CN113455480A - Pest killing system and method based on 5G - Google Patents
Pest killing system and method based on 5G Download PDFInfo
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- CN113455480A CN113455480A CN202110713710.9A CN202110713710A CN113455480A CN 113455480 A CN113455480 A CN 113455480A CN 202110713710 A CN202110713710 A CN 202110713710A CN 113455480 A CN113455480 A CN 113455480A
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- 241000607479 Yersinia pestis Species 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005507 spraying Methods 0.000 claims abstract description 261
- 239000003814 drug Substances 0.000 claims abstract description 200
- 238000001514 detection method Methods 0.000 claims abstract description 65
- 239000007921 spray Substances 0.000 claims abstract description 28
- 238000003062 neural network model Methods 0.000 claims abstract description 10
- 239000000575 pesticide Substances 0.000 claims description 155
- 239000002917 insecticide Substances 0.000 claims description 17
- 229940079593 drug Drugs 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 11
- 239000007788 liquid Substances 0.000 claims description 5
- 230000002045 lasting effect Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 241001674044 Blattodea Species 0.000 description 8
- 230000006870 function Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 241000255925 Diptera Species 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 241000256602 Isoptera Species 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention relates to the technical field of vector biological control, in particular to a pest killing system and a pest killing method based on 5G, which comprises the following steps: the number of the self-walking medicine spraying terminals is multiple; the detection terminal is used for patrolling in a preset area, and when a preset target exists, the detection terminal sends position information corresponding to the location point of the detection terminal and the preset target to the control center; the control center inputs the position information into a pre-trained neural network model to generate a working time period meeting a preset condition, and sends the position information, the working time period and a preset target to the autonomous walking medicine spraying terminal in a sub-area corresponding to the position information; and the self-walking medicine spraying terminal reaches the corresponding position according to the position information and sprays the medicine for a preset time. This application has and reduces the manpower and consumes, improves the intelligent degree that the media biological was prevented and is controlled, carries out comparatively comprehensive effect of killing to the region simultaneously.
Description
Technical Field
The invention relates to the technical field of vector biological control, in particular to a pest killing system and method based on 5G.
Background
At present, in the process of carrying out vector biological control on a project, equipment and liquid medicine are often purchased manually, and then vector biological control is carried out on all places of the project, so that the method consumes manpower, and on the other hand, partial areas possibly remain to be killed, and insect pest hidden dangers still exist, and therefore improvement is needed.
Disclosure of Invention
In order to reduce manpower consumption, improve the intelligent degree of vector biological control and simultaneously carry out comparatively comprehensive killing to the region, the application provides a pest killing system and a pest killing method based on 5G.
The above object of the present invention is achieved by the following technical solutions:
A5G-based pest killing system comprising:
the self-walking medicine spraying terminals are distributed in sub-areas of the preset area, each sub-area is provided with a sub-area code, the self-walking medicine spraying terminals are provided with at least one insecticide, the insecticide is used for killing preset targets, and the preset targets are at least one;
the detection terminal is used for patrolling in the preset area, shooting the surrounding environment in the patrolling process, analyzing the shot video stream data in real time, judging whether a preset target exists according to the analysis result, and sending position information corresponding to the location point of the detection terminal and the preset target to the control center when the preset target exists;
the control center is used for receiving position information, inputting the position information into a pre-trained neural network model to generate a working time period meeting a preset condition, and sending the position information, the working time period and a preset target to the self-walking medicine spraying terminal in a sub-area corresponding to the position information;
and the autonomous walking medicine spraying terminal reaches the corresponding position according to the position information, and medicine spraying lasting for preset time is carried out according to the type of a preset target in the working time period.
By adopting the technical scheme, the plurality of self-walking medicine spraying terminals are distributed in each sub-area in the preset area and respectively take charge of each sub-area, wherein the preset area can be each project, the self-walking medicine spraying terminals can independently plan the route to walk, the detection terminals patrol in the preset area, the surrounding environment is shot in the patrol process, the shot video stream data is analyzed in real time, whether the preset target exists or not is judged according to the analysis result, and when the preset target exists, the position information corresponding to the location point of the detection terminal and the preset target are sent to the control center; the preset target can be a pest, so that when the pest is found to exist, position information is sent to the control center, the position information is input into a pre-trained neural network model to generate a working time period meeting preset conditions, the position information, the working time period and the preset target are sent to the self-walking medicine spraying terminal in a sub-area corresponding to the position information, then the self-walking medicine spraying terminal reaches a corresponding position according to the position information, and medicine spraying for continuous preset time is carried out according to the type of the preset target in the working time period; this kind of mode realizes that full project vector biology prevents and controls intellectuality, need not the pipelaying, carries out different kinds of medicines according to different kinds of pest and sprays, and the response is timely, and need not artifical supervision, is worth wideling popularize, and in a period, has all carried out the pest and has disappeared to the position that each place probably bred the pest in the project and kills to can reach the effect of no pest for a long time gradually.
The present application may be further configured in a preferred example to: the detection terminal is provided with a plurality of detection terminals, the detection terminals are distributed in each sub-region of the preset region, the detection terminals are provided with unique codes, and the unique codes of the detection terminals correspond to the codes of the sub-regions one by one.
By adopting the technical scheme, the detection terminals are arranged in a plurality to correspond to the sub-regions, and one detection terminal detects one sub-region, so that the detection frequency can be accelerated, and the load of a single detection terminal is reduced.
The present application may be further configured in a preferred example to: when the self-propelled medicine spraying terminal receives a plurality of working time periods, position information and preset targets, generating a proxy sequence according to the sequence of the time nodes of the received working time periods, position information and preset targets, and completing the sequence in sequence.
By adopting the technical scheme, when a plurality of working time periods and position information exist in the same self-propelled walking medicine spraying terminal and a preset target exists, tasks can be processed one by one according to the sequence.
The present application may be further configured in a preferred example to: under the condition that the preset targets are at least two types and the self-walking pesticide spraying terminals are provided with at least two types of pesticides, the self-walking pesticide spraying terminals detect the pesticide dosage and send the pesticide dosage to the control center, the control center receives various pesticide dosages sent by the respective main walking pesticide spraying terminals, and different types of pesticides are respectively used for preventing and controlling different types of targets;
and the control center reconfigures the autonomous walking medicine spraying terminals distributed in the plurality of sub-areas according to the residual pesticide dosage of the autonomous walking medicine spraying terminals.
By adopting the technical scheme, when the pesticide dosage of a certain kind of the self-walking pesticide spraying terminal is insufficient, the self-walking pesticide spraying terminals of all the subareas can be allocated in time, so that the utilization rate is improved, and the frequency of adding the pesticide by workers is reduced.
The present application may be further configured in a preferred example to: the control center reconfigures the self-walking medicine spraying terminals distributed in the plurality of sub-areas according to the residual pesticide dosage of the self-walking medicine spraying terminals, and comprises the following steps:
when the control center judges that any kind of pesticide is lower than a preset threshold value, a switching instruction is sent to a first free-walking pesticide spraying terminal and a second free-walking pesticide spraying terminal, wherein the first free-walking pesticide spraying terminal is a free-walking pesticide spraying terminal to which the pesticide lower than the preset threshold value belongs, the second free-walking pesticide spraying terminal is an adjustable free-walking pesticide spraying terminal meeting a second preset requirement, the switching instruction comprises a pesticide spraying terminal position where the first free-walking pesticide spraying terminal is located and a pesticide spraying terminal position where the second free-walking pesticide spraying terminal is located, the first free-walking pesticide spraying terminal moves to the pesticide spraying terminal position where the second free-walking pesticide spraying terminal is located after receiving the switching instruction, and the second free-walking pesticide spraying terminal receives the switching instruction, the mobile terminal moves to the position of a medicine spraying terminal where a first free-walking medicine spraying terminal is located, the adjustable free-walking medicine spraying terminal is a free-walking medicine spraying terminal except the first free-walking medicine spraying terminal, wherein a second free-walking medicine spraying terminal is one of all the adjustable free-walking medicine spraying terminals, the completion degree of a to-be-handled list is the highest, and the completion degree of the to-be-handled list is the ratio of parts, which can be completed by the first free-walking medicine spraying terminal, in the to-be-handled list;
and after the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal reach the corresponding medicine spraying terminal positions according to the exchange instruction, the to-Do list is exchanged.
By adopting the technical scheme, the freely-walking medicine spraying terminal with the highest completion degree of the to-be-handled list in all the adjustable freely-walking medicine spraying terminals is used as the second freely-walking medicine spraying terminal to be subjected to position exchange with the first freely-walking medicine spraying terminal, so that the first freely-walking medicine spraying terminal can be ensured to complete the tasks in the to-be-handled list of the subarea where the second freely-walking medicine spraying terminal is not allocated to the greatest extent; in addition, after the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal are changed in position, the to-do lists are exchanged, so that the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal can continuously finish changing the to-do lists of the sub-areas where the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal are located.
The present application may be further configured in a preferred example to: when any one of the categories of pesticides is lower than the liquid medicine value of the category required for completing the proxy list, the pesticide of the category is judged to be lower than a preset threshold value.
By adopting the technical scheme, when a certain kind of pesticide of the self-walking medicine spraying terminal is not enough to complete the tasks in the to-be-handled list, the positions of the self-walking medicine spraying terminals of all the sub-areas are allocated, so that the utilization rate of a larger limit and corresponding timeliness are ensured.
The second objective of the present invention is achieved by the following technical solutions:
A5G-based pest extermination method, comprising:
receiving position information from a detection terminal, wherein the detection terminal is used for patrolling in a preset area, the preset area comprises a plurality of sub-areas, the detection terminal is provided with a plurality of detection terminals, the detection terminals are distributed in the sub-areas of the preset area, autonomous walking medicine spraying terminals are distributed in the sub-areas, each sub-area is provided with a sub-area code, the detection terminals are provided with unique codes, and the unique codes of the detection terminals correspond to the sub-area codes one by one; the self-walking medicine spraying terminal is provided with at least one insecticide, the insecticide is used for killing preset targets, and the preset targets are at least one; the detection terminal shoots the surrounding environment in the patrol process, analyzes the shot video stream data in real time, judges whether a preset target exists according to the analysis result, and sends out position information corresponding to the location point of the detection terminal when the preset target exists;
inputting the position information into a pre-trained neural network model to generate a working time period meeting preset conditions;
and sending the position information, the working time period and the preset target to an autonomous walking medicine spraying terminal in a sub-area corresponding to the position information, wherein the autonomous walking medicine spraying terminal reaches a corresponding position according to the position information and sprays medicine for a continuous preset time according to the preset target in the working time period.
The present application may be further configured in a preferred example to: in a case where the preset targets are at least two kinds and the self-propelled pesticide spraying terminal is equipped with at least two kinds of pesticides, different kinds of pesticides are respectively used for controlling different kinds of targets, the 5G-based pest extermination method further includes:
receiving various pesticide doses sent by respective main walking pesticide spraying terminals, wherein different pesticides are respectively used for preventing and treating different targets;
and re-allocating the self-walking medicine spraying terminals distributed in the plurality of sub-areas according to the residual pesticide dosage of the self-walking medicine spraying terminals.
The present application may be further configured in a preferred example to: the reconfiguring of the autonomous walking medicine spraying terminals distributed in the plurality of sub-areas according to the residual pesticide dosage of the autonomous walking medicine spraying terminals comprises:
when judging that any kind of pesticide is lower than a preset threshold value, sending a switching instruction to a first free-walking pesticide spraying terminal and a second free-walking pesticide spraying terminal, wherein the first free-walking pesticide spraying terminal is a free-walking pesticide spraying terminal to which the pesticide lower than the preset threshold value belongs, the second free-walking pesticide spraying terminal is an adjustable free-walking pesticide spraying terminal meeting a second preset requirement, the switching instruction comprises a pesticide spraying terminal position where the first free-walking pesticide spraying terminal is located and a pesticide spraying terminal position where the second free-walking pesticide spraying terminal is located, the first free-walking pesticide spraying terminal moves to the pesticide spraying terminal position where the second free-walking pesticide spraying terminal is located after receiving the switching instruction, and the second free-walking pesticide spraying terminal receives the switching instruction, the mobile terminal moves to the position of a medicine spraying terminal where a first free-walking medicine spraying terminal is located, the adjustable free-walking medicine spraying terminal is a free-walking medicine spraying terminal except the first free-walking medicine spraying terminal, wherein a second free-walking medicine spraying terminal is one of all the adjustable free-walking medicine spraying terminals, the completion degree of a to-be-handled list is the highest, and the completion degree of the to-be-handled list is the ratio of parts, which can be completed by the first free-walking medicine spraying terminal, in the to-be-handled list; and after the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal reach the corresponding medicine spraying terminal positions according to the exchange instruction, the to-Do list is exchanged.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the system comprises a plurality of self-walking medicine spraying terminals, a control center and a detection terminal, wherein the self-walking medicine spraying terminals are distributed in all sub-areas in a preset area and respectively take charge of all the sub-areas, the preset area can be all projects, the self-walking medicine spraying terminals can walk in a self-planned route, the detection terminal patrols in the preset area, the surrounding environment is shot in the patrolling process, shot video stream data are analyzed in real time, whether a preset target exists or not is judged according to the analysis result, and when the preset target exists, position information corresponding to the position of the detection terminal and the preset target are sent to the control center; the preset target can be a pest, so that when the pest is found to exist, position information is sent to the control center, the position information is input into a pre-trained neural network model to generate a working time period meeting preset conditions, the position information, the working time period and the preset target are sent to the self-walking medicine spraying terminal in a sub-area corresponding to the position information, then the self-walking medicine spraying terminal reaches a corresponding position according to the position information, and medicine spraying for continuous preset time is carried out according to the type of the preset target in the working time period; the mode realizes the intellectualization of whole-project vector biological control, does not need to lay pipes, sprays different kinds of medicaments according to different kinds of pests, responds in time, does not need manual supervision, and is worthy of great popularization;
2. when the pesticide dosage of a certain kind of the self-walking pesticide spraying terminal is insufficient, the self-walking pesticide spraying terminals of all the subareas can be allocated in time, so that the utilization rate is improved, and the pesticide adding frequency of workers is reduced;
3. the method comprises the steps that the freely-walking medicine spraying terminal with the highest completion degree of a to-be-handled list in all adjustable freely-walking medicine spraying terminals is used as a second freely-walking medicine spraying terminal to be subjected to position interchange with a first freely-walking medicine spraying terminal, and the first freely-walking medicine spraying terminal can be guaranteed to complete tasks in the to-be-handled list of a subregion before the second freely-walking medicine spraying terminal is not allocated to the greatest extent; in addition, after the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal are changed in position, the to-do lists are exchanged, so that the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal can continuously finish changing the to-do lists of the sub-areas where the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal are located.
Drawings
FIG. 1 is a block diagram of a 5G-based pest killing system in an embodiment of the present application;
FIG. 2 is a flowchart in a 5G-based pest extermination method in an embodiment of the present application;
fig. 3 is a flowchart in a 5G-based pest extermination method in another embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the attached drawings.
The application discloses pest system of killing based on 5G, refer to FIG. 1, specifically including independently walking medicine spray terminal, detection terminal and control center, two liang of communication between detection terminal, independently walking medicine spray terminal and the control center three are connected, and this pest system of killing based on 5G sets up in predetermineeing the region, and predetermineeing the region and can be the building plate project, perhaps school district project, and it decides to need the region of media biological control. In one embodiment, the predetermined area includes a plurality of sub-areas, such as school projects, which are defined according to the teaching building, garden, lawn, green belt, so as to strip off the road, playground, etc., each sub-area has a sub-area code, and the coding rule of the sub-area code can be determined according to the actually corresponding sub-area name, for example, garden 1 can be HY #1, so that the sub-area code of teaching building 3 is JXL # 3.
Wherein, independently walking medicine sprays the terminal and sets up to a plurality ofly, and a plurality of independently walking medicines spray the terminal communication and connect, a plurality of independently walking medicines spray the terminal respectively distribute in predetermine each subregion in region, independently walking medicine sprays the terminal and has following function at least: planning a path according to the position information, and automatically walking along the path, spraying insecticide and positioning; the autonomous walking function can be realized according to a path by adopting an autonomous walking robot chassis, for example, an XBot-U (X-Bot-U) mode, a two-wheel differential movement mode is adopted, the speed and the position are accurately controlled through feedback information of a servo motor, a high-precision laser radar is equipped, an international advanced SLAM (simultaneous localization and ranging) algorithm is adopted, a diagram is built at high resolution and accurately positioned, two ultrasonic ranging sensors and two infrared suspension detection sensors are equipped, and an accurate obstacle avoidance and anti-falling mechanism is realized; the pesticide can be sprayed out by arranging the pesticide spraying device for spraying the pesticide on the chassis of the autonomous walking robot according to the existing pesticide spraying device, and the spraying amount can be controlled by controlling the pesticide spraying device through electric control; the pesticide is at least one type, and is used for killing a preset target, wherein the preset target can be pests, for example, cockroaches; in a preferred embodiment, the insecticide is provided in a plurality of formulations, and the plurality of insecticides are used to kill a plurality of different predetermined targets, such as mosquitoes, termites, and the like. The positioning function can be realized by installing a positioning module on the chassis of the autonomous walking robot, such as UWB technology, Radio Frequency Identification (RFID) technology, WI-FI technology, Bluetooth technology, etc.
The detection terminals are used for patrolling in the preset area and can adopt automatic patrol robots, in a preferred embodiment, the detection terminals are provided with a plurality of detection terminals which are distributed in each sub-area of the preset area, the detection terminals are provided with unique codes, and the unique codes of the detection terminals correspond to the codes of the sub-areas one by one. Wherein, detection terminal and independently walk the medicine and spray the terminal and can be integrated in same equipment, and a equipment both possessed independently walk the medicine and spray the terminal promptly, possess detection terminal's function simultaneously.
The detection terminal acts according to a preset program or manual remote operation or control of an operator, patrol is conducted in a sub-area where the detection terminal is located, in the patrol process, the surrounding environment is shot, shot video stream data are analyzed in real time, whether a preset target exists or not is judged according to an analysis result, and when the preset target exists, position information corresponding to the location point of the detection terminal is sent to the control center.
The control center is used for detecting the receiving position information sent by the terminal, and inputting the position information into a pre-trained neural network model so as to generate a working time period meeting preset conditions.
Wherein, the neural network model is obtained through machine learning training by the multiunit experimental data, and every group experimental data in the multiunit experimental data all includes: the position information and the working time period corresponding to the position information.
The working time period meeting the preset condition means that the personnel concentration in the position preset range corresponding to the position information in the working time period is lower than the preset concentration, the time span of the working time period is set according to the area size of the subregion where the position information is located, when the area of the subregion is larger, the working time period is longer, and when the area of the subregion is smaller, the working time period can be shorter; the predetermined range is preset, for example, 5m, and represents a range of 5m around the position corresponding to the position information.
Then the position information, the working time period and a preset target are sent to an autonomous walking medicine spraying terminal in a sub-area corresponding to the position information; and the autonomous walking medicine spraying terminal reaches the corresponding position according to the position information, and medicine spraying lasting for preset time is carried out in a preset target in working time.
For example, if the predetermined target is a cockroach, the insecticide for killing the cockroach is sprayed for a predetermined time. When the autonomous walking medicine spraying terminal walks along the route, the obstacle can be automatically avoided, or the route is changed or adjusted according to the actual route condition. The preset time may be specifically set according to the kind of the insecticide or the emergence intensity and frequency of the preset target.
When the self-propelled medicine spraying terminal receives a plurality of working time periods, position information and preset targets, generating a proxy sequence according to the sequence of the time nodes of the received working time periods, position information and preset targets, and completing the sequence in sequence.
Therefore, when the same self-propelled walking medicine spraying terminal has a plurality of working time periods and position information and preset targets, the tasks can be processed one by one according to the sequence.
For example, the proxy sequence may be as follows:
21: 00-21: 30 position information A of cockroaches;
22: position information B of 00-22: 40 is cockroach;
23: position information C of 20-23: 40 mosquitoes;
in a preferred embodiment, the preset targets are at least two types, the self-walking pesticide spraying terminals are equipped with at least two types of pesticides, the self-walking pesticide spraying terminals detect the pesticide dosage and send the pesticide dosage to the control center, the control center receives the pesticide dosages sent by the respective main walking pesticide spraying terminals, and the pesticide dosage can be measured by a liquid level sensor or a pressure sensor.
And the control center reconfigures the autonomous walking medicine spraying terminals distributed in the plurality of sub-areas according to the residual pesticide dosage of the autonomous walking medicine spraying terminals.
Specifically, the control center reconfiguring the autonomous walking drug spraying terminals distributed in the plurality of sub-areas according to the residual pesticide dosage of the autonomous walking drug spraying terminals includes:
and when the control center judges that any kind of pesticide is lower than a preset threshold value, sending a replacing instruction to the first free-walking pesticide spraying terminal and the second free-walking pesticide spraying terminal.
And when any kind of pesticide is lower than the liquid medicine value of the kind required for completing the proxy list, judging that the kind of pesticide is lower than a preset threshold value. For example, in the to-do list, two places where cockroaches need to be killed, the preset dose needs to be consumed for killing each time, and when the dose of the insecticide used for killing the cockroaches in the self-walking medicine spraying terminal is less than twice of the preset dose, it is determined that the insecticide used for killing the cockroaches is lower than the preset threshold.
The first free-walking medicine spraying terminal is a free-walking medicine spraying terminal to which the pesticide below a preset threshold belongs, the second free-walking medicine spraying terminal is an adjustable free-walking medicine spraying terminal meeting a second preset requirement, the adjustable free-walking medicine spraying terminal is a free-walking medicine spraying terminal except the first free-walking medicine spraying terminal, the second free-walking medicine spraying terminal is one of all the adjustable free-walking medicine spraying terminals, the completion degree of the to-do list is the highest, and the completion degree of the to-do list is the proportion of the parts of the to-do list, which can be completed by the first free-walking medicine spraying terminal;
the change instruction includes that the medicine that first freely walks the medicine and sprays the terminal position that the terminal place sprays to and the medicine that the second freely walks the medicine and sprays the terminal position that the terminal place sprays, after the change instruction was received to first freely walking medicine spray terminal, remove to the medicine that the second freely walks the medicine and spray the terminal position that the terminal place sprays, after the change instruction was received to the medicine that the second freely walks the medicine spray terminal, remove to the medicine that first freely walks the medicine and spray the terminal place and spray the terminal position.
In addition, the to-Do list is exchanged after the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal reach the corresponding medicine spraying terminal positions according to the exchange instruction.
Therefore, after the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal are changed in position, the list to be handled of the sub-area where the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal are changed in position can be continuously completed.
The application also discloses a pest killing method based on 5G, which specifically comprises the following steps with reference to fig. 2 and 3:
s102, receiving position information from a detection terminal, wherein the detection terminal is used for patrolling in a preset area, the preset area comprises a plurality of sub-areas, the detection terminal is provided with a plurality of detection terminals, the detection terminals are distributed in the sub-areas of the preset area, autonomous walking medicine spraying terminals are distributed in the sub-areas, each sub-area is provided with a sub-area code, the detection terminals are provided with unique codes, and the unique codes of the detection terminals correspond to the sub-area codes one by one; the self-walking medicine spraying terminal is provided with at least one insecticide, the insecticide is used for killing preset targets, and the preset targets are at least one; the detection terminal shoots the surrounding environment in the patrol process, analyzes the shot video stream data in real time, judges whether a preset target exists according to the analysis result, and sends out position information corresponding to the location point of the detection terminal when the preset target exists;
s104, inputting the position information into a pre-trained neural network model to generate a working time period meeting a preset condition;
s106, the position information, the working time period and the preset target are sent to the self-walking medicine spraying terminal in the sub-area corresponding to the position information, and the self-walking medicine spraying terminal reaches the corresponding position according to the position information and sprays the medicine lasting for the preset time in the working time period.
In a case where the preset targets are at least two kinds and the self-propelled pesticide spraying terminal is equipped with at least two kinds of pesticides, different kinds of pesticides are respectively used for controlling different kinds of targets, the 5G-based pest extermination method further includes:
s108, receiving various pesticide doses sent by respective main walking pesticide spraying terminals, wherein different pesticides are respectively used for preventing and treating different targets;
and S110, re-allocating the self-walking medicine spraying terminals distributed in the plurality of sub-areas according to the residual pesticide dosage of the self-walking medicine spraying terminals.
The reallocation of the autonomous walking drug spraying terminals distributed in the plurality of sub-areas according to the residual pesticide dosage of the autonomous walking drug spraying terminals comprises the following steps:
s1101, when judging that any kind of pesticide is lower than a preset threshold value, sending a switching instruction to a first free-walking pesticide spraying terminal and a second free-walking pesticide spraying terminal, wherein the first free-walking pesticide spraying terminal is a free-walking pesticide spraying terminal to which the pesticide lower than the preset threshold value belongs, the second free-walking pesticide spraying terminal is an adjustable free-walking pesticide spraying terminal meeting a second preset requirement, the switching instruction comprises a pesticide spraying terminal position where the first free-walking pesticide spraying terminal is located and a pesticide spraying terminal position where the second free-walking pesticide spraying terminal is located, the first free-walking pesticide spraying terminal moves to the pesticide spraying terminal position where the second free-walking pesticide spraying terminal is located after receiving the switching instruction, and the second free-walking pesticide spraying terminal receives the switching instruction, the mobile terminal moves to the position of a medicine spraying terminal where a first free-walking medicine spraying terminal is located, the adjustable free-walking medicine spraying terminal is a free-walking medicine spraying terminal except the first free-walking medicine spraying terminal, wherein a second free-walking medicine spraying terminal is one of all the adjustable free-walking medicine spraying terminals, the completion degree of a to-be-handled list is the highest, and the completion degree of the to-be-handled list is the ratio of parts, which can be completed by the first free-walking medicine spraying terminal, in the to-be-handled list; and after the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal reach the corresponding medicine spraying terminal positions according to the exchange instruction, the to-Do list is exchanged.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Claims (9)
1. A pest extermination system based on 5G, comprising:
the self-walking medicine spraying terminals are distributed in sub-areas of the preset area, each sub-area is provided with a sub-area code, the self-walking medicine spraying terminals are provided with at least one insecticide, the insecticide is used for killing preset targets, and the preset targets are at least one;
the detection terminal is used for patrolling in the preset area, shooting the surrounding environment in the patrolling process, analyzing the shot video stream data in real time, judging whether a preset target exists according to the analysis result, and sending position information corresponding to the location point of the detection terminal and the preset target to the control center when the preset target exists;
the control center is used for receiving position information, inputting the position information into a pre-trained neural network model to generate a working time period meeting a preset condition, and sending the position information, the working time period and a preset target to the self-walking medicine spraying terminal in a sub-area corresponding to the position information;
and the autonomous walking medicine spraying terminal reaches the corresponding position according to the position information, and medicine spraying lasting for preset time is carried out according to the type of a preset target in the working time period.
2. The 5G-based pest extermination system according to claim 1, wherein the detection terminals are provided in plurality, a plurality of detection terminals are distributed in each sub-area of the preset area, the detection terminals have unique codes, and the unique codes of the plurality of detection terminals correspond one-to-one to each sub-area code.
3. The pest extermination system based on 5G of claim 1, wherein when the self-propelled pesticide spraying terminal receives a plurality of work periods and location information and a preset target, a proxy sequence is generated in order of time nodes that receive the work periods and location information and the preset target, and is completed in sequence.
4. The 5G-based pest extermination system according to claim 1, wherein in the case where the preset targets are at least two kinds, and the self-propelled medication spraying terminals are equipped with at least two kinds of pesticides, the self-propelled medication spraying terminals detect the doses of the pesticides and transmit the doses to the control center, the control center receives the respective kinds of pesticide doses transmitted from the respective main-propelled medication spraying terminals, and the different kinds of pesticides are respectively used for controlling different kinds of targets;
and the control center reconfigures the autonomous walking medicine spraying terminals distributed in the plurality of sub-areas according to the residual pesticide dosage of the autonomous walking medicine spraying terminals.
5. The 5G-based pest extermination system of claim 1, wherein the control center reconfiguring the self-propelled medication spray terminals distributed in the plurality of sub-areas according to the remaining dosage of the pesticide of the self-propelled medication spray terminals includes:
when the control center judges that any kind of pesticide is lower than a preset threshold value, a switching instruction is sent to a first free-walking pesticide spraying terminal and a second free-walking pesticide spraying terminal, wherein the first free-walking pesticide spraying terminal is a free-walking pesticide spraying terminal to which the pesticide lower than the preset threshold value belongs, the second free-walking pesticide spraying terminal is an adjustable free-walking pesticide spraying terminal meeting a second preset requirement, the switching instruction comprises a pesticide spraying terminal position where the first free-walking pesticide spraying terminal is located and a pesticide spraying terminal position where the second free-walking pesticide spraying terminal is located, the first free-walking pesticide spraying terminal moves to the pesticide spraying terminal position where the second free-walking pesticide spraying terminal is located after receiving the switching instruction, and the second free-walking pesticide spraying terminal receives the switching instruction, the mobile terminal moves to the position of a medicine spraying terminal where a first free-walking medicine spraying terminal is located, the adjustable free-walking medicine spraying terminal is a free-walking medicine spraying terminal except the first free-walking medicine spraying terminal, wherein a second free-walking medicine spraying terminal is one of all the adjustable free-walking medicine spraying terminals, the completion degree of a to-be-handled list is the highest, and the completion degree of the to-be-handled list is the ratio of parts, which can be completed by the first free-walking medicine spraying terminal, in the to-be-handled list;
and after the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal reach the corresponding medicine spraying terminal positions according to the exchange instruction, the to-Do list is exchanged.
6. The 5G-based pest extermination system according to claim 1,
when any one of the categories of pesticides is lower than the liquid medicine value of the category required for completing the proxy list, the pesticide of the category is judged to be lower than a preset threshold value.
7. A pest extermination method based on 5G is characterized by comprising the following steps:
receiving position information from a detection terminal, wherein the detection terminal is used for patrolling in a preset area, the preset area comprises a plurality of sub-areas, the detection terminal is provided with a plurality of detection terminals, the detection terminals are distributed in the sub-areas of the preset area, autonomous walking medicine spraying terminals are distributed in the sub-areas, each sub-area is provided with a sub-area code, the detection terminals are provided with unique codes, and the unique codes of the detection terminals correspond to the sub-area codes one by one; the self-walking medicine spraying terminal is provided with at least one insecticide, the insecticide is used for killing preset targets, and the preset targets are at least one; the detection terminal shoots the surrounding environment in the patrol process, analyzes the shot video stream data in real time, judges whether a preset target exists according to the analysis result, and sends out position information corresponding to the location point of the detection terminal when the preset target exists;
inputting the position information into a pre-trained neural network model to generate a working time period meeting preset conditions;
and sending the position information, the working time period and the preset target to an autonomous walking medicine spraying terminal in a sub-area corresponding to the position information, wherein the autonomous walking medicine spraying terminal reaches a corresponding position according to the position information and sprays medicine for a continuous preset time according to the preset target in the working time period.
8. The 5G-based pest extermination method according to claim 7, wherein in the case where the preset targets are at least two kinds and the self-propelled medicine spraying terminal is equipped with at least two kinds of pesticides, different kinds of pesticides are respectively used to control different kinds of targets, the 5G-based pest extermination method further comprises:
receiving various pesticide doses sent by respective main walking pesticide spraying terminals, wherein different pesticides are respectively used for preventing and treating different targets;
and re-allocating the self-walking medicine spraying terminals distributed in the plurality of sub-areas according to the residual pesticide dosage of the self-walking medicine spraying terminals.
9. The 5G-based pest extermination method according to claim 8, wherein the re-provisioning of the self-propelled medication spray terminal distributed in the plurality of sub-areas according to the pesticide residual dose of the self-propelled medication spray terminal includes:
when judging that any kind of pesticide is lower than a preset threshold value, sending a switching instruction to a first free-walking pesticide spraying terminal and a second free-walking pesticide spraying terminal, wherein the first free-walking pesticide spraying terminal is a free-walking pesticide spraying terminal to which the pesticide lower than the preset threshold value belongs, the second free-walking pesticide spraying terminal is an adjustable free-walking pesticide spraying terminal meeting a second preset requirement, the switching instruction comprises a pesticide spraying terminal position where the first free-walking pesticide spraying terminal is located and a pesticide spraying terminal position where the second free-walking pesticide spraying terminal is located, the first free-walking pesticide spraying terminal moves to the pesticide spraying terminal position where the second free-walking pesticide spraying terminal is located after receiving the switching instruction, and the second free-walking pesticide spraying terminal receives the switching instruction, the mobile terminal moves to the position of a medicine spraying terminal where a first free-walking medicine spraying terminal is located, the adjustable free-walking medicine spraying terminal is a free-walking medicine spraying terminal except the first free-walking medicine spraying terminal, wherein a second free-walking medicine spraying terminal is one of all the adjustable free-walking medicine spraying terminals, the completion degree of a to-be-handled list is the highest, and the completion degree of the to-be-handled list is the ratio of parts, which can be completed by the first free-walking medicine spraying terminal, in the to-be-handled list; and after the first free-walking medicine spraying terminal and the second free-walking medicine spraying terminal reach the corresponding medicine spraying terminal positions according to the exchange instruction, the to-Do list is exchanged.
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