The invention discloses an ultrasonic directional bird repelling unmanned aerial vehicle device based on vision and a bird repelling method of the ultrasonic directional bird repelling unmanned aerial vehicle device. The ultrasonic directional bird repelling unmanned aerial vehicle device comprises a four-rotor unmanned aerial vehicle and a visual detection directional bird repelling module installed on the unmanned aerial vehicle. The visual detection directional bird repelling module comprises a main control module, a holder module, a holder attitude measurement module, a visual detection module, an ultrasonic module and an operation processing module; according to the bird repelling method using the device, after the bird image is obtained, the obtained image is subjected to convolutional neural network processing, harmful birds and harmless birds are distinguished, and the feature points of the birds are obtained; estimating the coordinates of the birds in a three-dimensional space by mapping the feature points of the two-dimensional plane to the three-dimensional space; estimating and resolving the movement of the birds according to the change rule of the three-dimensional coordinates of the birds; and after the flight path of the bird is obtained, the holder module is controlled, so that the holder module can be aligned with the movement direction of the bird, and ultrasonic wave emission operation is carried out.

    本发明公开了一种基于视觉的超声波定向驱鸟无人机装置及其驱鸟方法。超声波定向驱鸟无人机装置,包括四旋翼无人机以及安装于无人机上的视觉检测定向驱鸟模块;视觉检测定向驱鸟模块包括主控模块、云台模块、云台姿态测量模块、视觉检测模块、超声波模块和运算处理模块;利用上述装置进行驱鸟的方法,在获取鸟类图像后,对获取的图像进行卷积神经网络处理,区分出有害鸟类和无害鸟类,获取鸟类的特征点;通过将二维平面的特征点映射到三维空间,估计出鸟类在三维空间中的坐标;通过鸟类的三维坐标的变化规律,对鸟类的运动进行估计解算;得到鸟类的飞行轨迹后,对云台模块进行操控,使云台模块能够正对准鸟类的运动方向,并进行超声波发射的操作。


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    Titel :

    Vision-based ultrasonic directional bird repelling unmanned aerial vehicle device and bird repelling method thereof


    Weitere Titelangaben:

    一种基于视觉的超声波定向驱鸟无人机装置及其驱鸟方法


    Beteiligte:
    FU LIN (Autor:in) / ZHENG YIGE (Autor:in) / XIE ZUOKUN (Autor:in) / YANG RONGSEN (Autor:in) / YAN BINQUAN (Autor:in) / YANG FUHUA (Autor:in)

    Erscheinungsdatum :

    2024-04-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    A01M Tierfang, Tierfallen oder Abschreckvorrichtungen für Tiere , CATCHING, TRAPPING OR SCARING OF ANIMALS / B64U / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / H04B TRANSMISSION , Übertragung



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