Automatic laser insecticidal servo mechanism integrating detection, identification and tracking

Abstract

The utility model discloses an automatic laser insect killing servo mechanism integrating detection, identification and tracking, which comprises a connecting base and a main body frame, and a laser insect killing device, a visible optical system, an optical information image processing plate and a servo system are arranged on the main body frame. According to the utility model, clear images are acquired through the visible optical system, and by means of the optical information image processing board carrying an advanced identification algorithm, pest and non-pest targets can be accurately distinguished, pest positions can be accurately captured, pertinence and accuracy of pest control are greatly improved, and the pest control efficiency is greatly improved from pest detection, identification and tracking to laser emission killing. The whole process is highly automatic, continuous manual intervention is not needed, and rapid and accurate cooperative work is achieved through reasonable connection and signal transmission between all the components.

Description

Technical Field

[0001] This utility model relates to the field of pest control technology, and in particular to an automatic laser pest control servo mechanism that integrates detection, identification and tracking. Background Technology

[0002] In many fields, including agricultural production, warehousing and logistics, and daily life, the harm caused by pests has always been a problem that urgently needs to be solved. Traditional pest control methods, such as chemical pesticide spraying, can control pest numbers to a certain extent, but they often lead to environmental pollution, pesticide residues, and other problems, posing potential threats to ecological balance and human health. With the continuous development of science and technology, people's demand for more environmentally friendly, efficient, and precise pest control technologies is becoming increasingly urgent.

[0003] Laser pest control technology, as an emerging physical control method, has the advantages of being pollution-free, highly efficient, and precise. However, existing laser pest control devices have shortcomings in detecting, identifying, and tracking pests, making it difficult to automate operations. Furthermore, they are poorly adaptable to mobile carriers, which limits their promotion and application in practice. Utility Model Content

[0004] To overcome the shortcomings of the existing technology, this utility model is achieved through the following technical solution:

[0005] An automatic laser insect-killing servo mechanism integrating detection, identification, and tracking includes a connecting base and a main frame, wherein the main frame is equipped with:

[0006] Laser pest control device, used to kill pests by emitting a laser beam after the location of the pests has been identified;

[0007] The visible optical system uses a visible optical lens and mechanism to acquire and detect images, converts the target object into an image through the optical imaging system, and transmits it to the receiver. The visible optical system includes lenses, mirrors, and filters, which are used to change the direction of light propagation, focus light, and filter light to obtain a clear and accurate image.

[0008] An optical information image processing board is used to process the image information received by the visible optical system, identify the location of pests, and transmit the real-time processed image information to the servo system.

[0009] The servo system, equipped with a servo control board and servo structure, receives image information from the optical information image processing board and provides feedback to automatically track the target.

[0010] The receiver of the visible optical system is connected to the optical information image processing board via a data transmission line to transmit the acquired image data to the optical information image processing board for processing. The optical information image processing board is connected to the servo control board of the servo system via a control signal line to send target position information and control commands to the servo system. The servo control board of the servo system is connected to the laser pest control device via a trigger signal line. When the servo system confirms that the target has stopped, it sends a trigger signal to the laser pest control device to emit laser light via the trigger signal line, thereby realizing coordinated work and signal transmission between the various parts and completing the automatic detection, identification, tracking and extermination of pests.

[0011] Furthermore, the servo system can move ±30° in the pitch direction and ±15° in the azimuth direction, and can be loaded into the turntable system through tooling to achieve 360° detection and tracking in the rolling direction. After confirming that the target has stopped, it sends a laser emission signal to the laser insect-killing device.

[0012] Furthermore, the optical lens of the visible optical system has an autofocus function to ensure that clear images are captured at different distances.

[0013] Furthermore, the laser generator is a semiconductor laser, which emits a laser wavelength between 400nm and 600nm, and the laser emission power and emission frequency of the laser insecticidal device are adjustable to adapt to different types and sizes of pests.

[0014] Furthermore, the servo control board of the servo system employs high-precision sensors, including but not limited to gyroscopes and accelerometers, to precisely control the motion of the servo structure and improve tracking accuracy.

[0015] Furthermore, it also includes a protective housing, which is fixedly connected to the main frame of the device by screws to protect the various components inside the device. The protective housing is provided with heat dissipation holes to dissipate the heat generated by the laser insect-killing device and other electronic components during operation.

[0016] Furthermore, the device is also equipped with a wireless communication module, which is connected to the device's control motherboard via a circuit. This allows for data transmission and remote control with external devices, enabling remote operation and status monitoring of the device. The wireless communication module supports 4G / 5G network communication protocols to ensure efficient and stable data transmission.

[0017] In summary, this utility model has the following beneficial effects:

[0018] 1. This invention acquires clear images through a visible optical system and, with the aid of an optical information image processing board equipped with advanced recognition algorithms, can accurately distinguish between pests and non-pests, precisely capturing the location of pests. This greatly improves the targeting and accuracy of pest control. From pest detection, identification, and tracking to laser emission and killing, the entire process is highly automated, requiring no continuous manual intervention. The various components achieve rapid and accurate collaborative work through reasonable connections and signal transmission. The servo system has the ability to move in two directions: pitch ±30° and azimuth ±15°. Furthermore, by combining the tooling with a turntable system, it can achieve 360° detection and tracking in the rolling direction. This allows the device to flexibly adapt to pest activity at different angles and heights, greatly increasing the image detection range, laser emission range, and tracking range, effectively improving the probability of pest capture and reducing the possibility of pest escape.

[0019] 2. This utility model uses laser pest control technology to replace traditional chemical pesticide spraying, avoiding pollution of soil, water and air by chemical agents, reducing damage to the ecological environment, and also reducing the risk of pesticide residues in agricultural products. It helps to produce green and organic agricultural products and is in line with the development trend of modern environmentally friendly agriculture. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the entire utility model;

[0021] Figure 2 This is a side view of the present invention;

[0022] Figure 3 This is a schematic diagram showing the connection relationship between the various modules of this utility model.

[0023] In the diagram, 1 is the connecting base; 2 is the main frame; 3 is the servo system; 4 is the visible optical system; 5 is the laser insect-killing device; and 6 is the optical information image processing board. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings.

[0025] Identical parts are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "bottom surface," "top surface," "inner," and "outer" refer to directions toward or away from the geometric center of a specific part, respectively.

[0026] Reference Figure 1-3 As shown, this is a preferred embodiment of the present invention, an automatic laser insecticidal servo mechanism integrating detection, identification, and tracking, including a connecting base 1 and a main frame 2, wherein the main frame 2 is provided with:

[0027] Laser insect-killing device 5 is used to emit a laser beam to kill pests after confirming their location;

[0028] The visible optical system 4 uses a visible optical lens and mechanism to acquire and detect images, converts the target object into an image through the optical imaging system, and transmits it to the receiver. The visible optical system includes a lens, a mirror, and a filter, which are used to change the direction of light propagation, focus light, and filter light to obtain a clear and accurate image.

[0029] The optical information image processing board 6 is used to process the image information received by the visible optical system, identify the location of pests, and transmit the real-time processed image information to the servo system.

[0030] Servo system 3, equipped with a servo control board and servo structure, receives image information from the optical information image processing board and provides feedback to automatically track the target.

[0031] Example 1

[0032] In an apple orchard, this automatic laser pest control servo mechanism is mounted on a multi-rotor drone, utilizing the drone's mobility and flexibility to conduct comprehensive pest control operations within the orchard. This automatic laser pest control servo mechanism mainly consists of the following components:

[0033] Visible Optical System: Employing a high-resolution visible optical lens and advanced mechanism, the lens consists of high-quality lenses, mirrors, and filters. It is connected to the main frame of the device via a specially designed shock-absorbing mounting bracket to reduce the impact of drone vibrations on imaging, ensuring clear and stable image acquisition even in complex orchard environments. Its automatic focusing function can quickly adjust the focus according to the target distance, adapting to the pest monitoring needs of different locations.

[0034] Optical Information Image Processing Board: Connected to the receiver of the visible optical system via a high-speed data transmission line, it employs an advanced digital signal processing chip and a large-capacity storage unit, and incorporates a deep learning-based pest identification algorithm. This algorithm has been trained on a large amount of image data of common apple orchard pests (such as codling moths, fruit borers, and spider mites) and various non-pest targets in the orchard environment (such as apple leaves, branches, fruits, bees, and other beneficial insects and natural background elements). It possesses a highly accurate pest identification capability, can quickly and accurately locate pest positions from acquired images, and transmits the position information and control commands to the servo control board of the servo system through a well-shielded control signal line.

[0035] The servo system comprises a high-precision servo control board and a flexible and reliable servo structure. The servo control board integrates an advanced microprocessor and various high-precision sensors, such as gyroscopes, accelerometers, and position encoders. It connects to the optical information image processing board via control lines, receiving command signals and accurately calculating the drive parameters of the servo motors based on sensor feedback. The servo structure is connected to the main frame of the device via specially designed movable joints. These joints utilize wear-resistant and flexible connecting materials and structural designs to ensure rapid and accurate response to control commands in both pitch and azimuth directions, achieving stable tracking of pests. The servo system can move flexibly within a pitch range of ±30° and an azimuth range of ±15°, and can seamlessly communicate and collaborate with the UAV's flight control system, ensuring accurate tracking of target pests even when the UAV's flight attitude changes.

[0036] The laser pest control device consists of a laser generator, a laser focusing lens assembly, and a laser emission controller. The laser generator uses a high-energy-conversion-efficiency semiconductor laser to produce a laser beam of a specific wavelength (e.g., 532nm), which is highly effective at killing apple pests with minimal damage to the apple plant. The laser focusing lens assembly uses a combination of precision optical lenses connected to the laser generator via a high-precision optomechanical structure to effectively focus the laser beam, increasing its energy density and enabling it to accurately target pests from a distance. The laser emission controller is electrically connected to the laser generator and the optical information image processing board. It receives trigger signals from the servo system and precisely controls the laser generator's start-up, stop, and emission parameters (such as power, frequency, and pulse width) to ensure that a laser pulse sufficient to kill the pests is emitted at the appropriate time.

[0037] Wireless communication module: Supports 5G network communication protocol and is connected to the device's control motherboard through a carefully designed circuit, enabling high-speed and stable data transmission between the device and ground control terminals (such as smartphones, tablets, etc.). Through this module, operators can remotely receive various data transmitted by the device, including real-time acquired images, pest identification results, servo system operating status, laser emission records, and operating parameters of various components. They can also send remote control commands to the device, such as adjusting the device's operating mode, parameter settings, starting or pausing operations, greatly improving operational convenience and flexibility, and making it particularly suitable for pest control operations in large-scale orchards.

[0038] The workflow is as follows:

[0039] Operators launch the drone via a ground control terminal. The drone takes off and cruises over the orchard according to a preset flight path and altitude. During flight, the drone's flight control system adjusts its flight attitude and position in real time to maintain stable flight, and transmits flight parameters (such as altitude, speed, attitude angle, etc.) to the servo system of the automatic laser pest control device through a data interface, so that the servo system can make corresponding adjustments based on the drone's status.

[0040] Simultaneously, the visible optical system begins to operate. The optical lens uses its lenses, mirrors, and filters to process the light and acquire image information from within the orchard. Despite the complex orchard environment with its intertwined branches and leaves, the optical lens effectively filters out stray light, focuses on the target object, and obtains a clear image. This image data is then transmitted in real-time to the optical information image processing board via a data transmission line.

[0041] Pest identification and target location:

[0042] After receiving the image data, the optical information image processing board quickly activates its built-in pest identification algorithm based on a deep learning model. This algorithm learns and trains on a large amount of image data of apple pests (such as codling moths and fruit borers) and non-pest targets (such as apple leaves, branches, fruits, and beneficial organisms such as bees), and can accurately distinguish between pests and non-pest targets.

[0043] Once the pest is identified, the image processing board sends the pest's location information and control commands to the servo control board of the servo system via the control signal line. The control signal line uses shielded twisted-pair cable, which effectively reduces the impact of external electromagnetic interference on signal transmission, ensuring the accuracy and stability of command transmission. This enables the servo system to accurately receive the information from the image processing board and make precise action responses.

[0044] Servo tracking and target locking:

[0045] After receiving the command, the servo control board accurately calculates the angle and speed that the servo structure needs to be adjusted based on the information fed back by high-precision sensors (such as gyroscopes and accelerometers) and the flight parameters of the UAV.

[0046] By driving servo motors, the servo structure uses movable joints to move quickly and precisely in the pitch and azimuth directions, ensuring the device remains consistently aimed at the pest target. For example, when an apple moth hiding on the back of an apple leaf is detected, the servo system rapidly adjusts the drone's attitude and the device's angle to ensure continuous tracking of the pest. During tracking, the servo system continuously fine-tunes based on information from the image processing board, keeping the target within the device's effective monitoring and engagement range.

[0047] Laser emission and pest control:

[0048] When the servo system confirms that the pest has stopped moving or is in a relatively stable state, the servo control board sends a trigger signal to the laser pest control device via the trigger signal line to emit the laser. The trigger signal line uses a low-latency pulse signal transmission line to ensure that the trigger signal can be transmitted to the laser pest control device quickly and accurately when the target state meets the emission conditions, avoiding pests escaping or accidental laser emission due to signal delay.

[0049] Upon receiving a trigger signal, the laser emission controller of the laser pest control device immediately activates the laser generator. The generated laser beam is focused by the laser focusing lens group, forming a high-energy-density light spot that precisely targets the pests, instantly killing them. The power and emission frequency of the laser generator are adjusted according to pre-set parameters for apple pests, ensuring effective pest control while minimizing impact on apple fruit, branches, and other beneficial organisms.

[0050] Data transmission and remote monitoring:

[0051] Throughout the operation, the automatic laser insect-killing device on the drone transmits its operating status information (such as the image acquisition status of the visible optical system, the tracking status of the servo system, and the emission records of the laser insect-killing device) to the ground control terminal in real time via a wireless communication module (supporting 5G network communication protocol).

[0052] Operators can view this data in real time via a control terminal on the ground to understand the pest control situation and flexibly adjust operational strategies according to the actual situation, such as changing the drone's flight altitude, speed, or device parameter settings (such as laser emission power, servo system sensitivity, etc.). At the same time, the control terminal can also send control commands to the device to achieve remote operation, further improving operational efficiency and flexibility.

[0053] Example 2

[0054] Unlike Embodiment 1, this invention is mounted on a mobile ground operation vehicle. In a cotton field, the vehicle slowly travels along a pre-set route to ensure that the device can cover as large an area as possible. The specific component composition is the same as in Embodiment 1 (and will not be repeated).

[0055] Workflow:

[0056] Before operation, a detailed topographical survey and zoning of the cotton field should be conducted using satellite maps or on-site inspections. A reasonable operation route should be developed based on the cotton planting row direction, plot shape, and size. The operation route should ensure that the automatic laser pest control device can cover every row of cotton plants, avoiding omissions and duplicate operations. The planned operation route is input into the navigation system of the operation vehicle (if the vehicle is equipped with navigation), or the operator manually drives the vehicle along the predetermined route. Simultaneously, the operation route map and current location information are displayed on the control terminal in the driver's cab, allowing the operator to monitor the operation progress and driving direction in real time.

[0057] The work vehicle travels slowly along the planned route, with the speed controlled at about 5 kilometers per hour to ensure that the automatic laser insecticide device has enough time to carefully scan and monitor the cotton plants. During the journey, the visible optical system continuously collects image information of the cotton field and transmits the image data to the optical information image processing board in real time through the data transmission line.

[0058] Upon receiving image data, the optical information image processing board immediately activates its built-in pest identification algorithm. This algorithm, trained on a large number of image samples of cotton pests (bollworms, aphids, spider mites, etc.) and cotton plants, can quickly and accurately identify pests in images and precisely calculate their location coordinates and size. Once a pest is identified, the image processing board transmits the pest's location information and related data to the servo control board of the servo system via control signal lines.

[0059] After receiving the location information of the pests, the servo control board accurately calculates the angle and speed that the servo structure needs to adjust based on the vehicle driving status and its own motion status information fed back by high-precision sensors (such as gyroscopes, accelerometers and position encoders) to ensure that the laser pest control device is always aimed at the pest target.

[0060] By driving the servo motor, the servo structure moves rapidly in the pitch and azimuth directions, aligning the laser emitter with the pest. When the servo system confirms that the pest has stopped moving or is relatively stable, the servo control board sends a trigger signal to the laser pest control device to emit the laser via the trigger signal line.

[0061] After receiving a trigger signal, the laser emission controller of the laser pest control device automatically adjusts the emission power and pulse frequency of the laser generator based on information such as the type, size, and distance of the pest. It then activates the laser generator to produce a laser beam of a specific wavelength (e.g., 532nm). This beam is focused by the laser focusing lens group and precisely aimed at the pest, instantly killing it. During laser emission, the operating vehicle maintains a stable speed and direction to ensure the laser accurately hits the target pest, while avoiding accidental damage to the cotton plants due to vehicle movement.

[0062] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An automatic laser insecticidal servo mechanism integrating detection, identification, and tracking, comprising a connecting base and a main frame, characterized in that, The main frame is equipped with: Laser pest control device, used to kill pests by emitting a laser beam after the location of the pests has been identified; The visible optical system uses a visible optical lens and mechanism to acquire and detect images, converts the target object into an image through the optical imaging system, and transmits it to the receiver. The visible optical system includes lenses, mirrors, and filters, which are used to change the direction of light propagation, focus light, and filter light to obtain a clear and accurate image. An optical information image processing board is used to process the image information received by the visible optical system, identify the location of pests, and transmit the real-time processed image information to the servo system. The servo system, equipped with a servo control board and servo structure, receives image information from the optical information image processing board and provides feedback to automatically track the target. The receiver of the visible optical system is connected to the optical information image processing board via a data transmission line to transmit the acquired image data to the optical information image processing board for processing. The optical information image processing board is connected to the servo control board of the servo system via a control signal line, and is used to send target position information and control commands to the servo system. The servo control board of the servo system is connected to the laser pest control device via a trigger signal line. When the servo system confirms that the target has stopped, it sends a trigger signal to the laser pest control device to emit laser light through the trigger signal line, thereby realizing coordinated work and signal transmission between the parts and completing the automatic detection, identification, tracking and extermination of pests.

2. The automatic laser insecticidal servo mechanism integrating detection, identification, and tracking according to claim 1, characterized in that, The servo system can move ±30° in the pitch direction and ±15° in the azimuth direction. It can also be mounted on a turntable system via tooling to achieve 360° detection and tracking in the rolling direction. After confirming that the target has stopped, it sends a laser signal to the laser insect-killing device.

3. The automatic laser insect-killing servo mechanism integrating detection, identification, and tracking according to claim 1, characterized in that, The optical lens of the visible optical system has an autofocus function to ensure that clear images are captured at different distances.

4. The automatic laser insect-killing servo mechanism integrating detection, identification, and tracking according to claim 1, characterized in that, The laser insect-killing device consists of a laser generator, a laser focusing lens group, and a laser emission controller. The laser generator is a semiconductor laser, which emits laser wavelengths between 400nm and 600nm. The laser emission power and emission frequency of the laser insect-killing device are adjustable to adapt to different types and sizes of pests.

5. The automatic laser insect-killing servo mechanism integrating detection, identification, and tracking according to claim 1, characterized in that, The servo control board of the servo system uses high-precision sensors, including but not limited to gyroscopes and accelerometers, to precisely control the movement of the servo structure and improve tracking accuracy.

6. The automatic laser insecticidal servo mechanism integrating detection, identification, and tracking according to claim 1, characterized in that, It also includes a protective housing, which is fixedly connected to the main frame of the device by screws to protect the various components inside the device. The protective housing is provided with heat dissipation holes to dissipate the heat generated by the laser insect killing device and other electronic components during operation.

7. The automatic laser insecticidal servo mechanism integrating detection, identification, and tracking according to claim 1, characterized in that, The device is also equipped with a wireless communication module, which is connected to the device's control motherboard via a circuit. This module enables data transmission and remote control with external devices, allowing for remote operation and status monitoring of the device. The wireless communication module supports 4G / 5G network communication protocols to ensure efficient and stable data transmission.

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