Unmanned aerial vehicle for killing bees, control method, equipment and medium

Abstract

The invention discloses an unmanned aerial vehicle for killing bees, a control method, equipment and a medium, and belongs to the field of unmanned aerial vehicle control, the unmanned aerial vehicle comprises an unmanned aerial vehicle body, the unmanned aerial vehicle body is provided with an emitter, a control unit, an aiming unit, an image acquisition unit, a posture detection unit and a distance measurement unit, the emitter, the aiming unit, the image acquisition unit, the posture detection unit and the distance measurement unit are all electrically connected with the control unit; the launcher is used for launching bullets filled with bee killing agents; the aiming unit is used for emitting an aiming light beam to a target honeycomb; the image acquisition unit is used for acquiring image data of a target honeycomb; the attitude detection unit is used for detecting attitude data of the unmanned aerial vehicle body; the distance measuring unit is used for detecting the distance between the emitter and the target honeycomb. According to the bee killing device, the bullets filled with the bee killing agent can be accurately injected into the target honeycomb, the bullets in the target honeycomb slowly flow out of the bee killing agent, and the bee killing effect can be improved.

Description

Technical Field

[0001] This invention belongs to the field of drone control, specifically relating to a drone for bee eradication, a control method, equipment, and medium. Background Technology

[0002] The activity of wasps (commonly known as "horned wasps" or "killer wasps") has become increasingly frequent in recent years, leading to numerous incidents of wasp stings and even deaths. To effectively reduce such tragedies, taking necessary measures to completely eradicate wasps is of paramount importance.

[0003] Currently, there are three main methods for eliminating wasp nests: the first is manual removal, the second is using a high-pressure water gun, and the third is burning the nests. However, these traditional methods have many drawbacks in practice.

[0004] 1. When manually removing wasp nests, firefighters need to work at close range at high altitudes. This not only exposes them to the dual risks of falling and being stung, but also takes a long time and is not very effective for well-hidden nests, resulting in a relatively low success rate.

[0005] 2. When using high-pressure water guns or wasp guns to kill wasps, the range and angle are limited, making it difficult to fully cover complex scenes, resulting in some wasps escaping and making it impossible to completely eradicate them.

[0006] 3. While burning can quickly kill wasps, it is ineffective at dealing with wasps on electrical equipment and can easily ignite surrounding building materials, posing a greater safety hazard.

[0007] With the continuous development and maturation of drone technology, using drones equipped with water guns and wasp guns for wasp eradication has become a new solution. This wasp eradication method offers high operational safety and can reduce personnel risks to a certain extent. However, in practical applications, because water guns and wasp guns can only spray the pesticides on the outer surface of the hive and cannot penetrate deep into the hive, the wasp eradication effect is not ideal and further optimization and improvement are still needed. Summary of the Invention

[0008] The purpose of this invention is to provide a drone, control method, device and medium for bee eradication, in order to solve the problem that the existing technology has an unsatisfactory bee eradication effect.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] In a first aspect, the present invention provides a drone for bee extermination, the drone comprising: a drone body, the drone body being equipped with: a transmitter, a control unit, an aiming unit, an image acquisition unit, an attitude detection unit, and a ranging unit, wherein the transmitter, the aiming unit, the image acquisition unit, the attitude detection unit, and the ranging unit are all electrically connected to the control unit;

[0011] The transmitter is used to launch projectiles containing bee-killing agents; the aiming unit is used to fire an aiming beam at the target beehive so that the transmitter is aimed at the target beehive; the image acquisition unit is used to acquire image data of the target beehive; the attitude detection unit is used to detect the attitude data of the UAV body; and the ranging unit is used to detect the distance between the transmitter and the target beehive.

[0012] The control unit is used to receive remotely transmitted flight commands, control the UAV body to fly towards the target hive when responding to the flight commands, and then analyze and process the image data, attitude data and distance to generate a projectile launch command to control the launcher to launch projectiles towards the target hive.

[0013] Preferably, the projectile includes an outer shell, the front end of which is frustum-shaped, an inner bladder is placed in the inner cavity of the outer shell, the inner bladder is filled with a bee-killing agent, the outer shell is provided with a plurality of micropores communicating with the inner cavity, and the inner wall of the inner cavity near the front end of the outer shell is provided with a spike for piercing the inner bladder.

[0014] Secondly, the present invention provides a control method for the aforementioned unmanned aerial vehicle, the method comprising:

[0015] Receive flight commands and respond to flight commands to control the drone to fly within the preset range of the target hive;

[0016] The aiming unit controls the firing beam to the target hive and acquires image data of the target hive;

[0017] The image data is processed to extract dimensions, yielding the outer shell diameter and outer layer thickness of the target honeycomb.

[0018] Extract the position of the beam of the aiming beam from the image data, and determine whether the transmitter is aiming at the target hive based on the position of the beam;

[0019] After the transmitter aims at the target hive, obtain the current attitude of the transmitter and the distance between the transmitter and the target hive;

[0020] The projectile launch velocity of the launcher is determined based on the outer shell diameter, outer layer thickness, current attitude, and spacing.

[0021] Based on the projectile's launch velocity, a launch control command is generated and sent to the launcher.

[0022] Preferably, the image data includes: a visible light image, and the calculation steps for the outer shell diameter of the target honeycomb are as follows:

[0023] A visible light image is processed to obtain a binarized image;

[0024] The contours of the binarized image are extracted based on the Canny edge detection algorithm, and the contours are repaired using morphological algorithms to obtain the honeycomb outer contour.

[0025] Determine the diameter of the honeycomb's outer shell based on its outer contour.

[0026] Preferably, the image data further includes: multi-view near-infrared images, and the calculation steps for the outer layer thickness of the target honeycomb are as follows:

[0027] Channel separation is performed on the near-infrared image from each viewpoint to obtain the separated image;

[0028] The separated images are enhanced and filtered to obtain a grayscale image containing nest texture;

[0029] The overall range of the target honeycomb in the grayscale image is determined based on the outer contour of the honeycomb, and the inner edge of the outer shell within the overall range of the target honeycomb is determined based on the grayscale mutation localization algorithm.

[0030] Determine the comb area of ​​the target honeycomb from each viewpoint based on the inner edge of the shell;

[0031] Select any two near-infrared images from different perspectives, and extract multiple first feature points on the shell edge and multiple second feature points on the comb region from the two near-infrared images;

[0032] Calculate the pixel coordinate difference of each first feature point in two near-infrared images to obtain multiple first disparities, and calculate the pixel coordinate difference of each second feature point in two near-infrared images to obtain multiple second disparities;

[0033] The average depth of the shell edge is determined based on multiple first parallaxes, and the average depth of the comb area is determined based on multiple second parallaxes.

[0034] The outer layer thickness of the target honeycomb is determined based on the average depth of the outer shell edge and the average depth of the comb area.

[0035] Preferably, the method further includes: verifying the validity of the comb area of ​​the target beehive, including:

[0036] Select sampling points at multiple preset locations in the nest area and extract the grayscale value of each sampling point;

[0037] The average gray value of the nest area is determined based on the gray values ​​of multiple sampling points;

[0038] Determine whether the average gray value of the comb area meets the preset condition. If yes, the comb area of ​​the target beehive is a valid area; otherwise, the comb area of ​​the target beehive is an invalid area. When the comb area of ​​the target beehive is determined to be an invalid area, adjust the acquisition parameters of the near-infrared image. The acquisition parameters include light intensity and wavelength.

[0039] Preferably, the projectile launch velocity of the launcher is determined based on the outer shell diameter, outer layer thickness, current attitude, and spacing, including:

[0040] The penetration velocity of the projectile is determined based on the thickness of the outer layer;

[0041] Based on the outer shell diameter, determine the correction factor, and then correct the penetration velocity according to the correction factor to obtain the corrected velocity;

[0042] The projectile launch velocity of the launcher is determined based on the current attitude, spacing, and correction velocity.

[0043] Preferably, determining whether the transmitter is aimed at the target honeycomb based on the position of the light spot includes:

[0044] If the position of the light spot is located at the center of the outline of the target hive, the transmitter aims at the target hive; otherwise, a position and attitude adjustment command for the UAV is generated. The position and attitude adjustment command is used to adjust the position and attitude of the UAV so that the position of the light spot is located at the center of the outline of the target hive.

[0045] Thirdly, the present invention provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the control method described above.

[0046] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method described above.

[0047] The beneficial effects of this invention are:

[0048] This invention utilizes a launcher mounted on a drone, which contains projectiles containing bee-killing agents. Through the coordinated operation of multiple units on the drone, including an aiming unit, an image acquisition unit, an attitude detection unit, and a ranging unit, the projectiles containing bee-killing agents can be accurately fired into the target beehive. The bee-killing agents slowly flow out of the target beehive from the projectiles, thereby improving the bee-killing effect. Attached Figure Description

[0049] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0050] Figure 1 This is a schematic diagram of the structure of a drone for bee eradication provided in one embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram of the overall structure of a drone provided in one embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of the flywheel structure of a launching assembly provided in one embodiment of the present invention;

[0053] Figure 4 This is a schematic diagram of the structure of a projectile provided in one embodiment of the present invention;

[0054] Figure 5 This is a flowchart of a control method provided in one embodiment of the present invention.

[0055] Explanation of reference numerals in the attached figures:

[0056] 1. UAV body; 2. Control box; 3. Box body; 4. Launch tube; 5. Friction wheel; 6. Image acquisition unit; 7. Infrared sight; 8. Outer shell; 9. Inner shell; 10. Micropore; 11. Spike; 12. Projectile box. Detailed Implementation

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0058] Example 1

[0059] like Figure 1As shown, this embodiment provides a drone for bee eradication. The drone includes a drone body 1, on which are mounted a transmitter, a control unit, an aiming unit, an image acquisition unit 6, an attitude detection unit, and a ranging unit. The transmitter, aiming unit, image acquisition unit 6, attitude detection unit, and ranging unit are all electrically connected to the control unit. The transmitter is used to launch projectiles containing bee-killing agents. The aiming unit is used to fire an aiming beam at the target beehive so that the transmitter is aimed at the target beehive. The image acquisition unit 6 is used to acquire image data of the target beehive. The attitude detection unit is used to detect the attitude data of the drone body 1. The ranging unit is used to detect the distance between the transmitter and the target beehive.

[0060] The drone body 1 in this embodiment can be a quadcopter drone, such as the DJI Mavic 3 drone. The launcher in this embodiment includes: a housing 3, such as... Figure 2 As shown, a projectile box 12 for storing projectiles is provided above the box body 3, and a launching tube 4 is provided at the front end of the box body 3. The projectile box 12 is connected to the launching tube 4, and a launching assembly for launching projectiles is provided inside the box body 3. The launching assembly in this embodiment can adopt a pneumatic structure or a flywheel structure. In this embodiment, a flywheel structure is preferred, such as... Figure 3 As shown, the flywheel structure includes six friction wheels 5 and an electric push rod. The electric push rod is deployed behind the first group of friction wheels 5. Each group consists of two friction wheels 5, and the three groups of friction wheels 5 are deployed along the firing direction. Rubber rings are provided on the outer walls of the friction wheels 5. There is a gap between the two friction wheels 5 in each group, the width of which is slightly smaller than the diameter of the projectile. The six friction wheels 5 are driven to rotate by at least one motor. Therefore, during firing, the motor is first started to simultaneously rotate the six friction wheels 5 to reach a preset linear velocity. Then, the electric push rod pushes the projectile into the flywheel structure to contact the friction wheels 5, thereby driving the projectile forward and accelerating it to a set speed (equal to the preset linear velocity). Finally, it is fired from the launch tube 4. This embodiment uses a flywheel structure, which facilitates the control of the projectile's firing speed, ensuring that the projectile can accurately penetrate the target honeycomb in different scenarios.

[0061] In this embodiment, the attitude detection unit includes a gyroscope and an accelerometer. The gyroscope and accelerometer are used to detect the attitude information and other data of the UAV body 1. By adjusting the attitude of the UAV body 1, the launch position and launch direction of the launcher can be adjusted. This can avoid interference from environmental obstructions on the launch of the projectile, enabling the launcher to perform the launch mission in a better position and ensuring that the projectile can accurately enter the target hive.

[0062] In this embodiment, the image acquisition unit 6 includes a visible light camera and an infrared camera, mainly used to acquire two types of image data, namely visible light images and infrared images, for identifying parameters such as the outline and thickness of the target honeycomb. The ranging unit can use an ultrasonic sensor to detect the distance to the target honeycomb.

[0063] In this embodiment, the aiming unit preferably adopts an infrared aiming device 7. The infrared aiming device 7 can be directly installed on the end of the transmitting tube 4. The infrared beam emitted by the infrared aiming device 7 is parallel to the axis of the transmitting tube 4. The infrared beam is generated by the infrared laser generator. The infrared beam can generate a light spot on the surface of the target honeycomb. By identifying the position of the light spot, it is determined whether the target honeycomb is being aimed.

[0064] In this embodiment, the control unit includes a processor and a controller. The processor mainly performs analysis and processing of image data, attitude data, and distance. The processor is communicatively connected to the controller, and sends the analysis and processing results to the controller. The controller generates corresponding control commands, including projectile launch commands and attitude adjustment commands. Furthermore, the processor and controller in this embodiment can be integrated together to form the control unit. The control unit in this embodiment also has a control box 2, in which the processor and controller are deployed.

[0065] The control unit receives remotely transmitted flight commands and, in response, controls the UAV body 1 to fly towards the target hive. It then analyzes and processes image data, attitude data, and distance data to generate a projectile launch command, controlling the launcher to fire a projectile at the target hive. Specifically, the control unit's processor is also connected to a wireless communication module such as Bluetooth. The processor connects to a remote control device (e.g., a mobile phone, remote control) via the wireless communication module. Operators can send corresponding flight commands to the control unit via the remote control device to control the UAV body 1 to fly towards the vicinity of the target hive. Then, it collects image data, attitude data, and distance data, and generates corresponding control commands based on this data to complete the projectile launch mission.

[0066] Therefore, this embodiment, by mounting a launcher on a drone, with the launcher containing a projectile containing bee-killing agent, and then through the cooperation of multiple units such as the aiming unit, image acquisition unit 6, attitude detection unit, and ranging unit mounted on the drone, can accurately fire the projectile containing bee-killing agent into the target beehive. The bee-killing agent slowly flows out of the projectile inside the target beehive, which can improve the bee-killing effect.

[0067] As a further optimization of this embodiment, the projectile needs to be filled with bee-killing agent. Therefore, the projectile is typically a hollow structure. However, when the flywheel structure accelerates the projectile, it will compress the projectile. To prevent the bee-killing agent from leaking out during acceleration and launch, this embodiment makes the following improvements to the projectile structure: Figure 4 As shown, the projectile includes an outer shell 8, the front end of which is frustum-shaped, and an inner bladder 9 is placed in the inner cavity of the outer shell 8. The inner bladder 9 contains a bee-killing agent. The outer shell 8 is provided with a plurality of micropores 10 that communicate with the inner cavity. The inner wall of the inner cavity near the front end of the outer shell 8 is provided with a spike 11 for piercing the inner bladder 9.

[0068] In this embodiment, an inner capsule 9 is placed inside the cavity of the outer shell 8. The inner capsule 9 can be made of rubber and has a certain degree of elasticity. Even if the inner capsule 9 is squeezed within a certain range, it will not be ruptured. At the same time, a spike 11 is provided near the front end of the outer shell 8 in the inner cavity. During firing, the outer shell 8 accelerates forward, and the inner capsule 9 will abut against the rear end of the outer shell 8 due to inertia. Since there is no spike 11 on the rear end, it will not puncture the inner capsule 9 during firing. During the process of the outer shell 8 entering the target beehive, the outer shell 8 decelerates instantly, while the inner capsule 9 continues to move forward under the action of inertia and comes into contact with the spike 11. After contacting the spike 11, the squeezing force generated by inertia will cause the spike 11 to puncture the inner capsule 9, and the bee-killing agent will flow into the outer shell 8 and then slowly seep out through the micropores 10. After the wasps come into contact with the bee-killing agent, they are killed in the beehive.

[0069] In this embodiment, the bee-killing agent can be a combination of natural organic acids, plant essential oils, matrine, and azadirachtin. Therefore, after the pellets are fired into the target beehive, workers will not directly contact the hive, avoiding wasp stings. After firing, workers can leave to perform the next bee-killing task. Compared to traditional manual removal, using pellets is more efficient. After a period of time, the wasps, upon contact with the bee-killing agent, are eliminated within the hive. Furthermore, using pellets for bee-killing, compared to burning or washing with water, does not damage the surrounding environment (e.g., burning down houses), offering a higher safety factor. After inhaling the agent within the hive, the wasps gradually die, and the larvae within the hive are also eliminated, resulting in greater stability.

[0070] Example 2

[0071] Figure 5 This is a flowchart illustrating a control method for a drone applied in Embodiment 1, provided by one embodiment of the present invention. Figure 5 As shown, this embodiment provides a control method, the method including:

[0072] Step S10: Obtain flight instructions and respond to the flight instructions to control the drone to fly to the preset range of the target hive.

[0073] In this embodiment, a flight command is generated using a remote control device such as a remote controller or mobile phone, and the flight command is sent to the drone. The drone's control unit controls the drone to fly towards the target hive. The preset range in this embodiment can be the vicinity of the target hive, or the preset range can be the range where the target hive appears in the acquired light image. After flying to the preset range of the target hive, the subsequent steps S20 to S70 are automatically executed to automatically complete tasks such as aiming and projectile launching.

[0074] Step S20: Control the aiming unit to fire an aiming beam at the target hive and acquire image data of the target hive.

[0075] In this embodiment, the image acquisition unit of the UAV is used to acquire image data of the target hive. The image data in this embodiment includes visible light images and infrared images. The infrared images are multi-view near-infrared images. In this embodiment, near-infrared images with two views are preferably used.

[0076] Step S30: Perform size extraction processing on the image data to obtain the outer shell diameter and outer layer thickness of the target honeycomb.

[0077] Specifically, the calculation steps for the outer shell diameter of the target honeycomb are as follows: grayscale processing is performed on the visible light image to obtain a binarized image; the contour of the binarized image is extracted based on the Canny edge detection algorithm, and the contour is repaired by a morphological algorithm to obtain the outer contour of the honeycomb; the outer shell diameter of the honeycomb is determined based on the outer contour of the honeycomb.

[0078] In this embodiment, after grayscale processing, Gaussian filtering and threshold segmentation algorithms are used to remove background (trees, walls, etc.) interference and highlight the outline of the honeycomb's paper shell. After threshold segmentation, a binarized image is obtained (only the white area of ​​the honeycomb is retained, and the background is black).

[0079] The Canny edge detection algorithm in this embodiment is one of the most classic and widely used edge detection methods in the fields of computer vision and image processing. It has the advantages of low error rate, high positioning accuracy and small number of response times, and can accurately extract the contour of the binarized image.

[0080] The morphological algorithm in this embodiment can repair gaps in the contour (such as honeycomb entrances or discontinuities caused by surface depressions), and finally obtain a complete honeycomb circumcircle contour.

[0081] In this embodiment, after obtaining the outer contour of the honeycomb, the pixel diameter of the outer contour of the honeycomb in the image is first calculated (denoted as: Px). Then, by multiplying the pixel diameter by the calibration coefficient K (K = actual distance L × pixel density / focal length, fixed after pre-calibration), the actual outer shell diameter of the honeycomb can be obtained.

[0082] In this embodiment, because the papery outer shell of a wasp nest is not completely dense and contains tiny pores (pore size 50-200μm), and the shell thickness is 5-15mm, light of a specific wavelength and angle can penetrate the shell to reach the comb and then be reflected back to the camera, thereby capturing the grayscale information of the comb. Therefore, the near-infrared image acquisition parameters in this embodiment are as follows:

[0083] Light source type: It uses 4 850nm near-infrared LEDs. The 850nm near-infrared light wavelength is moderate and can penetrate the paper shell (absorption rate <30%), and will not be detected by wasps, thus avoiding disturbing them.

[0084] Exposure time: Set to 10-20ms to avoid light scattering and blurring, while ensuring grayscale signal strength.

[0085] Light intensity: 5000 lux for normal scenes.

[0086] ISO (sensitivity) value: fixed at 800, which can reduce noise and ensure that the gray difference between the comb and the shell can be distinguished.

[0087] Therefore, the calculation steps for the outer layer thickness of the target honeycomb in this embodiment are as follows:

[0088] Step A1: Perform channel separation on the near-infrared image from each viewpoint to obtain the separated image; In this embodiment, by performing channel separation on the near-infrared image, the near-infrared band image can be extracted separately, visible light interference can be eliminated, and the signal of the nest after penetration can be highlighted.

[0089] Step A2: Perform contrast enhancement and filtering on the separated image to obtain a grayscale image containing nest texture.

[0090] In this embodiment, local contrast amplification is applied to the outer shell area (which has a darker grayscale, typically 50-80) and the comb area (which has a brighter grayscale, typically 120-150) to make the comb grayscale more prominent. The filtering process in this embodiment preferably employs a bilateral filtering algorithm, which can remove noise generated by the pores in the outer shell while preserving the texture details (i.e., grayscale gradient) of the comb.

[0091] Step A3: Determine the overall range of the target honeycomb in the grayscale image based on the outer contour of the honeycomb, and determine the inner edge of the outer shell within the overall range of the target honeycomb based on the grayscale mutation localization algorithm.

[0092] In this embodiment, the outer contour of the honeycomb is determined in the step of calculating the outer diameter of the target honeycomb. Therefore, the circumcircle range of the honeycomb, i.e. the overall range of the target honeycomb, can be determined by the outer contour of the honeycomb in this step, thus eliminating background interference.

[0093] In this embodiment, the grayscale gradient of the honeycomb shell is a "sudden change from dark to light" (from the background to the shell), while the gradient between the shell and the comb is a "gradual change from dark to light" (from the shell to the comb). Therefore, the grayscale change-of-color localization algorithm can determine the inner edge of the shell within the entire range of the target honeycomb by distinguishing the gradient type and locking the inner boundary of the shell.

[0094] Step A4: Determine the comb area of ​​the target beehive from each viewpoint based on the inner edge of the shell.

[0095] In this embodiment, the inner edge of the outer shell is used as the boundary, and the area offset inward by 5-8mm is used as the comb area of ​​the target beehive.

[0096] Step A5: Select near-infrared images from any two viewpoints, and extract multiple first feature points from the shell edge and multiple second feature points from the nest area in the two near-infrared images; in this embodiment, the first feature points are clear points on the shell edge, and the second feature points are points with clear texture in the nest area. At least 20 sets of first and second feature points are collected; then, the consistency of all first and second feature points is verified by the Random Sampling Consensus (RANSAC) algorithm to remove mismatched points (such as feature points of background leaves), and retain valid feature points with a matching accuracy ≥95%, thus obtaining the final first and second feature points.

[0097] Step A6: Calculate the pixel coordinate difference of each first feature point in the two near-infrared images to obtain multiple first disparities, and calculate the pixel coordinate difference of each second feature point in the two near-infrared images to obtain multiple second disparities; determine the average depth of the shell edge based on the multiple first disparities, and determine the average depth of the nest comb region based on the multiple second disparities.

[0098] The formula for calculating the average depth in this embodiment is:

[0099] ;

[0100] In the formula, Let B be the average depth, B be the baseline length of the near-infrared camera, F be the focal length of the near-infrared camera, and d be the focal length of the near-infrared camera. n The difference in pixel coordinates of the nth feature point (either the first or second feature point) between the two near-infrared images is N, where N is the total number of feature points.

[0101] Step A8: Determine the outer layer thickness of the target honeycomb based on the average depth of the outer shell edge and the average depth of the honeycomb area; in this embodiment, the absolute value of the difference between the average depth of the outer shell edge and the average depth of the honeycomb area is the outer layer thickness of the target honeycomb.

[0102] As a further optimization of this embodiment, this embodiment also requires verification of the validity of the honeycomb region of the target beehive obtained in step A4, in order to determine whether the extraction of the honeycomb region is accurate. The steps for verifying the validity of the honeycomb region are as follows:

[0103] First, sampling points at multiple preset locations in the honeycomb area are selected, and the grayscale value of each sampling point is extracted. In this embodiment, the preset locations are the center of the honeycomb and the locations of four points around the honeycomb area, for a total of 5 sampling points.

[0104] Then, based on the gray values ​​of multiple sampling points, the average gray value of the nest area is determined.

[0105] Finally, it is determined whether the average gray value of the comb area meets the preset condition. If yes, the comb area of ​​the target beehive is a valid area; if no, the comb area of ​​the target beehive is an invalid area. When the comb area of ​​the target beehive is determined to be an invalid area, the acquisition parameters of the near-infrared image are adjusted. The acquisition parameters include light intensity and wavelength.

[0106] In this embodiment, the preset condition is that the characteristic gray value of the comb is greater than 100 and the difference between the gray value of the comb and the average gray value of the shell is greater than 40. If the average gray value of the comb area does not meet the preset condition, it indicates that the near-infrared penetration effect is poor, and the acquisition parameters are automatically adjusted (for example, the light source intensity is increased by 20% and near-infrared light in the 940nm band is used).

[0107] Step S40: Extract the position of the beam of the aiming beam from the image data, and determine whether the transmitter is aiming at the target hive based on the position of the beam.

[0108] Specifically, the steps for determining whether the transmitter is aiming at the target hive based on the position of the light spot are as follows: determine whether the position of the light spot is located at the center of the outline of the target hive. If yes, the transmitter aims at the target hive. If no, generate a position and attitude adjustment command for the UAV. The position and attitude adjustment command is used to adjust the position and attitude of the UAV so that the position of the light spot is located at the center of the outline of the target hive.

[0109] In this embodiment, by determining whether the position of the light spot is located at the center of the contour extracted in step S30, accurate aiming at the target honeycomb can be achieved. When the position of the light spot is not located at the center of the contour, it indicates that there is an obstruction in the launch direction of the launcher or that the position and launch angle of the launcher are not suitable for launch; therefore, by adjusting the position and attitude of the UAV, it can be ensured that the projectile is aligned with the target honeycomb.

[0110] Step S50: After the transmitter aims at the target cell, obtain the current attitude of the transmitter and the distance between the transmitter and the target cell. In this embodiment, an ultrasonic sensor can be used to measure the distance.

[0111] Step S60: Determine the projectile launch velocity of the launcher based on the outer shell diameter, outer layer thickness, current attitude, and spacing.

[0112] Specifically, the projectile launch velocity of the launcher is determined based on the outer shell diameter, outer layer thickness, current attitude, and spacing, including: determining the projectile penetration velocity based on the outer layer thickness; determining a correction coefficient based on the outer shell diameter; correcting the penetration velocity based on the correction coefficient to obtain the corrected velocity; and determining the projectile launch velocity of the launcher based on the current attitude, spacing, and corrected velocity.

[0113] In this embodiment, the minimum energy required to penetrate the outer layer of the target honeycomb can be determined based on the outer layer thickness and material (this can be determined through experimental calibration). The kinetic energy of the projectile can be calculated based on its velocity and mass. Therefore, the minimum velocity, i.e., the penetration velocity of the projectile, can be calculated based on the mass of the projectile and the minimum energy required to penetrate the outer layer. Then, a correction coefficient is constructed based on the outer shell diameter. The value of the correction coefficient ranges from 1.0 to 2.0. The correction coefficient is positively correlated with the outer shell diameter. When the outer shell diameter of the target honeycomb is larger, the correction coefficient is larger, and the correction velocity is larger, ensuring that the projectile can penetrate the outer shell of the honeycomb and remain inside the honeycomb comb.

[0114] Finally, since the projectile is subject to gravity during flight, the acceleration of the projectile is determined based on gravity, and then the launch velocity of the projectile is deduced based on the current attitude, spacing, and correction velocity.

[0115] Step S70: Generate a launch control command based on the projectile launch velocity and send the launch control command to the launcher.

[0116] This embodiment, through steps S60 and S70, can accurately calculate the projectile firing velocity required for the projectile to enter the target beehive. This ensures that the projectile can penetrate the target beehive without piercing the entire beehive, thus ensuring that the projectile remains inside the target beehive. Therefore, this embodiment can accurately fire the projectile containing the bee-killing agent into the target beehive, and the bee-killing agent slowly flows out of the target beehive, thereby improving the bee-killing effect.

[0117] Example 3

[0118] This embodiment also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the control method in Embodiment 2.

[0119] This embodiment also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the control method in Embodiment 2.

[0120] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application 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.

[0121] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. 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... Figure 1 One or more processes and / or boxes Figure 1 A system that specifies functions in one or more boxes.

[0122] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A drone for bee eradication, characterized in that, The drone includes: a drone body, on which are mounted: a transmitter, a control unit, an aiming unit, an image acquisition unit, an attitude detection unit, and a ranging unit, wherein the transmitter, aiming unit, image acquisition unit, attitude detection unit, and ranging unit are all electrically connected to the control unit; The transmitter is used to launch projectiles containing bee-killing agents; the aiming unit is used to fire an aiming beam at the target beehive so that the transmitter is aimed at the target beehive; the image acquisition unit is used to acquire image data of the target beehive; the attitude detection unit is used to detect the attitude data of the UAV body; and the ranging unit is used to detect the distance between the transmitter and the target beehive. The control unit is used to receive remotely transmitted flight commands, control the UAV body to fly towards the target hive when responding to the flight commands, and then analyze and process the image data, attitude data and distance to generate a projectile launch command to control the launcher to launch projectiles towards the target hive.

2. The drone for bee eradication according to claim 1, characterized in that, The projectile includes an outer shell, the front end of which is frustum-shaped. An inner capsule is placed in the inner cavity of the outer shell, and the inner capsule contains a bee-killing agent. The outer shell has several micropores that communicate with the inner cavity. The inner wall of the inner cavity near the front end of the outer shell has a spike for piercing the inner capsule.

3. A control method for a drone used for bee eradication as described in claim 1 or 2, characterized in that, The method includes: Receive flight commands and respond to flight commands to control the drone to fly within the preset range of the target hive; The aiming unit controls the firing beam to the target hive and acquires image data of the target hive; The image data is processed to extract dimensions, yielding the outer shell diameter and outer layer thickness of the target honeycomb. Extract the position of the beam of the aiming beam from the image data, and determine whether the transmitter is aiming at the target hive based on the position of the beam; After the transmitter aims at the target hive, obtain the current attitude of the transmitter and the distance between the transmitter and the target hive; The projectile launch velocity of the launcher is determined based on the outer shell diameter, outer layer thickness, current attitude, and spacing. Based on the projectile's launch velocity, a launch control command is generated and sent to the launcher.

4. The control method according to claim 3, characterized in that, The image data includes: a visible light image, and the calculation steps for the outer shell diameter of the target honeycomb are as follows: A visible light image is processed to obtain a binarized image; The contours of the binarized image are extracted based on the Canny edge detection algorithm, and the contours are repaired using morphological algorithms to obtain the honeycomb outer contour. Determine the diameter of the honeycomb's outer shell based on its outer contour.

5. The control method according to claim 4, characterized in that, The image data also includes: multi-view near-infrared images, and the calculation steps for the outer layer thickness of the target honeycomb are as follows: Channel separation is performed on the near-infrared image from each viewpoint to obtain the separated image; The separated images are enhanced and filtered to obtain a grayscale image containing nest texture; The overall range of the target honeycomb in the grayscale image is determined based on the outer contour of the honeycomb, and the inner edge of the outer shell within the overall range of the target honeycomb is determined based on the grayscale mutation localization algorithm. Determine the comb area of ​​the target honeycomb from each viewpoint based on the inner edge of the shell; Select any two near-infrared images from different perspectives, and extract multiple first feature points on the shell edge and multiple second feature points on the comb region from the two near-infrared images; Calculate the pixel coordinate difference of each first feature point in two near-infrared images to obtain multiple first disparities, and calculate the pixel coordinate difference of each second feature point in two near-infrared images to obtain multiple second disparities; The average depth of the shell edge is determined based on multiple first parallaxes, and the average depth of the comb area is determined based on multiple second parallaxes. The outer layer thickness of the target honeycomb is determined based on the average depth of the outer shell edge and the average depth of the comb area.

6. The control method according to claim 5, characterized in that, The method further includes: verifying the validity of the comb area of ​​the target beehive, including: Select sampling points at multiple preset locations in the nest area and extract the grayscale value of each sampling point; The average gray value of the nest area is determined based on the gray values ​​of multiple sampling points; Determine whether the average gray value of the comb area meets the preset condition. If yes, the comb area of ​​the target beehive is a valid area; otherwise, the comb area of ​​the target beehive is an invalid area. When the comb area of ​​the target beehive is determined to be an invalid area, adjust the acquisition parameters of the near-infrared image. The acquisition parameters include light intensity and wavelength.

7. The control method according to claim 3, characterized in that, The projectile launch velocity of the launcher is determined based on the outer shell diameter, outer layer thickness, current attitude, and spacing, including: The penetration velocity of the projectile is determined based on the thickness of the outer layer; Based on the outer shell diameter, determine the correction factor, and then correct the penetration velocity according to the correction factor to obtain the corrected velocity; The projectile launch velocity of the launcher is determined based on the current attitude, spacing, and correction velocity.

8. The control method according to claim 3, characterized in that, Determining whether the transmitter is aimed at the target hive based on the position of the light spot includes: If the position of the light spot is located at the center of the outline of the target hive, the transmitter aims at the target hive; otherwise, a position and attitude adjustment command for the UAV is generated. The position and attitude adjustment command is used to adjust the position and attitude of the UAV so that the position of the light spot is located at the center of the outline of the target hive.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method according to any one of claims 3-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the control method as described in any one of claims 3-8.

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