CN106912331A - A kind of spray method and pesticide spraying system for crop pests - Google Patents
A kind of spray method and pesticide spraying system for crop pests Download PDFInfo
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- CN106912331A CN106912331A CN201710120546.4A CN201710120546A CN106912331A CN 106912331 A CN106912331 A CN 106912331A CN 201710120546 A CN201710120546 A CN 201710120546A CN 106912331 A CN106912331 A CN 106912331A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30188—Vegetation; Agriculture
Abstract
The embodiment of the invention discloses a kind of spray method and pesticide spraying system for crop pests, it is related to image procossing and automation control area, the drug contamination for solving the problems, such as crops in the prior art is serious, reduces the drug contamination to crops.Present invention method includes：Pesticide spraying system obtains the first image of objective crop；Object region in pesticide spraying system the first image of identification where insect；Pesticide spraying system determines spray information according to object region, spray information includes purpose spray positional information, purpose spray positional information is used to indicate position of the target area relative to chemical sprayer shower nozzle on objective crop, and target area is corresponding region of the object region on objective crop；Pesticide spraying system sprays according to spray information control chemical sprayer to target area.
Description
Technical field
The present invention relates to image procossing and automation control area, and in particular to a kind of spray for crop pests
Method and pesticide spraying system.
Background technology
Diseases and pests of agronomic crop is one of Main Agricultural disaster of China, and it has, and species is more, influence is big and breaks out into often
The characteristics of calamity, its occurrence scope and the order of severity often result in heavy losses to Chinese national economy, particularly agricultural production.China
Crops common are the pest and disease damage of following species：Planthopper, powdery mildew, corn borer, bollworm, wheat rust, cotten aphid, rice line
Rot, rice blast, wheat aphid, wheat red mite, locust, gibberella zeaze petch of wheat and barley etc., it has also become have a strong impact on the great of China's agricultural production
Pest and disease damage, and being sprayed insecticide to crops has turned into the Main Means of prevention and elimination of disease and pests.Because the drug resistance of adult is stronger, therefore
Worm's ovum preferably to insect is sprayed insecticide, so being capable of preferably prevention and elimination of disease and pests.
With the development of agricultural automation, be generally provided with chemical sprayer in crops field, chemical sprayer can automatically to
Crops near it are sprayed insecticide, and in order to ensure deinsectization effect, chemical sprayer would generally carry out the agricultural chemicals spray of cover type on a large scale
Spill.
But agricultural chemicals equally has toxic and side effect for the mankind, the pesticide spraying of cover type can be increased on crops on a large scale
Medicament residue, increase to the drug contamination of crops, and then increase the threat caused to human health.
The content of the invention
The present invention provides a kind of spray method and pesticide spraying system for crop pests, for solving prior art middle peasant
The serious problem of the drug contamination of crop.
The one side of the embodiment of the present invention provides a kind of spray method for crop pests, including：
Pesticide spraying system obtains the first image of objective crop；
Object region in the pesticide spraying system identification described first image where insect；
The pesticide spraying system determines spray information according to the object region, and the spray information sprays including purpose
Positional information, the purpose spray positional information is used to indicate the target area on the objective crop to be sprayed relative to chemical sprayer
The position of head, the target area is corresponding region of the object region on the objective crop；
The pesticide spraying system controls the chemical sprayer to be sprayed to the target area according to the spray information.
With reference in a first aspect, in the first possible implementation of first aspect, target agriculture is obtained in pesticide spraying system
After first image of crop, object region in pesticide spraying system identification described first image where insect it
Before, methods described also includes：
The pesticide spraying system is classified using the insect grader that training in advance goes out to described first image；
Whether the pesticide spraying system judges include insect in described first image according to classification results；
If so, the then behaviour of the object region in pesticide spraying system triggering identification described first image where insect
Make.
With reference to the first possible implementation of first aspect or first aspect, second in first aspect may
Implementation in, after the object region in the pesticide spraying system identification described first image where insect, in institute
State before pesticide spraying system determines spray information according to the object region, methods described also includes：
The pesticide spraying system calculates the insect parameter of the object region；
The pesticide spraying system judges whether the insect parameter meets default spray condition；
If so, then the pesticide spraying system triggering determines the operation of spray information according to the object region.
With reference to second possible implementation of first aspect, in the third possible implementation of first aspect
In, the insect parameter includes insect number, and/or pest density.
With reference to the third possible implementation of first aspect, in the 4th kind of possible implementation of first aspect
In, the spray information also includes target dose information to be sprayed；
The pesticide spraying system determines that the target dose information includes according to the object region：
Pesticide spraying system target dose information according to the insect parameter determination of the object region.
Second possible reality of the first possible implementation, first aspect with reference to first aspect, first aspect
It is any one in 4th kind of possible implementation of existing mode, the third possible implementation of first aspect and first aspect
Kind possible implementation, in the 5th kind of possible implementation of first aspect, in pesticide spraying system identification described the
After object region in one image where insect, determined to spray according to the object region in the pesticide spraying system
Before information, methods described also includes：
The pesticide spraying system recognizes the insect type of the object region；
The spray information also includes dispenser species to be sprayed；
The pesticide spraying system determines that the dispenser species includes according to the object region：
The pesticide spraying system determines the dispenser species according to the insect type of the object region.
The second aspect of the embodiment of the present invention provides a kind of pesticide spraying system for crop pests, including：
Acquisition module, the first image for obtaining objective crop；
Region identification module, for recognizing the object region in described first image where insect；
Spray information determination module, for determining spray information, the spray packet according to the object region
Purpose spray positional information is included, the purpose spray positional information is used to indicate the target area on the objective crop relative
In the position of chemical sprayer shower nozzle, the target area is corresponding area of the object region on the objective crop
Domain；
Spraying control module, for controlling the chemical sprayer to be sprayed to the target area according to the spray information.
With reference to second aspect, in the first possible implementation of second aspect, the pesticide spraying system also includes：
Sort module, the insect grader for being gone out using training in advance is classified to described first image；
First judge module, for judging whether include insect in described first image according to classification results；
First trigger module, for when first judge module judges that described first image includes insect, triggering
The operation of the object region in identification described first image where insect.
With reference to the first possible implementation of second aspect or second aspect, second in second aspect may
Implementation in, the pesticide spraying system also includes：
Computing module, the insect parameter for calculating the object region；
Second judge module, for judging whether the insect parameter meets default spray condition；
Second trigger module, for judging that the insect parameter meets default spray condition when second judge module
When, triggering determines the operation of spray information according to the object region.
With reference to second possible implementation of second aspect, in the third possible implementation of second aspect
In, the insect parameter includes insect number, and/or pest density.
With reference to the third possible implementation of second aspect, in the 4th kind of possible implementation of second aspect
In, the spray information also includes target dose information to be sprayed；
The spray information determination module includes：
Dose determining unit, for the target dose information according to the insect parameter determination.
Second possible reality of the first possible implementation, second aspect with reference to second aspect, second aspect
It is any one in 4th kind of possible implementation of existing mode, the third possible implementation of second aspect and second aspect
Possible implementation is planted, in the 5th kind of possible implementation of second aspect, the pesticide spraying system also includes：
Type identification module, the insect type for recognizing the object region；
The spray information also includes dispenser species to be sprayed；
The spray information determination module includes：
Species determining unit, for determining the dispenser species according to the insect type of the object region.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
First image of the present invention according to objective crop, it may be determined that the object-image region in the first image where insect
Domain, object region corresponds to the target area where insect on objective crop, and then can determine spray information, sprays
Information includes purpose spray positional information, and purpose spray positional information is used to indicate target area relative to the position of chemical sprayer shower nozzle
Put, can be sprayed to target area according to spray information control chemical sprayer afterwards, it is seen then that the present invention can enter for insect position
Row spray, compared to the prior art, can reduce the drug contamination to crops.
Brief description of the drawings
Fig. 1 is spray method one embodiment schematic diagram of the present invention for crop pests；
Fig. 2 is the present invention for another embodiment schematic diagram of the spray method of crop pests；
Fig. 3 is pesticide spraying system one embodiment schematic diagram of the present invention for crop pests；
Fig. 4 is the present invention for another embodiment schematic diagram of the pesticide spraying system of crop pests；
Fig. 5 is the present invention for another embodiment schematic diagram of the pesticide spraying system of crop pests.
Specific embodiment
A kind of spray method and pesticide spraying system for crop pests is the embodiment of the invention provides, for entering to insect
Row targetedly sprays, to reduce the drug contamination to crops.
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, should all belong to the model of present invention protection
Enclose.
Term " first ", " second ", " the 3rd ", " in description and claims of this specification and above-mentioned accompanying drawing
Four " etc. (if present) is for distinguishing similar object, without for describing specific order or precedence.Should manage
The data that solution is so used can be exchanged in the appropriate case, so that the embodiments described herein can be with except illustrating herein
Or the order beyond the content of description is implemented.Additionally, term " comprising " and " having " and their any deformation, it is intended that
Covering is non-exclusive to be included, for example, the process, method, system, product or the equipment that contain series of steps or unit need not be limited
In those steps or unit for clearly listing, but may include not list clearly or for these processes, method, product
Product or other intrinsic steps of equipment or unit.
For ease of understanding, the idiographic flow in the embodiment of the present invention is described below, refers to Fig. 1, the present invention is real
Applying the spray method one embodiment in example for crop pests includes：
101st, pesticide spraying system obtains the first image of objective crop；
Pesticide spraying system can obtain the first image of objective crop by image collection module, and the first image includes mesh
Mark the image of crops.
102nd, the object region in the first image of pesticide spraying system identification where insect；
Pesticide spraying system is obtained after the first image of objective crop, and image recognition can be carried out to the first image, is recognized
Object region in first image where insect.Such as, the reference model of insect can be in advance built, using the ginseng of insect
Model is examined to recognize the insect in the first image, and the object region where determining insect.If knowing not from the first image
Insect is clipped to, then objective crop can not be sprayed.
103rd, pesticide spraying system determines spray information according to object region；
After object region in pesticide spraying system the first image of identification where insect, can be according to object region
It is determined that spray information.Object region corresponds to the target area where insect on objective crop, according to object-image region
The information such as position of the domain in the first image can determine positional information of the target area relative to image collection module, according to figure
As the relative position of acquisition module and chemical sprayer shower nozzle, positional information that can be according to target area relative to image collection module
Determine position of the target area relative to chemical sprayer shower nozzle.Therefore, spray information can include purpose spray positional information, target
Spray positional information is used to indicate position of the target area relative to chemical sprayer shower nozzle on objective crop, and target area is mesh
Corresponding region of the logo image region on objective crop.
104th, pesticide spraying system is according to spray information control chemical sprayer spray.
Pesticide spraying system determines after spray information, can be sprayed to target area according to spray information control chemical sprayer.
First image of the present invention according to objective crop, it may be determined that the object-image region in the first image where insect
Domain, object region corresponds to the target area where insect on objective crop, and then can determine spray information, sprays
Information includes purpose spray positional information, and purpose spray positional information is used to indicate target area relative to the position of chemical sprayer shower nozzle
Put, can be sprayed to target area according to spray information control chemical sprayer afterwards, it is seen then that the present invention can enter for insect position
Row spray, compared to the prior art, can reduce the drug contamination to crops.
Because the drug resistance of adult is stronger, therefore preferably insect egg is sprayed insecticide, so can preferably prevent curing the disease
Insect pest.Therefore, insect described in the embodiment of the present invention refers generally to insect egg, therefore location comparison on crops is consolidated
It is fixed.
Fig. 2 is referred to, another embodiment includes for the spray method of crop pests in the embodiment of the present invention：
201st, pesticide spraying system obtains the first image of objective crop；
Pesticide spraying system can obtain the first image of objective crop by image acquiring device.Specifically, can need
Camera is set up near the crops to be monitored, such as, camera can be set up in the position of chemical sprayer shower nozzle, pesticide spraying system
Camera periodically can shoot to live crops, obtain crop map picture, and the time of shooting can be according to crops
Growth cycle, the breeding cycle of insect etc. determine.
202nd, pesticide spraying system is classified using the insect grader that training in advance goes out to the first image；
Pesticide spraying system can be instructed by the method for machine learning using the image comprising insect and the image not comprising insect
Insect grader is practised, insect grader can determine whether the image of input is the image comprising insect.Getting first
After image, it is possible to use the insect grader that training in advance goes out is classified to the first image.
In actual use, it would however also be possible to employ whether other method judges the first image comprising insect, such as can make
The first image is classified with unsupervised Machine learning classifiers, is not specifically limited herein.
203rd, whether pesticide spraying system judges include insect in the first image according to classification results, if so, then performing step
204, if it is not, then performing step 212；
Pesticide spraying system to the first image classify after obtaining classification results using insect grader, can be according to classification
Whether result judges include insect in the first image.If the first image includes insect, step 204 is performed, if the first image is not
Including insect, then step 212 is performed.
204th, the object region in the first image of pesticide spraying system identification where insect；
Pesticide spraying system the first image of judgement is included after insect, it is possible to use the Pest Model for pre-building comes to first
Image carries out image recognition, the object region in the first image of identification where insect.There may be multiple evils in first image
Region where worm, i.e., in the presence of multiple object regions.
Step 202 and step 203 can not also be performed, but image procossing, identification first are directly carried out to the first image
Insect in image, if None- identified goes out insect, illustrates not include insect in the first image.But, by image recognition institute
The operand for needing is larger, time-consuming more long, if all first images to getting carry out insect identification, it will cause system to provide
The waste in source, expends excessive duration.
205th, pesticide spraying system calculates the insect parameter of object region；
Pesticide spraying system determined after object region, can calculate the insect parameter of object region.Insect parameter
Can be including insect number, pest density etc. in parameter one or more.Because under normal circumstances, spray is directed to insect worm
Ovum, worm's ovum size is relatively fixed, therefore can precalculate the elemental area shared by worm's ovum, afterwards using object region
Elemental area business is asked to the elemental area shared by single worm's ovum, insect number can be calculated.Afterwards using insect number and
The elemental area of corresponding object region asks business, can calculate pest density.
206th, pesticide spraying system judges whether insect parameter meets spray condition, if so, step 207 is then performed, if it is not, then holding
Row step 212；
Pesticide spraying system can preset spray condition, such as, spray condition can be：If insect number it is interval [10,20),
And pest density is more than 4/cm2, then judge that insect parameter meets spray condition；If or insect number is more than 20, judges
Insect parameter meets spray condition.Pesticide spraying system is calculated after the insect parameter of object region, it can be determined that insect is joined
Whether number meets default spray condition, if so, step 207 is then performed, if it is not, then performing step 212.
207th, the insect type in pesticide spraying system recognition target image region；
If pesticide spraying system judges that insect parameter meets default spray condition, pesticide spraying system can further recognize target
The insect type of image-region.
Next spray information is determined, spray information includes purpose spray positional information, it is preferred that can also include to be painted
The target dose information of medicine and dispenser species to be sprayed.
208th, pesticide spraying system determines dispenser species according to the insect type of object region；
Pesticide spraying system identification is obtained after the insect type of object region, can determine dispenser kind according to insect type
Class.
It should be noted that step 207 is used to help pesticide spraying system determines dispenser species, therefore, in actual use, step
As long as rapid 207 after step 204, performed before step 208.
209th, pesticide spraying system determines purpose spray positional information of the target area relative to chemical sprayer shower nozzle；
If pesticide spraying system judges that insect parameter meets default spray condition, pesticide spraying system can determine object-image region
Domain corresponding target area on objective crop is region to be sprayed.Afterwards pesticide spraying system can determine target area relative to
The purpose spray positional information of chemical sprayer shower nozzle.Purpose spray positional information can simply refer to target area relative to chemical sprayer
The directional information of shower nozzle, or purpose spray positional information can also both include direction of the target area relative to chemical sprayer shower nozzle
Information, the also range information including target area relative to chemical sprayer shower nozzle.
According to position of the object region in the first image target area can be determined relative to image collection module
Direction, with reference to image collection module and the relative position of chemical sprayer shower nozzle, it may be determined that target area relative to chemical sprayer spray
The directional information of head.
Range information for target area relative to chemical sprayer shower nozzle, pesticide spraying system can be by adjusting Jiao of camera
Away from or the mode such as image distance so that target area is on focal plane such that it is able to calculate target area phase according to image-forming principle
For the citing of camera, in conjunction with camera and the relative position of chemical sprayer shower nozzle, it may be determined that target area is relative to spray
The range information of device shower nozzle.
Target area determined above is relative to the directional information of chemical sprayer shower nozzle and the method for range information only as act
Example, not as the limitation of realization rate.
210th, pesticide spraying system is according to the insect parameter determination of object region target dose information to be sprayed；
Pesticide spraying system is calculated after the insect parameter of object region, can be waited to spray according to insect parameter determination
Target dose information.Such as, target dose information can be directly proportional to insect number, or be directly proportional with pest density.
Sequential relationship between step 208, step 209 and step 210, is not specifically limited herein.
211st, pesticide spraying system sprays according to target position information, target dose information and dispenser species control chemical sprayer；
Pesticide spraying system determined after spray information, can according to the dispenser species in spray information, target position information and
Target dose information controls chemical sprayer to be sprayed to target area.
212nd, other operations are performed.
Such as, the handling process to the first image can be terminated, objective crop is not sprayed.
The spray method in the embodiment of the present invention for crop pests is described above, below to of the invention real
The pesticide spraying system in example for crop pests is applied to be described.
Fig. 3 is referred to, one embodiment of the pesticide spraying system in the embodiment of the present invention for crop pests includes：
Acquisition module 301, the first image for obtaining objective crop；
Region identification module 302, for the object region where insect in the first image of identification；
Spray information determination module 303, for determining spray information according to object region, spray information includes purpose
Spray positional information, purpose spray positional information is used to indicate the target area on objective crop relative to chemical sprayer shower nozzle
Position, target area is corresponding region of the object region on objective crop；
Spraying control module 304, for being sprayed to target area according to spray information control chemical sprayer.
Preferably, Fig. 4 is referred to, another embodiment of navigation information treatment module includes in the embodiment of the present invention：
Acquisition module 401, the first image for obtaining objective crop；
Sort module 402, the insect grader for being gone out using training in advance is classified to the first image；
First judge module 403, for judging whether include insect in the first image according to classification results；
Region identification module 404, for when the first judge module 403 judges that the first image includes insect, recognizing the
Object region in one image where insect；
Spray information determination module 405, for determining spray information according to object region, spray information includes purpose
Spray positional information, purpose spray positional information is used to indicate the target area on objective crop relative to chemical sprayer shower nozzle
Position, target area is corresponding region of the object region on objective crop；
Spraying control module 406, for being sprayed to target area according to spray information control chemical sprayer.
Preferably, Fig. 5 is referred to, another embodiment of navigation information treatment module includes in the embodiment of the present invention：
Acquisition module 501, the first image for obtaining objective crop；
Sort module 502, the insect grader for being gone out using training in advance is classified to the first image；
First judge module 503, for judging whether include insect in the first image according to classification results；
Region identification module 504, for when the first judge module judges that the first image includes insect, recognizing the first figure
Object region as in where insect；
Computing module 505, the insect parameter for calculating object region；
Second judge module 506, for judging whether insect parameter meets default spray condition；
Spray information determination module 507, for judging that insect parameter meets default spray condition when the second judge module
When, spray information is determined according to object region, spray information includes purpose spray positional information, purpose spray positional information
It is used to indicate position of the target area relative to chemical sprayer shower nozzle on objective crop, target area exists for object region
Corresponding region on objective crop；
Spraying control module 508, for being sprayed to target area according to spray information control chemical sprayer；
Type identification module 509, for the insect type in recognition target image region.
Preferably, spray information determination module 507 can include：
Dose determining unit 5071, for according to insect parameter determination target dose information；
Species determining unit 5072, dispenser species is determined for the insect type according to object region.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In described several embodiments, it should be understood that disclosed system, apparatus and method can be by other
Mode is realized.For example, device embodiment described above is only schematical, for example, the division of unit, is only one kind
Division of logic function, can there is other dividing mode when actually realizing, such as multiple units or component can combine or can
To be integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or discussed each other
Coupling or direct-coupling or communication connection can be the INDIRECT COUPLING or communication connection of device or unit by some interfaces,
Can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, be shown as unit
Part can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple networks
On unit.Some or all of unit therein can be according to the actual needs selected to realize the purpose of this embodiment scheme.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If integrated unit, can to realize in the form of SFU software functional unit and as independent production marketing or when using
To store in a computer read/write memory medium.Based on such understanding, technical scheme substantially or
Saying all or part of the part or technical scheme contributed to prior art can be embodied in the form of software product
Out, computer software product storage is in a storage medium, including some instructions are used to so that a computer equipment
(can be personal computer, server, or network equipment etc.) performs all or part of each embodiment method of the invention
Step.And foregoing storage medium includes：It is USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), random
Access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with Jie of store program codes
Matter.
More than, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to foregoing reality
Example is applied to be described in detail the present invention, it will be understood by those within the art that：It still can be to foregoing each
Technical scheme described in embodiment is modified, or carries out equivalent to which part technical characteristic；And these are changed
Or replace, do not make the spirit and scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.
Claims (12)
1. a kind of spray method for crop pests, it is characterised in that including：
Pesticide spraying system obtains the first image of objective crop；
Object region in the pesticide spraying system identification described first image where insect；
The pesticide spraying system determines spray information according to the object region, and the spray information includes purpose spray position
Information, the purpose spray positional information is used to indicate the target area on the objective crop relative to chemical sprayer shower nozzle
Position, the target area is corresponding region of the object region on the objective crop；
The pesticide spraying system controls the chemical sprayer to be sprayed to the target area according to the spray information.
2. the spray method for crop pests according to claim 1, it is characterised in that obtain mesh in pesticide spraying system
Mark after first image of crops, the object region in described first image where insect is recognized in the pesticide spraying system
Before, methods described also includes：
The pesticide spraying system is classified using the insect grader that training in advance goes out to described first image；
Whether the pesticide spraying system judges include insect in described first image according to classification results；
If so, the then operation of the object region in the pesticide spraying system triggering identification described first image where insect.
3. the spray method for crop pests according to claim 2, it is characterised in that know in the pesticide spraying system
After object region in other described first image where insect, in the pesticide spraying system according to the object region
It is determined that before spray information, methods described also includes：
The pesticide spraying system calculates the insect parameter of the object region；
The pesticide spraying system judges whether the insect parameter meets default spray condition；
If so, then the pesticide spraying system triggering determines the operation of spray information according to the object region.
4. the spray method for crop pests according to claim 3, it is characterised in that the insect parameter includes
Insect number and/or pest density.
5. the spray method for crop pests according to claim 4, it is characterised in that the spray information is also wrapped
Include target dose information to be sprayed；
The pesticide spraying system determines that the target dose information includes according to the object region：
Pesticide spraying system target dose information according to the insect parameter determination of the object region.
6. the spray method for crop pests according to any one of claim 1 to 5, it is characterised in that in institute
After stating the object region in pesticide spraying system identification described first image where insect, in the pesticide spraying system according to
Before object region determines spray information, methods described also includes：
The pesticide spraying system recognizes the insect type of the object region；
The spray information also includes dispenser species to be sprayed；
The pesticide spraying system determines that the dispenser species includes according to the object region：
The pesticide spraying system determines the dispenser species according to the insect type of the object region.
7. a kind of pesticide spraying system for crop pests, it is characterised in that including：
Acquisition module, the first image for obtaining objective crop；
Region identification module, for recognizing the object region in described first image where insect；
Spray information determination module, for determining spray information according to the object region, the spray information includes mesh
Spray positional information, purpose spray positional information is used to indicate the target area on the objective crop relative to spray
The position of medicine device shower nozzle, the target area is corresponding region of the object region on the objective crop；
Spraying control module, for controlling the chemical sprayer to be sprayed to the target area according to the spray information.
8. the pesticide spraying system for crop pests according to claim 7, it is characterised in that the pesticide spraying system is also wrapped
Include：
Sort module, the insect grader for being gone out using training in advance is classified to described first image；
First judge module, for judging whether include insect in described first image according to classification results；
First trigger module, for when first judge module judges that described first image includes insect, triggering to be recognized
The operation of the object region in described first image where insect.
9. the pesticide spraying system for crop pests according to claim 8, it is characterised in that the pesticide spraying system is also wrapped
Include：
Computing module, the insect parameter for calculating the object region；
Second judge module, for judging whether the insect parameter meets default spray condition；
Second trigger module, for when second judge module judges that the insect parameter meets default spray condition,
Triggering determines the operation of spray information according to the object region.
10. the pesticide spraying system for crop pests according to claim 9, it is characterised in that the insect parameter bag
Include insect number, and/or pest density.
11. pesticide spraying systems for crop pests according to claim 10, it is characterised in that the spray information is also
Including target dose information to be sprayed；
The spray information determination module includes：
Dose determining unit, for the target dose information according to the insect parameter determination.
12. pesticide spraying system for crop pests according to any one of claim 7 to 11, it is characterised in that institute
Stating pesticide spraying system also includes：
Type identification module, the insect type for recognizing the object region；
The spray information also includes dispenser species to be sprayed；
The spray information determination module includes：
Species determining unit, for determining the dispenser species according to the insect type of the object region.
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| CN111460998B (en) * | 2020-03-31 | 2021-04-23 | 北京伟杰东博信息科技有限公司 | Dynamic spraying method and system |
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