts against the bottom housing 11, and the pair of elastic clamps 413... The clamping device 42 is attached to the outer side of a pair of side shells 13, and the fixing clamp 42 connects a pair of elastic clamping plates 413 above the top shell 12. The fixing plate 412 is provided with a second fixing hole 4121, and the first fixing hole 311 and the second fixing hole 4121 are connected and fixed by a fastener. In this way, the fixing assembly 4 can reliably and securely fix a pair of sound-generating devices 3 to both sides of the side shells 13, ensuring high reliability of the bird-repelling drone.

[0114] Please refer to the reference. 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. Each of the pair of side shells 13 is provided with a third positioning protrusion 131, and each of the pair of elastic clamping plates 413 is 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 plate 413 in a fixed position on the side shell 13. In this way, the mounting bracket 41 can be well positioned on all four shell parts of the housing 1, thereby ensuring that the pair of sound-generating devices 3 are symmetrically fixed on both sides of the housing 1, which not only ensures the flight balance of the bird-repelling drone, but also ensures good propagation symmetry when the two sound-generating devices 3 emit sound at the same time.

[0115] Please refer to the reference. Figure 4 and Figure 7Preferably, multiple pairs of opposing reinforcing plates 4132 are provided on a pair of elastic clamping plates 413. Each reinforcing plate 4132 on each elastic clamping plate 413 is arranged perpendicularly to the fixing plate 412. The first end of the reinforcing plate 4132 is connected to the fixing plate 412 and extends from the first end to the second end in a direction perpendicular to the fixing 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 apply a sufficiently large elastic force to the side shell 13 to clamp the side shell 13, thus ensuring that the pair of sound-generating devices 3 are reliably fixed in a well-positioned manner.

[0116] Please refer to the reference. Figure 7 Preferably, both the base plate 411 and the elastic clamping plate 413 are designed as outwardly protruding arcs, and the outer side of the reinforcing plate 4132 facing away from the elastic clamping plate 413 is designed as an arc surface. The reinforcing plate 4132 gradually tapers from the second end relative to the first end. Therefore, the base plate 411 and the elastic clamping plate 413 with outwardly protruding arcs can better elastically abut against the bottom shell 11 and the side shell 13, respectively. The tapered reinforcing plate 4132 can enhance the fixed connection between the fixed plate 412 and the elastic clamping plate 413 and reduce wind resistance.

[0117] Please refer to the reference. Figure 7 Preferably, a plurality of pairs of opposing openings 4133 are provided on a pair of elastic clamping plates 413. The extension lines of the vertical center lines of each opening 4133 on the elastic clamping plate 413 intersect perpendicularly with the intersection lines of the fixing plate 412 on the elastic clamping plate 413. That is, the openings 4133 on each elastic clamping plate 413 are arranged parallel to each other in the horizontal direction. The openings 4133 are designed as oblong openings, and a reinforcing plate 4132 is arranged between two adjacent openings 4133. In this way, the oblong openings 4133 can increase the elastic restoring force of the elastic clamping plate 413 and reduce stress concentration, further enhancing the clamping effect of the elastic clamping plate 413 on the machine side shell 13.

[0118] Please refer to the reference. Figure 4 and Figure 7 Specifically, a fixing groove 4134 is provided at each position of a pair of elastic clamps 413 near their respective free ends. A fixing clip 42 passes through each fixing groove 4134 and applies a clamping force to the two fixing grooves 4134 in a mutually close manner. The fixing clip 42 is a Velcro strap. In this way, the Velcro strap is convenient to pass through each fixing groove 4134 and easy to apply and maintain the desired clamping force.

[0119] Please refer to the reference. 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 shell 13. The two first propellers 21 are on the same first horizontal plane, and the two second propellers 22 are on the same second horizontal plane. In the horizontal flight direction of the bird-repelling drone, the first propellers 21 are in front of the second propellers 22, and in the direction of gravity, the first horizontal plane is below the second horizontal plane. By setting the two pairs of propellers in this way, the bird-repelling drone has excellent flight stability and accuracy during ascent, descent, and forward flight, which is beneficial for applications in scenarios where precise tracking is used to continuously scare away birds.

[0120] Please refer to the reference. Figure 6 Preferably, a rechargeable battery 33, such as a lithium battery, is fixed in each cavity of the two sound-generating devices 3. The two rechargeable batteries 33 are arranged obliquely symmetrically with respect to the vertical symmetry plane of the housing 1. Since the rechargeable batteries 33 have a large weight, by setting them in an obliquely symmetrical form, when birds are chased and accidentally hit the bird-repelling drone, they can generate a certain anti-deflection force for the bird-repelling drone caused by the impact, so that the bird-repelling drone can quickly regain its balance.

[0121] Please refer to the reference. Figure 3 and Figure 6 Specifically, one sound-emitting device 3 emits ultrasonic waves, and the other emits voice. The voice content is customizable and can be pre-recorded or real-time collected sounds such as calls of bird predators, alarms, gunshots, and explosions, thereby startling birds. The ultrasonic frequency range is set to 12kHz-50kHz, and the voice sound pressure level is set to 90dB-120dB / meter. The ultrasonic bird-repelling mode and the voice bird-repelling mode can be switched as needed, or both modes can be activated simultaneously to achieve the best bird-repelling effect. It is known that the bird-repelling drone has a controller, and the controller, sound-emitting device 3, and flight drive 2 are all electrically connected to the rechargeable battery 33. The controller can receive control commands from the aforementioned central control unit or a mobile phone control APP with similar functions to control the flight drive 2 and the sound-emitting device 3, thereby emitting targeted bird-repelling sounds along a predetermined flight path for different bird species.

[0122] Example 4

[0123] Furthermore, in conjunction with the bird-repelling methods using bird-repelling drones in the above embodiments, this invention can be implemented using a computer-readable storage medium. This computer-readable storage medium stores computer program instructions; when executed by a processor, these computer program instructions implement any of the bird-repelling methods using bird-repelling drones in the above embodiments.

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

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

[0126] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0127] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0128] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0129] It should also be noted that the exemplary embodiments mentioned in this invention describe methods or systems based on a series of steps or apparatus. However, this invention is not limited to the order of the steps described above; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can 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, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A bird-repelling method using a bird-repelling drone system, characterized in that, The bird deterrence system includes multiple bird deterrence drones and a central control station, wherein the multiple bird deterrence drones include a first bird deterrence drone; The bird-repelling methods include: Control the first bird-repelling drone to fly within a preset flight area and along a preset flight route; The first bird-repelling drone judges the detection information obtained during flight based on the presence and location of birds; When birds are detected, capture the detected birds and generate capture images; Based on the captured image, recognition information is generated, and the vocal information is determined by the recognition information. The first bird-repelling drone is controlled to emit sounds to scare away birds based on the sound information. The plurality of bird-repelling drones also include a plurality of second bird-repelling drones, wherein the first bird-repelling drone is used to be in flight mode and the second bird-repelling drone is used to be in flight-ready mode; The bird-repelling method further includes, prior to the step of controlling the first bird-repelling drone to emit sound to repel birds based on the sound information: Obtain the detection information, the captured images, and the real-time location information of the first bird-repelling drone; The bird deterrence team information is determined based on the detection information and the captured images, and the flight route information is determined based on the real-time location information. Based on the bird deterrence team information, a corresponding number of the second bird deterrence drones are determined to enter flight mode; The second bird-repelling drone is controlled to fly to the 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 sounds to scare away birds based on the aforementioned sound information.

2. The bird-repelling method according to claim 1, characterized in that, The steps for controlling the first bird-repelling drone to fly within a preset flight area and along a preset flight route include: Control the first bird-repelling drone to automatically cruise within the preset flight area and at a preset distance from the vertical edge of the area; Obtain environmental factors along the preset flight route; The first bird-repelling drone is controlled to adjust its flight altitude and speed according to environmental factors along the preset flight route.

3. The bird-repelling method according to claim 1, characterized in that, The step of capturing the detected birds and generating capture images when birds are detected includes: Based on the detection information, the flight direction of the first bird-repelling drone is adjusted to track the bird; Adjust the flight attitude of the first bird-repelling drone in order to capture the detected birds at the designated location; Generate both distant and close-up images of the captured birds.

4. The bird-repelling method according to claim 3, characterized in that, The step of generating recognition information based on the captured image and then determining the vocal information from the recognition information includes: The number of birds was determined based on the captured distant images; Based on the close-up captured images, the species of birds were determined; Based on the species of bird, determine the ultrasonic frequency and / or speech content in the emitted sound information.

5. The bird-repelling method according to claim 1, characterized in that, The step of determining the corresponding number of the second bird-repelling drones to enter flight status based on the bird-repelling team information includes: Based on the detection information and the identification information, the second bird-repelling drone and the birds are divided into corresponding groups; For each group of the second bird-repelling drones, the corresponding flight route information is determined; The step of controlling the second bird-repelling drone to fly to the preset range of the first bird-repelling drone according to the flight route information, so as to jointly participate in bird repelling, includes: Before each group of second bird-repelling drones flies to the preset range of the first bird-repelling drone according to its corresponding flight route information, the first bird-repelling drone is controlled to maintain tracking of the detected birds; The second bird-repelling drone is controlled to fly to the preset range of the first bird-repelling drone in different groups and according to their respective flight route information, so as to drive away the birds of the corresponding groups.

6. The bird-repelling method according to claim 1, characterized in that, The step of controlling the second bird-repelling drone to fly to the preset range of the first bird-repelling drone according to the flight route information so as to jointly participate in bird repelling also includes: When each group of the second bird-repelling drones flies to the preset range of the first bird-repelling drone and performs bird repelling, the total number of the second bird-repelling drones and the number in each group are dynamically adjusted according to the flight distribution of the birds after they are driven away. Control the second bird-repelling drone in each group to fly along the flight path of the area closest to the 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 emit sound to repel birds based on the sound information includes: controlling the first bird-repelling drone to emit sound to repel birds based on the sound information in a manner that targets the group of birds closest to it.

7. A bird deterrence system employing a bird-deterring drone, characterized in that, Includes multiple bird-repelling drones and a central control station; The bird-repelling drone includes a bird-repelling control module, which includes a detection module, a visual detection module, a sound generation module, and a communication interaction module. The central control unit 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 capture images; The communication interaction module is used to maintain communication with the information transceiver module; The plurality of 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 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 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 computational processing module is used to determine the vocal information based on the recognition 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 emits sound to scare away birds according to the sound information. The plurality of bird-repelling drones also include other second bird-repelling drones in a ready-to-fly state besides the first bird-repelling drone; The bird deterrence control module also includes a location determination module, which is used to generate the real-time location information of the bird deterrence drone. The communication interaction module of the first bird-repelling drone also sends the real-time location information to the information transceiver module, and the information transceiver module transmits the real-time location information to the computing module; The computational processing module is also used to determine bird deterrence team information based on the detection information and the captured images, and to determine flight route information based on the real-time location information. The flight control module is also used to determine the corresponding number of the second bird-repelling drones to enter the flight state according to the bird-repelling team information, and control the second bird-repelling drones to fly to the preset range of the first bird-repelling 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 of the second bird-repelling drones, so that the sound module of the second bird-repelling drone emits sound to scare away birds according to the sound information.

8. The bird-repelling system according to claim 7, 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 based on the detection information and generates the captured images. The identification information includes bird species, the detection information includes bird quantity and bird coordinates, and the bird coordinates are coordinates corresponding to the preset flight area. The processing module simultaneously divides the second bird-repelling drone and the birds into 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-repelling drone. Before each group of the second bird-repelling drones reaches the preset range of the first bird-repelling drone according to its corresponding flight route information, the flight control module controls the first bird-repelling drone to maintain tracking of the detected birds based on the detection information. The second bird-repelling drones then reach the preset range of the first bird-repelling drone according to their respective flight route information, thereby driving away the birds in the corresponding groups.

Images