CN108849819A - 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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- CN108849819A CN108849819A CN201810694372.7A CN201810694372A CN108849819A CN 108849819 A CN108849819 A CN 108849819A CN 201810694372 A CN201810694372 A CN 201810694372A CN 108849819 A CN108849819 A CN 108849819A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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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 present embodiments relate to agriculture field, in particular to a kind of autocontrol method sprayed about biological agent,
Chemical spraying device and control system.
Background technique
In agricultural production, crops are corroded by pest in order to prevent, will spray give birth to crops at regular intervals
Object preparation, such as pesticide.Wherein, the definition of pesticide broad sense refers to for preventing, eliminating or controlling harm agricultural, forestry
Disease, worm, grass and other harmful organisms and purposefully adjust, control, influence plant and harmful organism metabolism, growth, development,
The chemical synthesis of reproductive process or a kind of substance generated from biology, other natural products and Applied Biotechnology or
The mixture and its preparation of several substances.Refer in the narrow sense in agricultural production, for ensure, promote plant and crops at
It is long, a kind of drug general designation of the desinsection, sterilization, killing harmful animal (or weeds) applied.It refers in particular to agriculturally for preventing and treating
The medicaments such as disease pest and coordinate plant growth, weeding.With the development of the society, agriculture scale and industrialized development, in agricultural
In production process, in such a way that mechanical spraying devices sprinkling biological agent substitution is manually sprayed, a large amount of labour can be saved
Resource.
But at least there are the following problems in the prior art for inventor's discovery：In the prior art due to can not be automatic
Change ground, intelligently biological agent sprinkling mechanism, can not targetedly and accurately spray drug, prevent and treat pest and disease damage effect
Difference, it is at high cost and not can avoid drug contamination.
Summary of the invention
Embodiment of the present invention be designed to provide it is a kind of about biological agent sprinkling autocontrol method, spray dress
It sets and control system, so that targetedly and accurately spraying drug, effectively preventing pest and disease damage saves cost and avoids medicine
Object pollution.
In order to solve the above technical problems, embodiments of the present invention provide a kind of automatic control about biological agent sprinkling
Method processed, including：It receives by being monitored obtained disease and insect information to crop in greenhouse, disease and insect information includes disease pest
Evil grade and corresponding crop location information；Disease and insect information is fed back to chemical spraying device, for chemical spraying device according to each crop
The location information of pest and disease damage grade and each crop determines a need for carrying out drug-treated, if so, formulating biological agent
Sprinkling route；Wherein, sprinkling route includes sprinkling path and path priority, and the spray point sprayed on path is arranged, and
The pest and disease damage higher grade for spraying the crop on path, and path priority is higher；Chemical spraying device is controlled according to the sprinkling road of formulation
Line sprays biological agent；Wherein, the sequence according to path priority from high to low, control chemical spraying device is successively along sprinkling path
Spray biological agent.
Embodiments of the present invention additionally provide a kind of automatic medicine spraying device about biological agent sprinkling, including：At least
One processor；And the memory being connect at least one processor communication；Wherein, be stored with can be by least one for memory
The instruction that a processor executes, instruction is executed by least one processor, so that at least one processor is able to carry out as above-mentioned
About biological agent sprinkling autocontrol method.
Embodiments of the present invention additionally provide a kind of automatic control system about biological agent sprinkling, including：It receives
Unit, feedback unit, control unit and the above-mentioned automatic medicine spraying device about biological agent sprinkling, receiving unit is for receiving
By being monitored obtained disease and insect information to crop in greenhouse；Disease and insect information includes pest and disease damage grade and corresponding
Crop location information；Feedback unit, for feeding back disease and insect information to chemical spraying device, for chemical spraying device according to the disease pest of each crop
The location information of evil grade and each crop, judges whether to need to carry out drug-treated, if so, formulating the spray of biological agent
Spill route；Wherein, sprinkling route includes sprinkling path and path priority, and the spray point sprayed on path is arranged, and is sprayed
The pest and disease damage higher grade of crop on path, and path priority is higher；Control unit, for controlling chemical spraying device according to formulation
Sprinkling route, spray biological agent；Wherein, the sequence according to path priority from high to low controls chemical spraying device successively edge
It sprays path and sprays biological agent.
Embodiment of the present invention in terms of existing technologies, provides a kind of autocontrol method of pesticide spraying, packet
It includes：Receive by being monitored obtained disease and insect information to crop in greenhouse, disease and insect information include pest and disease damage grade and
Corresponding crop location information；Disease and insect information is fed back to chemical spraying device, for chemical spraying device according to the pest and disease damage etc. of each crop
The location information of grade and each crop determines a need for carrying out drug-treated, if so, formulating the sprinkling road of biological agent
Line；Wherein, sprinkling route includes sprinkling path and path priority, and the spray point sprayed on path is arranged, and sprays path
On crop pest and disease damage higher grade, path priority is higher；Chemical spraying device is controlled according to the sprinkling route of formulation, sprinkling life
Object preparation；Wherein, the sequence according to path priority from high to low, control chemical spraying device is successively along sprinkling path sprinkling biology system
Agent.It is monitored by the disease and insect information to crop in greenhouse, so that chemical spraying device is targeted when spraying biological agent,
Be conducive to accurately spray drug, to effectively prevent pest and disease damage.Spray when biological agent sprinkling is carried out due to chemical spraying device again
Spilling route is determined according to sprinkling path and path priority, sprays chemical spraying device at most in the shortest time
Crop, and then spraying efficiency is improved, and according to the pest and disease damage grade of each crop and the location information of each crop, formulate life
The sprinkling route of object preparation is conducive to save cost.Chemical spraying device successively sprays biological agent along sprinkling path, is conducive to avoid
Drug contamination.Further, since to the auto-associating between the acquisition of disease and insect information, disease and insect information and chemical spraying device and instead
Feedback is conducive to chemical spraying device and is automatically performed sprinkling selection and sprinkling task, so that chemical spraying device is not an individual, onrelevant
Attachment device, it is more intelligent.
In addition, formulating the sprinkling route of biological agent, specifically include：According to the pest and disease damage grade of each crop, and each work
The location information of object sorts out the crop in greenhouse, is classified as together by same pest and disease damage grade and positioned at the crop of same row
One classification；Using the position of same category of crop as spray point, the sprinkling path of the category is formulated, and according to the work of the category
The pest and disease damage grade of object determines the path priority in the sprinkling path of the category；According to sprinkling path of all categories and all kinds of
The path priority in other sprinkling path, obtains sprinkling route.By by same pest and disease damage grade and positioned at the crop of same row
It is classified as same category, sprinkling route is obtained according to the path priority in sprinkling path of all categories and sprinkling path of all categories
It arrives, so that different sprinkling strategies can be used to be sprayed for the crop for different classifications, is conducive to avoid drug contamination, it is full
The different sprinkling demand of foot.
In addition, chemical spraying device includes N number of chemical sprayer, N is the columns of the crop in greenhouse；Where N number of chemical sprayer and crop
Column correspond, chemical sprayer be used for in respective column crop spray biological agent；Chemical spraying device is controlled according to the spray of formulation
Route is spilt, sprays biological agent, specially：Sequence of the chemical sprayer of each column according to path priority from high to low is controlled, it is right
Crop in respective column successively sprays biological agent along sprinkling path.By the way that a chemical sprayer is arranged on each column, in order to
Biological agent is sprayed to the crop in respective column, rather than the corresponding chemical sprayer of each strain or a greenhouse correspond to one
A chemical sprayer also helps saving cost under the premise of improving spray efficiency.
In addition, different pest and disease damage grades corresponds to different sprinkling strategies；Wherein, sprinkling strategy includes at least sprinkling frequency
Rate, pest and disease damage higher grade, and the sprinkling frequency of corresponding sprinkling strategy is higher；Chemical spraying device is controlled according to the sprinkling road of formulation
Line sprays biological agent, specifically includes：According to the sequence of path priority from high to low, current sprinkling path is determined；It obtains
Pest and disease damage grade corresponding to the path priority in current sprinkling path；According to the pest and disease damage grade of acquisition, determine corresponding
Sprinkling strategy；According to determining sprinkling strategy, chemical spraying device is controlled along current sprinkling path and sprays biological agent.By making not
Same pest and disease damage grade corresponds to different sprinkling strategies, so that targetedly taking different pest and disease damages different pairs
Measure is answered, not only makes the sprinkling of biological agent more intelligent, also advantageously improves the validity of prevention and treatment pest and disease damage.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is a kind of autocontrol method about biological agent sprinkling that first embodiment provides according to the present invention
Flow chart；
Fig. 2 is a kind of autocontrol method about biological agent sprinkling that second embodiment provides according to the present invention
Flow chart；
Fig. 3 is a kind of automatic medicine spraying device about biological agent sprinkling that third embodiment provides according to the present invention
Structure connection diagram；
Fig. 4 is a kind of automatic control system about biological agent sprinkling that the 4th embodiment provides according to the present invention
Structure connection diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, in order to make the reader understand this application better, many technical details are proposed.But even if without these technical details
And various changes and modifications based on the following respective embodiments, the application technical solution claimed also may be implemented.
The first embodiment of the present invention is related to a kind of autocontrol methods about biological agent sprinkling.Present embodiment
Core be receive by being monitored obtained disease and insect information to crop in greenhouse；Disease and insect information includes pest and disease damage
Grade and corresponding crop location information；Disease and insect information is fed back to chemical spraying device, for chemical spraying device according to the disease of each crop
The location information of insect pest grade and each crop judges whether to need to carry out drug-treated, if so, formulating biological agent
Spray route；Wherein, sprinkling route includes sprinkling path and path priority, and the spray point sprayed on path is arranged, and is sprayed
The pest and disease damage higher grade for spilling the crop on path, and path priority is higher；Chemical spraying device is controlled according to the sprinkling route of formulation,
Spray biological agent；Wherein, the sequence according to path priority from high to low, control chemical spraying device is successively along the sprinkling of sprinkling path
Biological agent.It is monitored by the disease and insect information to crop in greenhouse, so that chemical spraying device has when spraying biological agent
Specific aim is conducive to accurately spray drug, to effectively prevent pest and disease damage.Again since chemical spraying device carries out biological agent sprinkling
When sprinkling route be according to sprinkling path and path priority determine, spray chemical spraying device in the shortest time
Most crops, and then spraying efficiency is improved, and according to the pest and disease damage grade of each crop and the location information of each crop,
The sprinkling route for formulating biological agent is conducive to save cost.Chemical spraying device successively sprays biological agent along sprinkling path, favorably
In avoiding drug contamination.Further, since to the auto-associating between the acquisition of disease and insect information, disease and insect information and chemical spraying device
And feedback, be conducive to chemical spraying device and be automatically performed sprinkling selection and sprinkling task, so that chemical spraying device is not an individual, nothing
Associated attachment device, it is more intelligent.
The realization details of the autocontrol method about biological agent sprinkling of present embodiment is carried out below specific
Illustrate, the following contents only for convenience of the realization details provided is understood, not implements the necessary of this programme.Pass in present embodiment
In biological agent sprinkling autocontrol method flow chart as shown in Figure 1, including：
Step 101, it receives by being monitored obtained disease and insect information to crop in greenhouse.
Specifically, disease and insect information includes pest and disease damage grade and corresponding crop location information.Camera shooting can be passed through
The disease and insect information of crop in assembly monitor greenhouse, the photographic device can be Mobile photographic device, or fixation is taken the photograph
As device.Preferably, photographic device mentioned here may include M camera, the camera can be high speed camera,
M is the columns of the crop in greenhouse, that is, each column crop is mounted on a camera；Column where M camera and crop
It corresponds, camera is used to acquire the pictorial information of the crop in respective column；Using mobile photographic device, video monitoring is big
Disease and insect information in canopy can shoot each plant of crop in respective column for the camera of each column of timing controlled,
The pictorial information of each strain crop in respective column is collected, and when shooting to each plant of crop, records photographing position
Location information as this plant of crop；According to the pictorial information that M camera collects, the pest and disease damage etc. of each crop is obtained
Grade.That is, after camera reaches certain column and starts mobile, one position of every stops just one position of record that take pictures is believed
Breath, such as, it is assumed that the distance between every plant of crop is 1 meter, and one shows 50 plants of crops, then to shoot the figure of the 20th plant of crop
Piece, camera are needed by mobile 20 meters to the 20th plant crops of initial position, which is the location information of this plant of crop,
By obtain the picture clapped of camera or video you can learn that a certain crop disease and insect information.In the present embodiment, excellent
Selecting camera is that every plant of crop shoots multiple groups picture, so that more accurate according to the pest and disease damage grade that picture obtains；It certainly can also
With control so that camera is that more plants of crops are shot simultaneously, i.e., crop picture is acquired in large area, is not limited specifically herein
It is fixed.
Furthermore it is also possible to preset the filming frequency of several shooting periods and each shooting period, the timing controlled is every
The camera of one column shoots each plant of crop in respective column, specifically includes：Within the preset shooting period, with the bat
The filming frequency for taking the photograph the period controls the cameras of each column and shoots to each plant of crop in respective column.Such as it shoots
Period can be divided into 4 periods, respectively：0. -6 point, 6. -12 points, 12. -18 points, 18. -24 points, in the different periods
Different filming frequencies can be set gradually, for example the filming frequency of above-mentioned 4 shooting periods can be respectively：Every 30 minutes,
Every 40 minutes, every 50 minutes, shooting in every 60 minutes was primary, and user can set according to the needs of actual conditions, not make herein
Concrete restriction.
Further, since disease pest focuses primarily upon crop leaf surface, the camera pair of each column of timing controlled
Each plant of crop in respective column is shot, Ke Yiwei：The camera of each column of timing controlled is to each strain in respective column
The leaf surfaces of crop are shot, preferably to obtain the disease and insect information of crop.Wherein, pest and disease damage grade can be according to collection
In insect pest density on crop leaf surface be classified.Such as insect pest density can divide high-grade, middle grade, inferior grade,
Pest and disease damage density can be set greater than the 60% of initial density to be high-grade, greater than the 40% of initial density, and be less than initial close
The 60% of degree is middle grade, is inferior grade less than the 20% of initial density.
Step 102, feedback disease and insect information is to chemical spraying device, for chemical spraying device according to the pest and disease damage grade of each crop, with
And the location information of each crop, judge whether to need to carry out drug-treated, if it is determined that needing to carry out drug-treated, then enter step
103；Otherwise, which terminates.
Step 103, the sprinkling route of biological agent is formulated.
It, can be and each by chemical spraying device according to the pest and disease damage grade of each crop it should be noted that the sprinkling route
The location information of crop is formulated；It can also be after chemical spraying device determines to need to carry out drug-treated, by the pest and disease damage etc. of each crop
The location information of grade and each crop is uploaded to control terminal, formulates the sprinkling route by control terminal, so that control spray dress
The sprinkling route according to formulation is set, biological agent is sprayed.Due to acquisition, disease and insect information and the chemical spraying device to disease and insect information
Between auto-associating and feedback, be conducive to chemical spraying device be automatically performed sprinkling selection and sprinkling task so that chemical spraying device is not
It is individual, onrelevant a attachment device, it is more intelligent.
Preferably, biological agent mentioned here can be green bio preparation, not only using sprinkling green bio preparation
It is safe and harmless to human health, environmentally friendly, and be able to use ultralow dosage and reach the identical effect of common biological agent,
Be conducive to improve spraying efficiency.
Specifically, sprinkling route includes sprinkling path and path priority, wherein pest and disease damage grade is identical and position phase
The spray point on path is sprayed for same in position where adjacent crop, and the pest and disease damage grade for spraying the crop on path is got over
Height, path priority are higher.
For example, if one shows 20 plants of crops, the 2nd plant, the 3rd plant, the 4th plant, the 5th plant and the 6th plant of crop on the column
Pest and disease damage belongs to same hazard rating, then sprinkling path can be this 2nd plant, the 3rd plant, the 4th plant, the 5th plant and the 6th plant institute
A line being linked to be of position.If the 17th plant on the column, the 18th plant, the pest and disease damage of the 19th plant of crop belongs to another harm
Grade, then sprinkling path can be this 17th plant, the 18th plant, one bar of line that the position where the 19th plant is linked to be.If the 2nd plant,
3rd plant, the 4th plant, the pest and disease damage grade of the 5th plant and the 6th plant crop is higher than the 17th plant, the 18th plant, the disease pest of the 19th plant of crop
Evil grade, then it is preferential to spray the 2nd plant, the 3rd plant, the 4th plant, the 5th plant and the 6th plant sprinkling path constituted.It is noted that
Be not limited in present embodiment according to each column crop disease and insect grade formulate sprinkling path, can according to entire greenhouse
In the pest and disease damage social estate system of crop be scheduled on the sprinkling path in entire greenhouse, be not especially limited herein.
Furthermore it is also possible to according to the pest and disease damage grade of each crop and the location information of each crop, to the crop in greenhouse
Sorted out, is classified as same category by same pest and disease damage grade and positioned at the crop of same row；By the position of same category of crop
The sprinkling path for formulating the category as spray point is set, and the category is determined according to the pest and disease damage grade of the crop of the category
Spray the path priority in path；According to the path priority in sprinkling path of all categories and sprinkling path of all categories, obtain
To sprinkling route.By being classified as same category by same pest and disease damage grade and positioned at the crop of same row, sprinkling route is according to each
The path priority in the sprinkling path of classification and sprinkling path of all categories obtains, so that being directed to the crop of different classifications
It different sprinkling strategies can be used to be sprayed, be conducive to avoid drug contamination, meet different sprinkling demands.
For example, if the 5th the 2nd plant arranged, the 3rd plant, the 4th plant, the 9th plant, the 10th plant, the 17th plant of crop is all the column
Upper pest and disease damage grade is the crop of high-grade, then by the 2nd plant on the column, the 3rd plant, and the 4th plant, the 9th plant, the 10th plant, the 17th
Strain crop is classified as same category, and the 2nd plant, the 3rd plant, the 4th plant, the 9th plant, the 10th plant, the position where the 17th plant of crop constitutes one
Article sprinkling path (such as can be the 3rd plant → the 4th plant → the 9th plant → the 10th plant → the 2nd plant)；11st plant, the 12nd plant, the 13rd plant
Crop is all the crop that pest and disease damage grade is medium rank on the column, and the 11st plant on the column, the 12nd plant, the 13rd plant of crop is classified as
Same category, the 11st plant, the 12nd plant, the position where the 13rd plant of crop constitutes another article of sprinkling path (such as can be for the 12nd
Strain → the 13rd plant → the 11st plant).And the 2nd plant, the 3rd plant, the 4th plant, the 9th plant, the 10th plant, the sprinkling road of the 17th plant of crop structure
Diameter priority is higher than the 11st plant, the 12nd plant, the sprinkling path of the 13rd plant of crop structure.
It should be noted that monitoring the corresponding insect pest number that after the disease and insect information of crop, will be collected in greenhouse
According to server is uploaded to, server may determine that the whole pest and disease damage situation of a column or a greenhouse, see if there is and need to spray
Needs, in this way than one-to-one, point-to-point progress video monitoring and analytical effect more preferably, by combine overall condition carry out it is comprehensive
Analysis is closed, if reach corresponding judgment criteria (judgment criteria can be set according to user's actual need), then sends signal
To chemical spraying device, and the location information of severely afflicated area and weight calamity plant is sent, spray is cooked up according to internal processes according to location information
Route is spilt, so that the sprinkling of biological agent more rationally and is conducive to save the energy, then chemical spraying device is according to the sprinkling of formulation
Route sprays biological agent.With route process, the path sprayed can recorde, until sprinkling terminates.
Step 104, control chemical spraying device sprays biological agent according to the sprinkling route of formulation.
Specifically, chemical spraying device can be controlled successively along sprinkling path according to the sequence of path priority from high to low
Spray biological agent.Chemical spraying device may include N number of chemical sprayer, and N is the columns of the crop in greenhouse；N number of chemical sprayer and crop
The column at place correspond, and chemical sprayer is used to spray biological agent to the crop in respective column；Chemical spraying device is controlled according to formulation
Sprinkling route, spray biological agent, Ke Yiwei：The chemical sprayers of each column is controlled according to path priority from high to low suitable
Sequence successively sprays biological agent along sprinkling path to the crop in respective column.By the way that a chemical sprayer is arranged on each column, with
Convenient for spraying biological agent to the crop in respective column, rather than each strain corresponds to a chemical sprayer or a greenhouse pair
A chemical sprayer is answered, under the premise of improving spray efficiency, also helps saving cost.
Compared with prior art, the automatic control that a kind of biological agent that present embodiment provides is sprayed about biological agent
Method is received by being monitored obtained disease and insect information to crop in greenhouse, and disease and insect information includes pest and disease damage grade
With corresponding crop location information；Disease and insect information is fed back to chemical spraying device, for chemical spraying device according to the pest and disease damage of each crop
The location information of grade and each crop judges whether to need to carry out drug-treated, if so, formulating the sprinkling of biological agent
Route；Wherein, sprinkling route includes sprinkling path and path priority, and the spray point sprayed on path is arranged, and sprays road
The pest and disease damage higher grade of crop on diameter, and path priority is higher；Chemical spraying device is controlled according to the sprinkling route of formulation, sprinkling
Biological agent；Wherein, the sequence according to path priority from high to low, control chemical spraying device is successively along sprinkling path sprinkling biology
Preparation.It is monitored by the disease and insect information to crop in greenhouse, so that chemical spraying device is directed to when spraying biological agent
Property, be conducive to accurately spray drug, to effectively prevent pest and disease damage.When again due to chemical spraying device progress biological agent sprinkling
Sprinkling route is determined according to sprinkling path and path priority, not only makes chemical spraying device most in the sprinkling of shortest time
Crop, and then improve spraying efficiency, and according to the pest and disease damage grade of each crop and the location information of each crop, formulate
The sprinkling route of biological agent is conducive to save cost.Chemical spraying device successively sprays biological agent along sprinkling path, is conducive to keep away
Exempt from drug contamination.Further, since to the auto-associating between the acquisition of disease and insect information, disease and insect information and chemical spraying device and instead
Feedback is conducive to chemical spraying device and is automatically performed sprinkling selection and sprinkling task, so that chemical spraying device is not an individual, onrelevant
Attachment device, it is more intelligent.
Second embodiment of the present invention is related to a kind of autocontrol method about biological agent sprinkling.Second embodiment party
Formula is further improved on the basis of first embodiment, is mainly theed improvement is that：In the present embodiment, pass through
So that different pest and disease damage grades corresponds to different sprinkling strategies；Wherein, sprinkling strategy includes at least sprinkling frequency, pest and disease damage etc.
Grade is higher, and the sprinkling frequency of corresponding sprinkling strategy is higher；Chemical spraying device is controlled according to the sprinkling route of formulation, sprays biology system
Agent specifically includes：According to the sequence of path priority from high to low, current sprinkling path is determined；Obtain current sprinkling road
Pest and disease damage grade corresponding to the path priority of diameter；According to the pest and disease damage grade of acquisition, corresponding sprinkling strategy is determined；According to
Determining sprinkling strategy, control chemical spraying device spray biological agent along current sprinkling path.By making different pest and disease damages etc.
The corresponding different sprinkling strategy of grade, so that targetedly taking different pest and disease damages different countermeasures, not only
So that the sprinkling of biological agent is more intelligent, the validity of prevention and treatment pest and disease damage is also advantageously improved.
One of present embodiment is as shown in Figure 2 about the flow chart for the autocontrol method that biological agent sprays.
Step 201, it receives by being monitored obtained disease and insect information to crop in greenhouse.
Wherein, disease and insect information includes pest and disease damage grade and corresponding crop location information.
Step 202, feedback disease and insect information is to chemical spraying device, for chemical spraying device according to the pest and disease damage grade of each crop, with
And the location information of each crop, judge whether to need to carry out drug-treated, if it is determined that needing to carry out drug-treated, then enter step
203；Otherwise, which terminates.
Step 203, the sequence according to path priority from high to low determines current sprinkling path.
That is, if path priority is respectively advanced, intermediate, rudimentary, it is determined which current sprinkling path belongs to
Kind rank.Wherein, sprinkling route includes sprinkling path and path priority, for example, pest and disease damage grade can be made identical and position
The position where adjacent crop is set, the spray point on path is sprayed for same, sprays the pest and disease damage etc. of the crop on path
Grade is higher, and path priority is higher.
Step 204, pest and disease damage grade corresponding to the path priority in current sprinkling path is obtained.
Such as if being high-level corresponding pest and disease damage grade with path priority is level-one, then in current sprinkling
When the path priority in path is high-level, the pest and disease damage grade got is level-one.
Step 205, according to the pest and disease damage grade of acquisition, corresponding sprinkling strategy is determined.
Specifically, different pest and disease damage grades corresponds to different sprinkling strategies；Wherein, sprinkling strategy includes at least sprinkling
Frequency, pest and disease damage higher grade, and the sprinkling frequency of corresponding sprinkling strategy is higher.
In addition, sprinkling strategy can also include sprinkling duration；Pest and disease damage higher grade, it is corresponding sprinkling strategy sprinkling when
It is longer.That is, crop for pest and disease damage higher grade, the biological agent dosage for needing to spray is more, is conducive to mention
The validity of height prevention and treatment pest and disease damage.
For example, if pest and disease damage grade is divided into high-grade, middle grade, inferior grade can set pest and disease damage density and be greater than
The 60% of initial density is high-grade, is middle grade greater than the 40% of initial density, and less than the 60% of initial density, less than just
The 20% of beginning density is inferior grade.If high-grade, then spraying duration can be 10 minutes, and chemical spraying device reaches this plant of crop institute
Position after start timing, to after ten minutes, control chemical spraying device Aligning control, injection frequency can spray for every 3 seconds；If
For middle grade, then spraying duration can be 5 minutes, and chemical spraying device starts timing after reaching the position where this plant of crop, to 5 points
Zhong Hou, controls chemical spraying device Aligning control, and injection frequency can spray for every five seconds；If inferior grade, then spraying duration can be
2 minutes, chemical spraying device started timing after reaching the position where this plant of crop, to after 2 minutes, controlled chemical spraying device Aligning control,
Injection frequency can spray for every 10 seconds.The above is only for example, specifically sprinkling strategy can carry out according to actual needs
Setting, is not intended to be limited in any herein.It is noted that being returned in the example above per sprayed rear just control chemical spraying device
Origin is done so, convenient for recording the location information of crop when one group of injection.It is of course also possible to it is every it is sprayed after stop
Current location is stayed in, the injection that origin directly carries out next group is not returned to, is still not especially limited herein.
Step 206, according to determining sprinkling strategy, chemical spraying device is controlled along current sprinkling path and sprays biological agent.
That is, controlling chemical spraying device along current spray according to the policy information of the sprinkling frequency determined in step 205
Spill path sprinkling biological agent.
Since step 101 of the step 201 into step 202 and first embodiment is big to step 102 in present embodiment
It causes identical, it is intended to receive by being monitored obtained disease and insect information to crop in greenhouse, disease and insect information includes disease pest
Evil grade and corresponding crop location information；Disease and insect information is fed back to chemical spraying device, for chemical spraying device according to each crop
The location information of pest and disease damage grade and each crop judges whether to need to carry out drug-treated, and details are not described herein again.
Compared with prior art, the automatic control that a kind of biological agent that present embodiment provides is sprayed about biological agent
Method, by making different pest and disease damage grades correspond to different sprinkling strategies；Wherein, sprinkling strategy includes at least sprinkling frequency
Rate, pest and disease damage higher grade, and the sprinkling frequency of corresponding sprinkling strategy is higher；Chemical spraying device is controlled according to the sprinkling road of formulation
Line sprays biological agent, specifically includes：According to the sequence of path priority from high to low, current sprinkling path is determined；It obtains
Pest and disease damage grade corresponding to the path priority in current sprinkling path；According to the pest and disease damage grade of acquisition, determine corresponding
Sprinkling strategy；According to determining sprinkling strategy, chemical spraying device is controlled along current sprinkling path and sprays biological agent.By making not
Same pest and disease damage grade corresponds to different sprinkling strategies, so that targetedly taking different pest and disease damages different pairs
Measure is answered, not only makes the sprinkling of biological agent more intelligent, also advantageously improves the validity of prevention and treatment pest and disease damage.
The step of various methods divide above, be intended merely to describe it is clear, when realization can be merged into a step or
Certain steps are split, multiple steps are decomposed into, as long as including identical logical relation, all in the protection scope of this patent
It is interior；To adding inessential modification in algorithm or in process or introducing inessential design, but its algorithm is not changed
Core design with process is all in the protection scope of the patent.
Third embodiment of the invention is related to a kind of automatic medicine spraying device of biological agent sprinkling, as shown in figure 3, including：
At least one processor 32；And the memory 31 with the communication connection of at least one processor 32；Wherein, memory 31 stores
There is the instruction that can be executed by least one processor 32, instruction is executed by least one processor 32, so that at least one is handled
Device 32 is able to carry out such as the autocontrol method sprayed about biological agent in first embodiment or second embodiment.
Wherein, memory 31 is connected with processor 32 using bus mode, and bus may include any number of interconnection
Bus and bridge, bus is by one or more processors 32 together with the various circuit connections of memory 31.Bus can also incite somebody to action
Together with various other circuit connections of management circuit or the like, these are all abilities for such as peripheral equipment, voltage-stablizer
Well known to domain, therefore, it will not be further described herein.Bus interface is provided between bus and transceiver and is connect
Mouthful.Transceiver can be an element, is also possible to multiple element, such as multiple receivers and transmitter, provides for passing
The unit communicated on defeated medium with various other devices.The data handled through processor 32 are carried out on the radio medium by antenna
Transmission, further, antenna also receives data and transfers data to processor 32.
Processor 32 is responsible for management bus and common processing, can also provide various functions, including timing, periphery connects
Mouthful, voltage adjusting, power management and other control functions.And memory 31 can be used for storage processor 32 and execute behaviour
Used data when making.
Four embodiment of the invention is related to a kind of automatic control system of biological agent sprinkling, as shown in figure 4, including：
Receiving unit 41, feedback unit 42, control unit 43 and as described in third embodiment about biological agent sprinkling it is automatic
Chemical spraying device 30；
Receiving unit 41, for receiving by being monitored obtained disease and insect information to crop in greenhouse；Pest and disease damage
Information includes pest and disease damage grade and corresponding crop location information；
Feedback unit 42, for feeding back disease and insect information to chemical spraying device 30, for chemical spraying device 30 according to the disease of each crop
The location information of insect pest grade and each crop judges whether to need to carry out drug-treated, if so, formulating biological agent
Spray route；Wherein, sprinkling route includes sprinkling path and path priority, and the spray point sprayed on path is arranged, and is sprayed
The pest and disease damage higher grade for spilling the crop on path, and path priority is higher；
Control unit 43 sprays biological agent for controlling chemical spraying device 30 according to the sprinkling route of formulation；Wherein, root
According to the sequence of path priority from high to low, controls chemical spraying device 30 and successively spray biological agent along sprinkling path.
It is not difficult to find that present embodiment is system embodiment corresponding with first embodiment, present embodiment can be with
First embodiment is worked in coordination implementation.The relevant technical details mentioned in first embodiment still have in the present embodiment
Effect, in order to reduce repetition, which is not described herein again.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in
In first embodiment.
It is noted that each module involved in present embodiment is logic module, and in practical applications, one
A logic unit can be a physical unit, be also possible to a part of a physical unit, can also be with multiple physics lists
The combination of member is realized.In addition, in order to protrude innovative part of the invention, it will not be with solution institute of the present invention in present embodiment
The technical issues of proposition, the less close unit of relationship introduced, but this does not indicate that there is no other single in present embodiment
Member.
That is, it will be understood by those skilled in the art that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program, which is stored in a storage medium, including some instructions are to make
It obtains an equipment (can be single-chip microcontroller, chip etc.) or processor (processor) executes side described in each embodiment of the application
The all or part of the steps of method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of autocontrol method about biological agent sprinkling, which is characterized in that including：
It receives by being monitored obtained disease and insect information to crop in greenhouse；The disease and insect information includes pest and disease damage etc.
Grade and corresponding crop location information；
Feed back the disease and insect information to chemical spraying device, for the chemical spraying device according to the pest and disease damage grade of each crop, with
And the location information of each crop, judge whether to need to carry out drug-treated, if so, formulating the sprinkling road of biological agent
Line；Wherein, the sprinkling route includes sprinkling path and path priority, and the spray point sprayed on path is arranged, and is sprayed
The pest and disease damage higher grade of crop on path, and path priority is higher；
Chemical spraying device is controlled according to the sprinkling route of formulation, sprays biological agent；Wherein, according to the path priority from
High to Low sequence controls the chemical spraying device and successively sprays biological agent along the sprinkling path.
2. the autocontrol method according to claim 1 about biological agent sprinkling, which is characterized in that the formulation institute
The sprinkling route for stating biological agent, specifically includes：
According to the pest and disease damage grade of each crop and the location information of each crop, to the crop in the greenhouse into
Row is sorted out, and is classified as same category by same pest and disease damage grade and positioned at the crop of same row；
Using the position of same category of crop as spray point, the sprinkling path of the category is formulated, and according to the crop of the category
Pest and disease damage grade determine the category sprinkling path path priority；
According to the path priority in sprinkling path of all categories and sprinkling path of all categories, the sprinkling route is obtained.
3. the autocontrol method according to claim 2 about biological agent sprinkling, which is characterized in that the spray dress
It sets including N number of chemical sprayer, the N is the columns of the crop in the greenhouse；Column where N number of chemical sprayer and crop are one by one
Corresponding, the chemical sprayer is used to spray biological agent to the crop in respective column；
The control chemical spraying device sprays biological agent, specially according to the sprinkling route of formulation：
Sequence of the chemical sprayer of each column according to the path priority from high to low is controlled, to the successively edge of the crop in respective column
Spray biological agent in the sprinkling path.
4. the autocontrol method according to claim 1 about biological agent sprinkling, which is characterized in that different disease pests
Evil grade corresponds to different sprinkling strategies；Wherein, the sprinkling strategy includes at least sprinkling frequency, and the pest and disease damage grade is got over
The sprinkling frequency of height, corresponding sprinkling strategy is higher；
The control chemical spraying device sprays biological agent, specifically includes according to the sprinkling route of formulation：
According to the sequence of the path priority from high to low, current sprinkling path is determined；
Obtain pest and disease damage grade corresponding to the path priority in current sprinkling path；
According to the pest and disease damage grade of acquisition, corresponding sprinkling strategy is determined；
According to the sprinkling strategy of the determination, the chemical spraying device is controlled along current sprinkling path sprinkling biological agent.
5. the autocontrol method according to claim 4 about biological agent sprinkling, which is characterized in that the sprinkling plan
It slightly further include sprinkling duration；The pest and disease damage higher grade, and the sprinkling duration of corresponding sprinkling strategy is longer.
6. the autocontrol method that biological agent according to any one of claim 1 to 5 is sprayed about biological agent,
It is characterized in that, the disease and insect information, specially：The disease and insect information monitored by photographic device；
Wherein, the photographic device includes M camera, and the M is the columns of the crop in the greenhouse；The M camera shooting
Head is corresponded with the column where crop, and the camera is used to acquire the pictorial information of the crop in respective column；
The camera of each column of timing controlled shoots each plant of crop in respective column, collects in respective column
Each strain crop pictorial information, and when being shot to each plant of crop, position of the records photographing position as this plant of crop
Confidence breath；
According to the pictorial information that the M camera collects, the pest and disease damage grade of each crop is obtained.
7. the autocontrol method that biological agent according to claim 6 is sprayed about biological agent, which is characterized in that also
Including：Preset the filming frequency of several shooting periods and each shooting period；
The camera of each column of timing controlled shoots each plant of crop in respective column, specifically includes：
Within the preset shooting period, the camera of each column is controlled to corresponding with the filming frequency of the shooting period
Each plant of crop on column is shot.
8. the autocontrol method according to claim 6 about biological agent sprinkling, which is characterized in that the timing control
The camera for making each column shoots each plant of crop in respective column, specially：The institute of each column of timing controlled
Camera is stated to shoot the leaf surfaces of each plant of crop in respective column.
9. a kind of automatic medicine spraying device about biological agent sprinkling, which is characterized in that including：At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
Manage device execute so that at least one described processor be able to carry out as described in any in claim 1 to 8 about biological agent
The autocontrol method of sprinkling.
10. a kind of automatic control system about biological agent sprinkling, which is characterized in that including：Receiving unit, feedback unit,
Control unit and the as claimed in claim 9 automatic medicine spraying device about biological agent sprinkling；
The receiving unit, for receiving by being monitored obtained disease and insect information to crop in greenhouse；The disease pest
Evil information includes pest and disease damage grade and corresponding crop location information；
The feedback unit, for feeding back the disease and insect information to chemical spraying device, for the chemical spraying device according to each work
The location information of the pest and disease damage grade of object and each crop judges whether to need to carry out drug-treated, if so, formulating
The sprinkling route of biological agent；Wherein, the sprinkling route includes sprinkling path and path priority, and is arranged on sprinkling path
Spray point, and spray path on crop pest and disease damage higher grade, path priority is higher；
Described control unit sprays biological agent for controlling chemical spraying device according to the sprinkling route of formulation；Wherein, root
According to the sequence of the path priority from high to low, controls the chemical spraying device and successively spray biology system along the sprinkling path
Agent.
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