CN104796591A - Pest amount collecting and processing system and method - Google Patents
Pest amount collecting and processing system and method Download PDFInfo
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- CN104796591A CN104796591A CN201510225406.4A CN201510225406A CN104796591A CN 104796591 A CN104796591 A CN 104796591A CN 201510225406 A CN201510225406 A CN 201510225406A CN 104796591 A CN104796591 A CN 104796591A
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Abstract
The invention provides a pest amount collecting and processing system and method which is applied to agricultural crop fields. The pest amount collecting and processing system is characterized by comprising a moving device, a fixing platform, a controlling device and a photographing device, the fixing platform is arranged on the moving device and used for moving in the agricultural crop fields through the moving device, the photographing device is arranged on the fixing platform and used for photographing the agricultural crop fields, and the controlling device is arranged on the fixing platform, connected with the photographing device and the moving device respectively and used for triggering the moving device to move to a preset sampling point and triggering the photographing device to photograph crops in an area of the sampling point to realize recognition of amount of pest, in the agricultural crop fields, on photographed pictures. By the pest amount collecting and processing system and method, labor intensity of manpower can be lowered effectively, and the problem of low result data accuracy caused by manual calculation can be avoided.
Description
Technical field
The present invention relates to agricultural pest data processing technique, particularly relate to quantity acquisition processing system and the method for a kind of insect.
Background technology
Often through investigation and the number of pest of adding up agricultural crops field in agricultural production, analyze insect pest trend, and predict that insect pest occurs, to reducing insect pest to the impact of agricultural crops output.
The method of existing investigation and statistics number of pest mainly comprises: direct observational method, clap, mass trapping and method of beating.For direct observational method, get individual plant or certain area, length agricultural crops as sample prescription, manually directly observe the quantity recording institute respondent, then calculate absolute density according to preset algorithm, acquisition number of pest.Said method all needs to rely on manual research statistics.Therefore, cause hand labor intensity large, the problem that the result data accuracy of acquisition is not high.
Summary of the invention
The invention provides quantity acquisition processing system and the method for a kind of insect, effectively can not only reduce hand labor intensity, the problem that the result data accuracy of the acquisition caused owing to manually calculating is not high can also be avoided.
The invention provides the quantity acquisition processing system of a kind of insect, be applied to agricultural crops field, comprise: telecontrol equipment, fixed platform, control device and filming apparatus;
Wherein, described fixed platform, is arranged on described telecontrol equipment, for being moved in described agricultural crops field by described telecontrol equipment;
Described filming apparatus, is arranged in described fixed platform, for taking described agricultural crops field;
Described control device, be arranged in described fixed platform, and be connected with described telecontrol equipment with described filming apparatus respectively, default sampled point is moved to for triggering described telecontrol equipment, and trigger the crops of described filming apparatus to the region of described sample point and take, to realize the quantity identifying the insect in crops field from the picture of shooting.
In one embodiment of this invention, described control device comprises:
Transceiver interface, is connected with telecontrol equipment with described filming apparatus respectively;
Processor, is connected with described transceiver interface, moves to default sampled point for triggering described telecontrol equipment, and triggers the crops of described filming apparatus to the region of described sample point and take;
Described processor also for giving long-range identifying processing server by described transceiver interface by the picture transfer of shooting, for described identifying processing server, carries out identifying processing to the picture of described shooting, to obtain the quantity of insect.
In one embodiment of this invention, described control device comprises:
Transceiver interface, is connected with telecontrol equipment with described filming apparatus respectively;
Processor, is connected with described transceiver interface, moves to default sampled point for triggering described telecontrol equipment, and triggers the crops of described filming apparatus to the region of described sample point and take;
Image recognizer, is connected with described transceiver interface, for being obtained the picture of shooting from described filming apparatus by described transceiver interface, and carries out identifying processing to the picture of described shooting, to obtain the quantity of insect.
In one embodiment of this invention, also comprise:
First backstay, is arranged between described telecontrol equipment and described fixed platform, and is connected with described fixed platform with described telecontrol equipment respectively, to realize length by adjusting described first backstay to regulate the height of described fixed platform.
In one embodiment of this invention, also comprise:
Second backstay, is arranged in described fixed platform, and is connected with described filming apparatus;
Then described control device, is connected with described second backstay, also for by adjustment described second backstay length to regulate the height of described filming apparatus, and/or by adjustment described second backstay angle to regulate the angle of described filming apparatus.
In one embodiment of this invention, also comprise: locator;
Then described processor is specifically for according to described locator, triggers described telecontrol equipment and moves to default sampled point.
In one embodiment of this invention, also comprise:
Light compensating apparatus, is arranged in described fixed platform;
Then described control device, is connected with described light compensating apparatus, is described filming apparatus light filling for triggering described light compensating apparatus.
In one embodiment of this invention, also comprise:
Horizontal holding device, is arranged in described fixed platform;
Then described control device, is connected with described horizontal holding device, keeps the stable of described fixed platform for triggering described horizontal holding device.
The present invention also provides the quantity acquiring and processing method of a kind of insect.Comprise:
Control device triggered motion device drives fixed platform to move to default sampled point;
The crops of filming apparatus to the region of described sample point that described control device triggers in fixed platform are taken, to realize the quantity identifying insect from the picture of shooting.
In an embodiment of the present invention, the crops of filming apparatus to the region of described sample point that described control device triggers in fixed platform are taken, and to realize the quantity identifying insect from the picture of shooting, comprising:
The crops of filming apparatus to the region of described sample point that described control device triggers in fixed platform are taken, and give long-range identifying processing server by the picture transfer of shooting, for described identifying processing server, identifying processing is carried out to the picture of described shooting, to obtain the quantity of insect;
Or,
The crops of filming apparatus to the region of described sample point that described control device triggers in fixed platform are taken, and obtain the picture of shooting from described filming apparatus, then carry out identifying processing to the picture of described shooting, to obtain the quantity of insect.
As shown from the above technical solution, the quantity acquisition processing system of insect provided by the invention, investigated by automatic control realization and add up number of pest, not only reducing hand labor intensity, also avoid the problem that the result data accuracy of the acquisition caused owing to manually calculating is not high.
Accompanying drawing explanation
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the structural representation of the quantity acquisition processing system of the insect of first embodiment of the invention;
Fig. 2 is the structural representation of the biped machine of the quantity acquisition processing system of the insect of first embodiment of the invention;
Fig. 3 is the structural representation of the quantity acquisition processing system of the insect of second embodiment of the invention;
Fig. 4 is the structural representation of the quantity acquisition processing system of the insect of third embodiment of the invention;
Fig. 5 is the structural representation of the quantity acquisition processing system of the insect of fourth embodiment of the invention;
Fig. 6 is the structural representation of the quantity acquisition processing system of the insect of fifth embodiment of the invention;
Fig. 7 is the structural representation of the quantity acquisition processing system of the insect of sixth embodiment of the invention;
Fig. 8 is the flow chart of the quantity acquiring and processing method of the insect of seventh embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the structural representation of the quantity acquisition processing system of the insect of first embodiment of the invention.As shown in Figure 1, the present embodiment provides the quantity acquisition processing system of a kind of insect, is applied to agricultural crops field, and this system comprises: telecontrol equipment 11, fixed platform 12, control device 13 and filming apparatus 14.
Wherein, fixed platform 12, is arranged on telecontrol equipment 11, for being moved in agricultural crops field by telecontrol equipment 11.Filming apparatus 14, is arranged in fixed platform 12, for taking agricultural crops field.Control device 13, be arranged in fixed platform 12, and be connected with telecontrol equipment 11 with filming apparatus 14 respectively, default sampled point is moved to for triggered motion device 11, and the crops triggering the region of filming apparatus 14 pairs of sample point are taken, to realize the quantity identifying the insect in crops field from the picture of shooting.
In the present embodiment, it should be noted that, filming apparatus is taken by the crops to the region of sample point, can not only photograph the insect on the plant leaf blade in predeterminable area, can also take Characteristics of Damage position and the crop growth conditions of the disease caused by pests on plants.
Concrete, in the present embodiment, the quantity of the sampled point preset is multiple.Be understandable that, filming apparatus can obtain the number of pest in crops field, the Characteristics of Damage position of the disease caused by pests on plants and crop growth conditions after arriving all default sampled points.
In the present embodiment, telecontrol equipment 11 can be specially pleiotaxy, also can be biped machine, boat form and crawler type.Particularly, the tired heart of telecontrol equipment is that the plant investigated as required is determined, such as, if the plant of investigation is paddy rice, water environment, then telecontrol equipment selects boat form or crawler type, if the plant of investigation is wheat.Seeding corn and other crops, then telecontrol equipment selects pleiotaxy, biped machine or crawler type.In addition, if telecontrol equipment 11 can be specially wheel, the quantity of this wheel can be 2 or 4, but the present invention is not as limit.
If when telecontrol equipment 11 is specially biped machine, for example, Fig. 2 is the structural representation of the biped machine of the quantity acquisition processing system of the insect of first embodiment of the invention, as shown in Figure 2, this biped machine comprises: motor (not shown), drive link 111, second connecting rod 112, third connecting rod 113, double leval jib 114, the 5th connecting rod 115 and robot sole 116.
Concrete, drive link 111 one end and double leval jib 114 stage casing are rotationally connected, the two ends of second connecting rod 112 are rotationally connected respectively at the stage casing of third connecting rod 113, one end of the 5th connecting rod 115, one end of third connecting rod 113 and double leval jib 114 is rotationally connected, double leval jib 114 and the 5th connecting rod 115 are rotationally connected, 5th connecting rod 115 and double leval jib 114, second connecting rod 112 are rotationally connected, and robot sole 116 is connected with the 5th connecting rod 115.Work as electric machine rotation, first drive drive link 111 to rotate, thus by the interlock between each connecting rod, the 5th connecting rod 115 can be driven to move, thus drive robot sole 116 to move, realize the movement in agricultural crops field.
Alternatively, robot sole is made up of rubber mount material, and robot sole is rounded or oval.
In addition, in the present embodiment, the shape of this fixed platform 12 can be circular, and also can be square, the size of fixed platform 12 depends on agricultural crops spacing.
In the present embodiment, by arranging telecontrol equipment, fixed platform, control device and filming apparatus, default sampled point is moved to realize control device triggered motion device, and trigger the crops of filming apparatus to the region of sample point and take, thus realize the quantity identifying the insect in crops field from the picture of shooting, the hand labor intensity caused compared to manual research statistical method of the prior art is large, the not high problem of result data accuracy obtained, the quantity acquisition processing system of insect of the present invention significantly reduces hand labor intensity, and improve the result data accuracy of acquisition.
Fig. 3 is the structural representation of the quantity acquisition processing system of the insect of second embodiment of the invention, and on the basis of the technical scheme of first embodiment of the invention, as shown in Figure 3, control device 13 comprises: transceiver interface 131 and processor 132.
Wherein, transceiver interface 131, is connected with telecontrol equipment 11 with filming apparatus 14 respectively.Processor 132, is connected with transceiver interface 131, moves to default sampled point for triggered motion device 11, and the crops triggering the region of filming apparatus 14 pairs of sample point are taken.Processor 132, also for giving long-range identifying processing server 15 by transceiver interface 131 by the picture transfer of shooting, for identifying processing server 15, carries out identifying processing, to obtain the quantity of insect to the picture of shooting.
In the present embodiment, alternatively, this identifying processing server 15, also according to the number of pest obtained, is analyzed insect pest trend, and is predicted insect pest occurrence tendency.
Wherein, processor 132 is also for arranging default sampled point according to national sampling survey such as random sampling, sequential sampling, stratified samplings.
Alternatively, transceiver interface 131 can be bluetooth or WIFI.Identifying processing server 15 can be specially mobile phone, pad or notebook computer.
In the present embodiment, by arranging transceiver interface and processor in control device, transceiver interface, be connected with telecontrol equipment with filming apparatus respectively, processor is used for triggered motion device and moves, and trigger filming apparatus the insect on the plant leaf blade in the predeterminable area of sample point is taken, thus realize the automatic collection of number of pest.
Fig. 4 is the structural representation of the quantity acquisition processing system of the insect of third embodiment of the invention, on the basis of the technical scheme of first embodiment of the invention, as shown in Figure 4, control device 23 comprises: transceiver interface 231, processor 232 and image recognizer 233.
Wherein, transceiver interface 231, is connected with telecontrol equipment 11 with filming apparatus 14 respectively.
Processor 232, is connected with transceiver interface 231, moves to default sampled point for triggered motion device 11, and the crops triggering the region of filming apparatus 14 pairs of sample point are taken.
Image recognizer 233, is connected with transceiver interface 231, for being obtained the picture of shooting from filming apparatus 14 by transceiver interface 231, and carries out identifying processing, to obtain the quantity of insect to the picture of shooting.
In the present embodiment, alternatively, processor 233 is also transferred to long-range identifying processing server for the quantity of the insect obtained by image recognizer 233 by transceiver interface 231, for identifying processing server also according to the number of pest obtained, analyze insect pest trend, and predict insect pest occurrence tendency.
Wherein, processor 232 is also for arranging default sampled point according to national sampling survey such as random sampling, sequential sampling, stratified samplings.
Alternatively, transceiver interface 131 can be bluetooth or WIFI.Identifying processing server 15 can be mobile phone, pad or notebook computer.
In the present embodiment, by arranging transceiver interface, processor and image recognizer in control device, transceiver interface, be connected with telecontrol equipment with filming apparatus respectively, processor is used for triggered motion device and moves, and trigger filming apparatus the insect on the plant leaf blade in the predeterminable area of sample point is taken, image recognizer, for being obtained the picture of shooting from filming apparatus by transceiver interface, and identifying processing is carried out to the picture of shooting, to obtain the quantity of insect, thus achieve the automatic collection of number of pest.
Fig. 5 is the structural representation of the quantity acquisition processing system of the insect of fourth embodiment of the invention, state on the basis of the technical scheme of each embodiment on the invention, as shown in Figure 5, the quantity acquisition processing system of this insect also comprises: the first backstay 16, be arranged between telecontrol equipment 11 and fixed platform 12, and be connected with fixed platform 12 with telecontrol equipment 11 respectively, to realize length by adjusting the first backstay 16 to regulate the height of fixed platform 12.
Further, the quantity acquisition processing system of this insect also comprises: the second backstay 17, is arranged in fixed platform 12, and is connected with filming apparatus 14.
Then control device 13, is connected with the second backstay 17, also for by the length of adjustment second backstay 17 to regulate the height of filming apparatus 14, and/or the angle passing through adjustment second backstay 17 is to regulate the angle of filming apparatus 14.
In the present embodiment, alternatively, this second backstay 17 can be arranged in the middle part of fixed platform 12, also can be arranged on fixed platform 12 edge, in the present embodiment, and be not specifically limited.
In the present embodiment, the quantity acquisition processing system of this insect also comprises: indicating arm, arrange on the stationary platform, and be connected with control device 13, when the quantity acquisition processing system of insect occurs abnormal, control device 13 rises by controlling indicating arm, is used to indicate the position at the quantity acquisition processing system place of insect, facilitates staff to reclaim.
In addition, filming apparatus 14 can be specially camera, and camera horizontal direction can carry out 360 degree of rotations, and vertical direction can adjust in 180 degree.
In factual survey and statistical work, agricultural crops field specifically different, therefore, the quantity acquisition processing system of this insect needs to regulate the height of fixed platform and the height of filming apparatus and angle, to make the photo of shooting clear for different agricultural crops.In the present embodiment, the length of the first backstay is adjusted to regulate the height of fixed platform by control device, the length of the second backstay and angle, the height of corresponding adjustment filming apparatus and angle, thus improve the flexibility of the quantity acquisition processing system of whole insect, meet the situation in various different agricultural crops field.
Fig. 6 is the structural representation of the quantity acquisition processing system of the insect of fifth embodiment of the invention, and on the basis of the technical scheme of second embodiment of the invention and the 3rd embodiment, as shown in Figure 6, the quantity acquisition processing system of this insect also comprises: locator 18.Then processor 131 is specifically for according to locator 18, and triggered motion device 11 moves to default sampled point.
In the present embodiment, locator 18 can be specially accurate micro-positioning, such as ZigBee, iBeacons, also can be common navigation system, the Big Dipper, global positioning system (Global PositioningSystem; Be called for short: GPS).
It should be noted that, accurate micro-positioning is suitable for the sampling of small size agricultural crops field, and the navigation systems such as GPS are suitable for the sampling of large area agricultural crops field.
Fig. 7 is the structural representation of the quantity acquisition processing system of the insect of sixth embodiment of the invention, on the basis of the technical scheme of first embodiment of the invention, the second embodiment and the 3rd embodiment, as shown in Figure 7, the quantity acquisition processing system of insect also comprises: light compensating apparatus 19, is arranged in fixed platform 12; Then control device 13, is connected with light compensating apparatus 19, for triggering light compensating apparatus 19 for filming apparatus 14 light filling.
In the present embodiment, alternatively, light compensating apparatus 19 can be specially photoflash lamp.
Further, the quantity acquisition processing system of insect also comprises: horizontal holding device (not shown), is arranged in fixed platform 12.Then control device 13, is connected with horizontal holding device, keeps the stable of fixed platform 12 for activation levels holding device.
Fig. 8 is the flow chart of the quantity acquiring and processing method of the insect of seventh embodiment of the invention, and as shown in Figure 8, the quantity acquiring and processing method of this insect comprises:
Step S801: control device triggered motion device drives fixed platform to move to default sampled point.
Step S802: the crops of filming apparatus to the region of sample point that control device triggers in fixed platform are taken, to realize the quantity identifying insect from the picture of shooting.
Wherein, the quantity acquiring and processing method of this insect, be applied in the quantity acquisition processing system of the insect of above-described embodiment, it realizes principle and beneficial effect is similar, repeats no more herein.
Further, the crops of filming apparatus to the region of sample point that control device triggers in fixed platform are taken, to realize the quantity identifying insect from the picture of shooting, comprise: the crops of filming apparatus to the region of sample point that control device triggers in fixed platform are taken, and give long-range identifying processing server by the picture transfer of shooting, for identifying processing server, identifying processing is carried out, to obtain the quantity of insect to the picture of shooting; Or the crops of filming apparatus to the region of sample point that control device triggers in fixed platform are taken, and obtain the picture of shooting from filming apparatus, then identifying processing is carried out, to obtain the quantity of insect to the picture of shooting.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a quantity acquisition processing system for insect, is applied to agricultural crops field, it is characterized in that, comprising: telecontrol equipment, fixed platform, control device and filming apparatus;
Wherein, described fixed platform, is arranged on described telecontrol equipment, for being moved in described agricultural crops field by described telecontrol equipment;
Described filming apparatus, is arranged in described fixed platform, for taking described agricultural crops field;
Described control device, be arranged in described fixed platform, and be connected with described telecontrol equipment with described filming apparatus respectively, default sampled point is moved to for triggering described telecontrol equipment, and trigger the crops of described filming apparatus to the region of described sample point and take, to realize the quantity identifying the insect in crops field from the picture of shooting.
2. system according to claim 1, is characterized in that, described control device comprises:
Transceiver interface, is connected with telecontrol equipment with described filming apparatus respectively;
Processor, is connected with described transceiver interface, moves to default sampled point for triggering described telecontrol equipment, and triggers the crops of described filming apparatus to the region of described sample point and take;
Described processor also for giving long-range identifying processing server by described transceiver interface by the picture transfer of shooting, for described identifying processing server, carries out identifying processing to the picture of described shooting, to obtain the quantity of insect.
3. system according to claim 1, is characterized in that, described control device comprises:
Transceiver interface, is connected with telecontrol equipment with described filming apparatus respectively;
Processor, is connected with described transceiver interface, moves to default sampled point for triggering described telecontrol equipment, and triggers the crops of described filming apparatus to the region of described sample point and take;
Image recognizer, is connected with described transceiver interface, for being obtained the picture of shooting from described filming apparatus by described transceiver interface, and carries out identifying processing to the picture of described shooting, to obtain the quantity of insect.
4., according to the arbitrary described system of claims 1 to 3, it is characterized in that, also comprise:
First backstay, is arranged between described telecontrol equipment and described fixed platform, and is connected with described fixed platform with described telecontrol equipment respectively, to realize length by adjusting described first backstay to regulate the height of described fixed platform.
5., according to the arbitrary described system of claims 1 to 3, it is characterized in that, also comprise:
Second backstay, is arranged in described fixed platform, and is connected with described filming apparatus;
Then described control device, is connected with described second backstay, also for by adjustment described second backstay length to regulate the height of described filming apparatus, and/or by adjustment described second backstay angle to regulate the angle of described filming apparatus.
6. the system according to Claims 2 or 3, is characterized in that, also comprises: locator;
Then described processor is specifically for according to described locator, triggers described telecontrol equipment and moves to default sampled point.
7., according to the arbitrary described system of claims 1 to 3, it is characterized in that, also comprise:
Light compensating apparatus, is arranged in described fixed platform;
Then described control device, is connected with described light compensating apparatus, is described filming apparatus light filling for triggering described light compensating apparatus.
8., according to the arbitrary described system of claims 1 to 3, it is characterized in that, also comprise:
Horizontal holding device, is arranged in described fixed platform;
Then described control device, is connected with described horizontal holding device, keeps the stable of described fixed platform for triggering described horizontal holding device.
9. a quantity acquiring and processing method for insect, is characterized in that, comprising:
Control device triggered motion device drives fixed platform to move to default sampled point;
The crops of filming apparatus to the region of described sample point that described control device triggers in fixed platform are taken, to realize the quantity identifying insect from the picture of shooting.
10. method according to claim 9, is characterized in that, the crops of filming apparatus to the region of described sample point that described control device triggers in fixed platform are taken, and to realize the quantity identifying insect from the picture of shooting, comprising:
The crops of filming apparatus to the region of described sample point that described control device triggers in fixed platform are taken, and give long-range identifying processing server by the picture transfer of shooting, for described identifying processing server, identifying processing is carried out to the picture of described shooting, to obtain the quantity of insect;
Or,
The crops of filming apparatus to the region of described sample point that described control device triggers in fixed platform are taken, and obtain the picture of shooting from described filming apparatus, then carry out identifying processing to the picture of described shooting, to obtain the quantity of insect.
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| CN201510225406.4A CN104796591A (en) | 2015-05-04 | 2015-05-04 | Pest amount collecting and processing system and method |
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| CN201510225406.4A CN104796591A (en) | 2015-05-04 | 2015-05-04 | Pest amount collecting and processing system and method |
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| CN106501257A (en) * | 2016-11-11 | 2017-03-15 | 陈文革 | The golden Chinese citrus fly experimental system of fruit Rui Te trappings |
| CN107247422A (en) * | 2017-05-19 | 2017-10-13 | 仲恺农业工程学院 | The migration paddy base insect pest image capturing system of low-power consumption |
| CN108305270A (en) * | 2018-03-19 | 2018-07-20 | 河南工业大学 | A kind of storage grain worm number system and method based on mobile phone photograph |
| CN109064466A (en) * | 2018-08-17 | 2018-12-21 | 北京邮电大学 | A kind of grain depot injurious insect detector cleared up automatically and system |
| CN110113575A (en) * | 2019-05-14 | 2019-08-09 | 嘉应学院 | A kind of agriculture feelings information real-time monitoring platform based on NB-IoT |
| CN110415235A (en) * | 2018-10-09 | 2019-11-05 | 中国农业科学院茶叶研究所 | A kind of tea lesser leafhopper image capturing system and its method |
| WO2020038452A1 (en) * | 2018-08-24 | 2020-02-27 | 京东数字科技控股有限公司 | Inspection method and device for inspection vehicle |
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| CN108305270A (en) * | 2018-03-19 | 2018-07-20 | 河南工业大学 | A kind of storage grain worm number system and method based on mobile phone photograph |
| CN109064466A (en) * | 2018-08-17 | 2018-12-21 | 北京邮电大学 | A kind of grain depot injurious insect detector cleared up automatically and system |
| WO2020038452A1 (en) * | 2018-08-24 | 2020-02-27 | 京东数字科技控股有限公司 | Inspection method and device for inspection vehicle |
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| CN111447344A (en) * | 2020-04-17 | 2020-07-24 | 河北天下瞳明科技有限公司 | Trunk crawling insect monitoring device and method |
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