CN108849819B - Automatic control method, spraying device and control system for spraying biological agent - Google Patents
Automatic control method, spraying device and control system for spraying biological agent Download PDFInfo
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- CN108849819B CN108849819B CN201810694372.7A CN201810694372A CN108849819B CN 108849819 B CN108849819 B CN 108849819B CN 201810694372 A CN201810694372 A CN 201810694372A CN 108849819 B CN108849819 B CN 108849819B
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- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
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Abstract
The embodiment of the invention relates to the field of agriculture, and discloses an automatic control method, a spraying device and a control system for spraying biological agents. The automatic control method for pesticide spraying comprises the following steps: receiving pest and disease information obtained by monitoring crops in the greenhouse; the pest information comprises pest grades and corresponding crop position information; feeding disease and pest information back to the pesticide spraying device, judging whether pesticide treatment is needed or not by the pesticide supplying device according to the disease and pest grade of each crop and the position information of each crop, and if so, establishing a spraying route of the biological agent; the spraying route comprises a spraying path and a path priority, spraying points on the spraying path are set, and the higher the pest and disease grade of crops on the spraying path is, the higher the path priority is; controlling a spraying device to spray biological agents according to the formulated spraying route; wherein, according to the order of the path priority from high to low, the spraying device is controlled to spray the biological agent along the spraying path in turn.
Description
Technical Field
The embodiment of the invention relates to the field of agriculture, in particular to an automatic control method, a spraying device and a control system for spraying biological agents.
Background
In agricultural production, crops are sprayed with biological agents, such as pesticides, at intervals in order to prevent the crops from being attacked by pests. The pesticide is defined in a broad sense and refers to a substance or a mixture of substances and a preparation thereof, wherein the substance or the mixture is used for preventing, killing or controlling diseases, insects, grass and other pests which damage agriculture and forestry, and is used for purposefully regulating, controlling and influencing the metabolic, growth, development and reproduction processes of plants and pests, and is derived from organisms, other natural products and applied biotechnology. In the narrow sense, the term refers to a general name of the pesticide used for killing pests, bacteria and harmful animals (or weeds) in agricultural production in order to guarantee and promote the growth of plants and crops. In particular to agricultural agents for preventing and controlling diseases and pests, regulating plant growth, weeding and the like. Along with the progress of society, the agricultural scale and the industrialization development, in the agricultural production process, the biological agent is sprayed by mechanical spraying equipment to replace a manual spraying mode, so that a large amount of labor resources can be saved.
However, the inventors found that at least the following problems exist in the prior art: in the prior art, no biological agent spraying mechanism which can be used for automatically and intelligently spraying the biological agent is available, so that the biological agent spraying mechanism cannot spray the biological agent with pertinence and accuracy, has poor pest and disease control effect and high cost, and cannot avoid pollution of the biological agent.
Disclosure of Invention
The embodiment of the invention aims to provide an automatic control method, a spraying device and a control system for spraying biological agents, so that the drugs can be sprayed in a targeted and accurate manner, the diseases and insect pests can be effectively prevented and treated, the cost is saved, and the drug pollution is avoided.
In order to solve the above technical problems, an embodiment of the present invention provides an automatic control method for spraying a biological agent, including: receiving pest and disease information obtained by monitoring crops in the greenhouse, wherein the pest and disease information comprises pest and disease grades and corresponding crop position information; feeding disease and pest information back to the pesticide spraying device, judging whether pesticide treatment is needed or not by the pesticide supplying device according to the disease and pest grade of each crop and the position information of each crop, and if so, establishing a spraying route of the biological agent; the spraying route comprises a spraying path and a path priority, spraying points on the spraying path are set, and the higher the pest and disease grade of crops on the spraying path is, the higher the path priority is; controlling a spraying device to spray biological agents according to the formulated spraying route; wherein, according to the order of the path priority from high to low, the spraying device is controlled to spray the biological agent along the spraying path in turn.
Embodiments of the present invention also provide an automatic spraying device for spraying a biological agent, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of automatically controlling a spray of biological agent as described above.
Embodiments of the present invention also provide an automatic control system for biological agent spraying, comprising: the receiving unit is used for receiving pest and disease information obtained by monitoring crops in the greenhouse; the pest information comprises pest grades and corresponding crop position information; the feedback unit is used for feeding back pest and disease information to the pesticide spraying device, the pesticide supplying device judges whether pesticide treatment is needed or not according to the pest and disease grade of each crop and the position information of each crop, and if yes, a spraying route of the biological agent is formulated; the spraying route comprises a spraying path and a path priority, spraying points on the spraying path are set, and the higher the pest and disease grade of crops on the spraying path is, the higher the path priority is; the control unit is used for controlling the spraying device to spray the biological agent according to the formulated spraying route; wherein, according to the order of the path priority from high to low, the spraying device is controlled to spray the biological agent along the spraying path in turn.
Compared with the prior art, the embodiment of the invention provides an automatic control method for pesticide spraying, which comprises the following steps: receiving pest and disease information obtained by monitoring crops in the greenhouse, wherein the pest and disease information comprises pest and disease grades and corresponding crop position information; feeding disease and pest information back to the pesticide spraying device, judging whether pesticide treatment is needed or not by the pesticide supplying device according to the disease and pest grade of each crop and the position information of each crop, and if so, establishing a spraying route of the biological agent; the spraying route comprises a spraying path and a path priority, spraying points on the spraying path are set, and the higher the pest and disease grade of crops on the spraying path is, the higher the path priority is; controlling a spraying device to spray biological agents according to the formulated spraying route; wherein, according to the order of the path priority from high to low, the spraying device is controlled to spray the biological agent along the spraying path in turn. Through monitoring the pest and disease information of crops in the greenhouse, the pesticide spraying device is pointed when spraying biological agents, accurate pesticide spraying is facilitated, and pest and disease damage is effectively prevented and treated. And because the spraying route of the spraying device when spraying the biological agent is determined according to the spraying route and the route priority, the spraying device can spray the most crops in the shortest time, so that the spraying efficiency is improved, and the spraying route of the biological agent is formulated according to the pest and disease grade of each crop and the position information of each crop, thereby being beneficial to saving the cost. The spraying device sprays biological agents along the spraying path in sequence, which is beneficial to avoiding drug pollution. In addition, due to the fact that the pest and disease information is collected and automatically related and fed back to the pesticide spraying device, the pesticide spraying device can automatically complete spraying selection and spraying tasks, and the pesticide spraying device is not an independent and unrelated additional device and is more intelligent.
In addition, a spraying route of the biological preparation is established, and the method specifically comprises the following steps: classifying the crops in the greenhouse according to the pest and disease damage grades of the crops and the position information of the crops, and classifying the crops which have the same pest and disease damage grade and are positioned in the same row into the same category; taking the position of the crop in the same category as a spraying point, making a spraying path of the category, and determining the path priority of the spraying path of the category according to the pest and disease damage grade of the crop in the category; and obtaining the spraying route according to the spraying paths of all the categories and the path priority of the spraying paths of all the categories. Through with same plant diseases and insect pests grade and be located the same crop of one row and be in same classification, spray the route and obtain according to the route of spraying of each classification to and the route priority of the route of spraying of each classification, make can use different spray strategies to spray to the crop of different classifications, be favorable to avoiding the medicine pollution, satisfy different demands that spray.
In addition, the pesticide spraying device comprises N pesticide sprayers, wherein N is the number of rows of crops in the greenhouse; the N pesticide sprayers correspond to the rows where the crops are located one by one, and the pesticide sprayers are used for spraying biological agents to the crops on the corresponding rows; the control spouts the medicine device and sprays biological agent according to the route of spraying of formulating, specifically is: and controlling the sprayers of each row to spray the biological agents on the crops on the corresponding row along the spraying path in sequence according to the priority of the path from high to low. Through set up a liquid medicine spraying device on each row to crop on corresponding row sprays biological agent, and not every one plant all corresponds a liquid medicine spraying device, perhaps a big-arch shelter corresponds a liquid medicine spraying device, is improving under the prerequisite of spouting medicine efficiency, still is favorable to saving the cost.
In addition, different pest and disease damage grades correspond to different spraying strategies; the spraying strategy at least comprises spraying frequency, and the higher the pest and disease damage grade is, the higher the spraying frequency of the corresponding spraying strategy is; the control spouts medicine device and sprays biological agent according to the route of spraying of formulating, specifically includes: determining a current spraying path according to the sequence of the path priority from high to low; acquiring a pest and disease damage grade corresponding to the path priority of the current spraying path; determining a corresponding spraying strategy according to the acquired pest and disease damage grade; and controlling the spraying device to spray the biological agent along the current spraying path according to the determined spraying strategy. Different pest grades correspond to different spraying strategies, so that different corresponding measures are taken for different pests in a targeted manner, the spraying of the biological agent is more intelligent, and the effectiveness of preventing and treating the pests is improved.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a flow chart of a method for automated control of biological agent spray according to a first embodiment of the present invention;
FIG. 2 is a flow chart of a method for automatic control of biological agent spraying provided in accordance with a second embodiment of the present invention;
FIG. 3 is a schematic view showing the structural connection of an automatic spraying device for spraying a biological agent according to a third embodiment of the present invention;
fig. 4 is a schematic structural connection diagram of an automatic control system for biological agent spraying according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
A first embodiment of the invention relates to a method for automatic control of the spraying of biological agents. The core of the embodiment is to receive the pest and disease information obtained by monitoring the crops in the greenhouse; the pest information comprises pest grades and corresponding crop position information; feeding disease and pest information back to the pesticide spraying device, judging whether pesticide treatment is needed or not by the pesticide supplying device according to the disease and pest grade of each crop and the position information of each crop, and if so, establishing a spraying route of the biological agent; the spraying route comprises a spraying path and a path priority, spraying points on the spraying path are set, and the higher the pest and disease grade of crops on the spraying path is, the higher the path priority is; controlling a spraying device to spray biological agents according to the formulated spraying route; wherein, according to the order of the path priority from high to low, the spraying device is controlled to spray the biological agent along the spraying path in turn. Through monitoring the pest and disease information of crops in the greenhouse, the pesticide spraying device is pointed when spraying biological agents, accurate pesticide spraying is facilitated, and pest and disease damage is effectively prevented and treated. And because the spraying route of the spraying device when spraying the biological agent is determined according to the spraying route and the route priority, the spraying device can spray the most crops in the shortest time, so that the spraying efficiency is improved, and the spraying route of the biological agent is formulated according to the pest and disease grade of each crop and the position information of each crop, thereby being beneficial to saving the cost. The spraying device sprays biological agents along the spraying path in sequence, which is beneficial to avoiding drug pollution. In addition, due to the fact that the pest and disease information is collected and automatically related and fed back to the pesticide spraying device, the pesticide spraying device can automatically complete spraying selection and spraying tasks, and the pesticide spraying device is not an independent and unrelated additional device and is more intelligent.
The following is a detailed description of the implementation of the automatic control method of biological agent spraying of the present embodiment, and the following is provided only for the convenience of understanding and is not necessary for implementing the present solution. Fig. 1 shows a flow chart of an automatic control method for spraying a biological agent according to the present embodiment, which includes:
Specifically, the pest information includes pest grade and corresponding crop location information. Can be through the plant diseases and insect pests information of crop in the camera device control big-arch shelter, camera device can be for removing camera device, also can be for fixed camera device. Preferably, the camera device may include M cameras, where the camera may be a high-speed camera, and M is the number of rows of crops in the greenhouse, that is, each row of crops is provided with one camera; the M cameras correspond to the rows where the crops are located one by one, and the cameras are used for collecting picture information of the crops on the corresponding rows; the method comprises the steps that a mobile camera device is utilized to monitor pest and disease information in a greenhouse in a video mode, each crop on a corresponding column can be shot by regularly controlling a camera on each column, picture information of each crop on the corresponding column is acquired, and when each crop is shot, the shooting position is recorded as position information of the crop; and acquiring the pest and disease damage grade of each crop according to the picture information acquired by the M cameras. That is, after the camera reaches a certain row and starts to move, a position information is recorded every time the camera stays at a position to take a picture, for example, if the distance between each crop is 1 meter and 50 crops exist in a row, the camera needs to move from the initial position to the 20 th crop for taking a picture of the 20 th crop, the position information is the position information of the crop, and the pest and disease information of a certain crop can be obtained by obtaining the picture or video shot by the camera. In the embodiment, the camera preferably takes a plurality of groups of pictures for each crop, so that the pest and disease damage grade obtained according to the pictures is more accurate; of course, the camera may be controlled to shoot multiple crops simultaneously, that is, to collect the crop pictures in a large area, which is not limited herein.
In addition, a plurality of shooting time periods and shooting frequencies of the shooting time periods can be preset, the cameras in each row are controlled in a timing mode to shoot each crop on the corresponding row, and the method specifically comprises the following steps: and in a preset shooting time period, controlling the camera in each row to shoot each crop in the corresponding row according to the shooting frequency of the shooting time period. For example, the shooting period may be divided into 4 periods, which are: 0 point to 6 points, 6 point to 12 points, 12 point to 18 points, and 18 point to 24 points, different shooting frequencies may be sequentially set in different periods, for example, the shooting frequencies of the above 4 shooting periods may be: the shooting is performed every 30 minutes, every 40 minutes, every 50 minutes, and every 60 minutes, and the user can set the shooting according to the actual situation, which is not limited in particular.
Further, since the pests are mainly concentrated on the leaf surfaces of the crops, the timing control of the cameras in each column to photograph each crop in the corresponding column may be: and the cameras in each column are controlled at fixed time to shoot the leaf surface of each crop in the corresponding column so as to better acquire the pest and disease information of the crops. Wherein, the pest grade can be graded according to the pest density concentrated on the surface of the leaves of the crops. For example, pest density may be classified into high grade, medium grade and low grade, and pest density of more than 60% of the initial density may be set as high grade, more than 40% of the initial density may be set as medium grade, and less than 60% of the initial density may be set as low grade.
And step 103, establishing a spraying route of the biological agent.
The spraying route can be formulated by a spraying device according to the pest and disease damage grade of each crop and the position information of each crop; also can judge that need carry out the medicine after handling at the medicine device of spouting, reach the control end with the plant diseases and insect pests grade of each crop to and the positional information of each crop, formulate through the control end spray the route for control spouts the medicine device and sprays biological agent according to the route of spraying formulated. The automatic association and feedback between the pest information acquisition and the pest information and the spraying device are beneficial to the automatic completion of the spraying selection and the spraying task of the spraying device, so that the spraying device is not an independent and unrelated additional device and is more intelligent.
Preferably, the biological agent can be a green biological agent, and the spraying of the green biological agent is safe and harmless to human health and environment-friendly, can achieve the same effect as that of a common biological agent by using ultralow dosage, and is beneficial to improving the spraying efficiency.
Specifically, the spraying route comprises a spraying path and a path priority, wherein the positions of crops with the same pest and disease damage grade and adjacent positions are spraying points on the same spraying path, and the higher the pest and disease damage grade of the crops on the spraying path is, the higher the path priority is.
For example, if there are 20 crops in a row, and the plant diseases and insect pests of the 2 nd, 3 rd, 4 th, 5 th and 6 th crops in the row belong to the same damage grade, the spraying path may be a line connecting the positions of the 2 nd, 3 rd, 4 th, 5 th and 6 th crops. If the 17 th, 18 th and 19 th plant diseases and insect pests on the row belong to another damage grade, the spraying path can be a line formed by connecting the 17 th, 18 th and 19 th plants. If the pest grade of the 2 nd, 3 rd, 4 th, 5 th and 6 th plants is higher than that of the 17 th, 18 th and 19 th plants, the spraying paths consisting of the 2 nd, 3 rd, 4 th, 5 th and 6 th plants are preferentially sprayed. It should be noted that the spraying path is not limited to be established according to the pest and disease grade of each row of crops in the embodiment, and the spraying path in the whole greenhouse can also be established according to the pest and disease grade of crops in the whole greenhouse, and the spraying path is not specifically limited herein.
In addition, the crops in the greenhouse can be classified according to the pest and disease grade of each crop and the position information of each crop, and the crops with the same pest and disease grade and in the same row are classified into the same category; taking the position of the crop in the same category as a spraying point, making a spraying path of the category, and determining the path priority of the spraying path of the category according to the pest and disease damage grade of the crop in the category; and obtaining the spraying route according to the spraying paths of all the categories and the path priority of the spraying paths of all the categories. Through with same plant diseases and insect pests grade and be located the same crop of one row and be in same classification, spray the route and obtain according to the route of spraying of each classification to and the route priority of the route of spraying of each classification, make can use different spray strategies to spray to the crop of different classifications, be favorable to avoiding the medicine pollution, satisfy different demands that spray.
For example, if the 2 nd, 3 rd, 4 th, 9 th, 10 th and 17 th crops on the 5 th row are all the crops with high pest levels on the row, the 2 nd, 3 rd, 4 th, 9 th, 10 th and 17 th crops on the row are classified into the same category, and the positions of the 2 nd, 3 rd, 4 th, 9 th, 10 th and 17 th crops on the row form a spraying path (for example, the position can be 3 rd → 4 th → 9 th → 10 th → 2 nd); the 11 th crop, the 12 th crop and the 13 th crop are all crops with medium pest grades on the row, the 11 th crop, the 12 th crop and the 13 th crop on the row are classified into the same category, and the positions of the 11 th crop, the 12 th crop and the 13 th crop form another spraying path (for example, the positions can be the 12 th crop → the 13 th crop → the 11 th crop). And the spraying paths of the 2 nd, 3 rd, 4 th, 9 th, 10 th and 17 th crops have higher priority than the spraying paths of the 11 th, 12 th and 13 th crops.
It should be noted that after monitoring the pest information of crops in the greenhouse, the collected corresponding pest data are uploaded to the server, the server can judge the integral pest situation of one row or one greenhouse, and see whether the pesticide needs to be sprayed, so that the video monitoring and analysis effects are better in a point-to-point mode than one-to-one mode, comprehensive analysis is carried out by combining the integral situation, if the corresponding judgment standard is reached (the judgment standard can be set according to the actual needs of a user), a signal is sent to the pesticide spraying device, the position information of a disaster area and a disaster plant is sent, the spraying route is planned according to the position information and an internal program, the spraying of the biological agent is more reasonable, the energy is saved, and then the pesticide spraying device sprays the biological agent according to the planned spraying route. As the route progresses, the sprayed path may be recorded until the spraying is finished.
And 104, controlling the spraying device to spray the biological agent according to the formulated spraying route.
Specifically, the spraying device may be controlled to spray the biological agents sequentially along the spraying path in order of the path priority from high to low. The pesticide spraying device can comprise N pesticide sprayers, wherein N is the number of rows of crops in the greenhouse; the N pesticide sprayers correspond to the rows where the crops are located one by one, and the pesticide sprayers are used for spraying biological agents to the crops on the corresponding rows; the control spray device sprays the biological agent according to the formulated spray route, which can be: and controlling the sprayers of each row to spray the biological agents on the crops on the corresponding row along the spraying path in sequence according to the priority of the path from high to low. Through set up a liquid medicine spraying device on each row to crop on corresponding row sprays biological agent, and not every one plant all corresponds a liquid medicine spraying device, perhaps a big-arch shelter corresponds a liquid medicine spraying device, is improving under the prerequisite of spouting medicine efficiency, still is favorable to saving the cost.
Compared with the prior art, the automatic control method for biological agent spraying provided by the embodiment receives the pest and disease information obtained by monitoring the crops in the greenhouse, wherein the pest and disease information comprises pest and disease grades and corresponding crop position information; feeding disease and pest information back to the pesticide spraying device, judging whether pesticide treatment is needed or not by the pesticide supplying device according to the disease and pest grade of each crop and the position information of each crop, and if so, establishing a spraying route of the biological agent; the spraying route comprises a spraying path and a path priority, spraying points on the spraying path are set, and the higher the pest and disease grade of crops on the spraying path is, the higher the path priority is; controlling a spraying device to spray biological agents according to the formulated spraying route; wherein, according to the order of the path priority from high to low, the spraying device is controlled to spray the biological agent along the spraying path in turn. Through monitoring the pest and disease information of crops in the greenhouse, the pesticide spraying device is pointed when spraying biological agents, accurate pesticide spraying is facilitated, and pest and disease damage is effectively prevented and treated. And because the spraying route of the spraying device when spraying the biological agent is determined according to the spraying route and the route priority, the spraying device can spray the most crops in the shortest time, so that the spraying efficiency is improved, and the spraying route of the biological agent is formulated according to the pest and disease grade of each crop and the position information of each crop, thereby being beneficial to saving the cost. The spraying device sprays biological agents along the spraying path in sequence, which is beneficial to avoiding drug pollution. In addition, due to the fact that the pest and disease information is collected and automatically related and fed back to the pesticide spraying device, the pesticide spraying device can automatically complete spraying selection and spraying tasks, and the pesticide spraying device is not an independent and unrelated additional device and is more intelligent.
A second embodiment of the invention relates to an automated control method for the spraying of biological agents. The second embodiment is a further improvement on the first embodiment, and the main improvement lies in that: in the embodiment, different pest and disease damage grades correspond to different spraying strategies; the spraying strategy at least comprises spraying frequency, and the higher the pest and disease damage grade is, the higher the spraying frequency of the corresponding spraying strategy is; the control spouts medicine device and sprays biological agent according to the route of spraying of formulating, specifically includes: determining a current spraying path according to the sequence of the path priority from high to low; acquiring a pest and disease damage grade corresponding to the path priority of the current spraying path; determining a corresponding spraying strategy according to the acquired pest and disease damage grade; and controlling the spraying device to spray the biological agent along the current spraying path according to the determined spraying strategy. Different pest grades correspond to different spraying strategies, so that different corresponding measures are taken for different pests in a targeted manner, the spraying of the biological agent is more intelligent, and the effectiveness of preventing and treating the pests is improved.
A flow chart of an automatic control method for spraying of a biological agent in the present embodiment is shown in fig. 2.
The pest information comprises pest grades and corresponding crop position information.
And step 203, determining the current spraying path according to the order of the path priority from high to low.
That is, if the path priorities are high, medium, and low, respectively, it is determined to which level the current spray path belongs. The spraying route comprises a spraying route and a route priority, for example, the positions of crops with the same pest and disease damage grade and adjacent positions are spraying points on the same spraying route, and the higher the pest and disease damage grade of the crops on the spraying route is, the higher the route priority is.
And 204, acquiring the pest and disease damage grade corresponding to the path priority of the current spraying path.
For example, if the pest level corresponding to the high level of the path priority is one level, the acquired pest level is one level when the path priority of the current spraying path is the high level.
And step 205, determining a corresponding spraying strategy according to the acquired pest and disease damage grade.
Specifically, different pest grades correspond to different spraying strategies; wherein, the spraying strategy at least comprises spraying frequency, and the higher the pest grade, the higher the spraying frequency of the corresponding spraying strategy.
In addition, the spray strategy may also include a spray duration; the higher the pest grade, the longer the spraying duration of the corresponding spraying strategy. That is, for crops with higher pest grade, the more the biological agent needs to be sprayed, which is beneficial to improving the effectiveness of pest control.
For example, if the pest grade is classified into high grade, medium grade, and low grade, it is possible to set the pest density to be higher than 60% of the initial density, higher than 40% of the initial density, medium grade less than 60% of the initial density, and low grade less than 20% of the initial density. If the plant is high-grade, the spraying time can be 10 minutes, the timing is started after the pesticide spraying device reaches the position of the plant, the pesticide spraying device is controlled to return to the original point after 10 minutes, and the spraying frequency can be sprayed every 3 seconds; if the spraying time is in the middle grade, the spraying time can be 5 minutes, the timing is started after the spraying device reaches the position of the crop, the spraying device is controlled to return to the original point after 5 minutes, and the spraying frequency can be sprayed every 5 seconds; if the grade is low, the spraying time can be 2 minutes, the timing is started after the spraying device reaches the position of the crop, the spraying device is controlled to return to the original point after 2 minutes, and the spraying frequency can be sprayed every 10 seconds. The above is only an example, and the specific spraying strategy can be set according to the actual needs, and is not limited herein. It is worth mentioning that in the above example, the spraying device is controlled to return to the origin after each spraying, which facilitates the recording of a set of information on the position of the crop at the time of spraying. Of course, the spray may be stopped at the current position after each spraying, and the next set of sprays may be performed without returning to the origin, which is not limited in any way.
And step 206, controlling the spraying device to spray the biological agent along the current spraying path according to the determined spraying strategy.
That is, the spraying device is controlled to spray the biological agent along the current spraying path according to the strategy information of the spraying frequency determined in step 205.
Since steps 201 to 202 in the present embodiment are substantially the same as steps 101 to 102 in the first embodiment, the present embodiment is intended to receive pest information obtained by monitoring a crop in a greenhouse, where the pest information includes pest levels and corresponding crop location information; feeding back pest information to the pesticide spraying device, judging whether pesticide treatment is needed or not by the pesticide spraying device according to pest grades of crops and position information of the crops, and no further description is given here.
Compared with the prior art, the automatic control method for spraying the biological agent provided by the embodiment has the advantages that different pest and disease damage grades correspond to different spraying strategies; the spraying strategy at least comprises spraying frequency, and the higher the pest and disease damage grade is, the higher the spraying frequency of the corresponding spraying strategy is; the control spouts medicine device and sprays biological agent according to the route of spraying of formulating, specifically includes: determining a current spraying path according to the sequence of the path priority from high to low; acquiring a pest and disease damage grade corresponding to the path priority of the current spraying path; determining a corresponding spraying strategy according to the acquired pest and disease damage grade; and controlling the spraying device to spray the biological agent along the current spraying path according to the determined spraying strategy. Different pest grades correspond to different spraying strategies, so that different corresponding measures are taken for different pests in a targeted manner, the spraying of the biological agent is more intelligent, and the effectiveness of preventing and treating the pests is improved.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
The third embodiment of the present invention relates to an automatic spraying device for spraying a biological agent, as shown in fig. 3, comprising: at least one processor 32; and a memory 31 communicatively coupled to the at least one processor 32; wherein the memory 31 stores instructions executable by the at least one processor 32, the instructions being executable by the at least one processor 32 to enable the at least one processor 32 to perform the automatic control method regarding spraying of the biological agent as in the first embodiment or the second embodiment.
Where the memory 31 and the processor 32 are coupled in a bus, the bus may comprise any number of interconnected buses and bridges, the buses coupling together one or more of the various circuits of the processor 32 and the memory 31. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 32 is transmitted over a wireless medium through an antenna, which further receives the data and transmits the data to the processor 32.
The processor 32 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 31 may be used to store data used by processor 32 in performing operations.
A fourth embodiment of the present invention relates to an automatic control system for biological agent spraying, as shown in fig. 4, comprising: a receiving unit 41, a feedback unit 42, a control unit 43 and an automatic spraying device 30 for spraying a biological agent as described in the third embodiment;
a receiving unit 41 configured to receive pest information obtained by monitoring crops in the greenhouse; the pest information comprises pest grades and corresponding crop position information;
the feedback unit 42 is used for feeding back pest information to the pesticide spraying device 30, the pesticide supplying and spraying device 30 judges whether pesticide treatment is needed or not according to the pest grade of each crop and the position information of each crop, and if so, a spraying route of the biological agent is formulated; the spraying route comprises a spraying path and a path priority, spraying points on the spraying path are set, and the higher the pest and disease grade of crops on the spraying path is, the higher the path priority is;
a control unit 43 for controlling the spraying device 30 to spray the biological agent according to the established spraying route; wherein the spraying device 30 is controlled to spray the biological agents along the spraying path in turn according to the order of the path priorities from high to low.
It should be understood that this embodiment is a system example corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (8)
1. An automatic control method for the spraying of biological agents, comprising:
receiving pest and disease information obtained by monitoring crops in the greenhouse; the pest information comprises pest grades and corresponding crop position information;
feeding the pest and disease information back to a pesticide spraying device, judging whether pesticide treatment is needed or not by the pesticide spraying device according to the pest and disease grades of the crops and the position information of the crops, and if so, formulating a spraying route of a biological agent; the spraying route comprises spraying paths and path priorities, positions where crops with the same pest and disease damage grades and adjacent positions are located are set as spraying points on the same spraying path, and the higher the pest and disease damage grade of the crops on the spraying path is, the higher the path priority is; and
controlling a spraying device to spray biological agents according to the established spraying route; wherein, according to the sequence of the path priority from high to low, the spraying device is controlled to spray biological agents along the spraying path in sequence;
wherein, the step of establishing the spraying route of the biological preparation specifically comprises the following steps:
classifying the crops in the greenhouse according to the pest and disease damage grades of the crops and the position information of the crops, and classifying the crops which have the same pest and disease damage grade and are positioned in the same row into the same category;
taking the position of the crop in the same category as a spraying point, making a spraying path of the category, and determining the path priority of the spraying path of the category according to the pest and disease damage grade of the crop in the category; and
obtaining the spraying route according to the spraying routes of all types and the route priority of the spraying routes of all types;
the pesticide spraying device comprises N pesticide sprayers, wherein N is the number of rows of crops in the greenhouse; the N pesticide sprayers correspond to the rows where the crops are located one by one, and the pesticide sprayers are used for spraying biological agents to the crops on the corresponding rows;
wherein, the control medicine spraying device sprays biological agent according to the formulated spraying route, specifically:
and controlling the sprayers of each row to spray biological agents on the crops on the corresponding rows along the spraying paths in sequence according to the sequence of the path priorities from high to low.
2. The method of claim 1, wherein different pest ratings correspond to different spray strategies; the spraying strategy at least comprises spraying frequency, and the higher the pest and disease damage grade is, the higher the spraying frequency of the corresponding spraying strategy is;
the control medicine spraying device sprays biological agents according to the formulated spraying route, and specifically comprises:
determining the current spraying path according to the sequence of the path priority from high to low;
acquiring a pest and disease damage grade corresponding to the path priority of the current spraying path;
determining a corresponding spraying strategy according to the acquired pest and disease damage grade;
and controlling the spraying device to spray the biological agent along the current spraying path according to the determined spraying strategy.
3. The automated method of claim 2, wherein the spray strategy further comprises a spray duration; the higher the pest grade, the longer the spraying duration of the corresponding spraying strategy.
4. The method according to any one of claims 1 to 3, wherein the pest information is in particular: monitoring the obtained pest and disease damage information through a camera device;
the camera device comprises M cameras, wherein M is the number of rows of crops in the greenhouse; the M cameras correspond to the rows where the crops are located one by one, and the cameras are used for collecting picture information of the crops on the corresponding rows;
the camera of each column is controlled at regular time to shoot each crop on the corresponding column, picture information of each crop on the corresponding column is acquired, and when each crop is shot, the shooting position is recorded as the position information of the crop;
and acquiring the pest and disease damage grade of each crop according to the picture information acquired by the M cameras.
5. The automated method of claim 4, further comprising: presetting a plurality of shooting time periods and shooting frequencies of the shooting time periods;
the timing control of the camera in each row is used for shooting each crop on the corresponding row, and the timing control of the camera in each row specifically comprises the following steps:
and in the preset shooting time period, controlling the camera in each row to shoot each crop in the corresponding row according to the shooting frequency of the shooting time period.
6. The method as claimed in claim 4, wherein the cameras in each row are controlled periodically to shoot each crop in the corresponding row, specifically: and controlling the camera of each column to shoot the leaf surface of each crop on the corresponding column at fixed time.
7. An automatic spraying device for spraying biological agents, comprising: at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of automatic control of a spray of biological agents of any of claims 1 to 6.
8. An automated control system for biological agent spraying, comprising: a receiving unit, a feedback unit, a control unit and the automatic spraying device for spraying biological agent according to claim 7;
the receiving unit is used for receiving pest and disease information obtained by monitoring crops in the greenhouse; the pest information comprises pest grades and corresponding crop position information;
the feedback unit is used for feeding the pest and disease information back to the pesticide spraying device, the pesticide spraying device judges whether pesticide treatment is needed or not according to the pest and disease grades of the crops and the position information of the crops, and if yes, a spraying route of the biological agent is formulated; the spraying route comprises a spraying path and a path priority, spraying points on the spraying path are set, and the higher the pest and disease grade of crops on the spraying path is, the higher the path priority is;
the control unit is used for controlling the spraying device to spray biological agents according to the formulated spraying route; wherein, according to the order of the path priority from high to low, the spraying device is controlled to spray biological agents along the spraying path in sequence.
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| CA3035225A1 (en) * | 2019-02-28 | 2020-08-28 | Daniel Mccann | System and method for field treatment and monitoring |
| WO2021033669A1 (en) * | 2019-08-21 | 2021-02-25 | 有機米デザイン株式会社 | Rice paddy weed-killing apparatus, rice paddy weed-killing method using same, and cultivated crop-producing method |
| CN113439727B (en) * | 2021-06-24 | 2022-08-02 | 平安国际智慧城市科技股份有限公司 | Deinsectization method, device, equipment and storage medium for greenhouse crops |
| CN113678811B (en) * | 2021-09-24 | 2022-11-04 | 广东省农业科学院果树研究所 | Automatic pesticide spraying control method and device for fruit tree pest control |
| CN115903855B (en) * | 2023-01-10 | 2023-05-09 | 北京航科星云科技有限公司 | Forest farm pesticide spraying path planning method, device and equipment based on satellite remote sensing |
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Effective date of registration: 20220506 Address after: 517025 room 317-1, enterprise service center building, No. 8, Longling Third Road, Longling Industrial Park, Yuancheng District, Heyuan City, Guangdong Province Patentee after: HEYUAN HONGJIA AGRICULTURAL TECHNOLOGY CO.,LTD. Address before: 518052 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Patentee before: SHENZHEN SPRINGWOODS HOLDING Co.,Ltd. |