CN115088698A - Spraying device and method for preventing and treating Chinese chive maggots - Google Patents
Spraying device and method for preventing and treating Chinese chive maggots Download PDFInfo
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- CN115088698A CN115088698A CN202210843956.2A CN202210843956A CN115088698A CN 115088698 A CN115088698 A CN 115088698A CN 202210843956 A CN202210843956 A CN 202210843956A CN 115088698 A CN115088698 A CN 115088698A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention relates to a spraying device and a spraying method for preventing and treating Chinese chive maggots. The spraying device comprises a spraying mechanism, a moving mechanism, a Chinese chive maggot density estimation system and a controller. The spraying mechanism is used for spraying the trapping agent or the insecticide to the plurality of vegetable beds. The conveying end of the moving mechanism is used for driving the spraying mechanism to move along the length direction of the leek field. The Chinese chive maggot density estimation system is used for estimating the Chinese chive maggot density of each vegetable ridge of the Chinese chive field. The controller firstly controls the moving mechanism to drive the spraying mechanism to spray quantitative trapping agent to each vegetable bed in turn. And after a preset time period, controlling the Chinese chive maggot density estimation system to estimate the Chinese chive maggot density of each vegetable bed. And finally, setting the pesticide amount required by the corresponding vegetable bed according to the estimated density value of the Chinese chive maggots, and controlling the moving mechanism again to drive the spraying mechanism to spray the corresponding pesticide amount to each vegetable bed in sequence. The spraying device guarantees the effect of insect control and simultaneously considers the effect of saving cost.
Description
Technical Field
The invention relates to the field of digital agricultural planting, in particular to a spraying device and a spraying method for preventing and treating Chinese chive maggots.
Background
Leek maggots (leek root maggots) are natural enemies of leeks, the leek root maggots can occur in leek shed rooms and open fields, and the leek maggots dig into underground parts of the leeks and the gnawing leeks show symptoms as follows: the leaves on the ground are thin and weak, withered and yellow, and wilted and broken leaves. The larvae of the Chinese chive maggots often gather in the bulb of the root or bur into the pseudostem to cause rotting, and in severe cases, the larvae can be damaged in the whole bed, so that the yield is seriously reduced, and huge losses are caused to growers.
At present, agricultural experts research a sun-drying high-temperature film covering method, and utilize high temperature to kill the Chinese chive maggots. The method has good effect. The Chinese chives have vigorous regeneration capacity and can recur after being harvested, so that the planting period of the Chinese chives is longer than that of common crops, the Chinese chives are not resistant to high temperature, the growth of plants can be slowed down when the temperature exceeds 24 ℃, and the leaves of the Chinese chives can be aged and yellowed when the temperature is higher than 30 ℃. When the Chinese chives are damaged by pests during planting, the method has great limitation. Therefore, the method can only kill the insects before and after the planting period of the Chinese chives, the Chinese chives maggots cannot be thoroughly killed at a high temperature for a while, and partial worm eggs in the deep soil survive and still propagate when the soil temperature returns to a normal state.
At present, pesticide spraying is often adopted in agriculture to kill insects in the leek field, and the mode can achieve certain control effect. However, the way of spraying the pesticide is too single, and it is difficult to accurately determine the reasonable pesticide dosage, so that the best disinfestation effect of spraying the pesticide cannot be achieved, and the pest control effect is limited.
Disclosure of Invention
Based on the above, the invention provides the spraying device and the spraying method for controlling the maggots of the Chinese chives, which are necessary to solve the technical problems that in the prior art, the spraying effect is not uniform due to the difficulty in determining the reasonable dosage of the medicament, so that the control effect of the maggots of the Chinese chives is limited.
The invention discloses a spraying device for preventing and treating Chinese chive maggots, which comprises: the device comprises a spraying mechanism, a moving mechanism, a Chinese chive maggot density estimation system and a controller.
The spraying mechanism is used for spraying the trapping agent or the pesticide to the multiple vegetable beds in the leek field. The spraying mechanism comprises a plurality of sprayers. The sprayers are positioned above the leek field and distributed along the width direction of the leek field.
The conveying end of the moving mechanism is used for driving the spraying mechanism to move along the length direction of the leek field.
The Chinese chive maggot density estimation system is used for estimating the Chinese chive maggot density of each vegetable ridge of the Chinese chive field.
The controller is used for:
(a) and firstly, controlling the moving mechanism to drive the spraying mechanism to spray quantitative trapping agent to each vegetable bed in sequence.
(b) And after spraying the trapping agent for a preset time period in each vegetable bed, controlling the Chinese chive maggot density estimation system to estimate the Chinese chive maggot density in each vegetable bed.
(c) And setting the required pesticide amount of the corresponding vegetable bed according to the estimated density value of the Chinese chive maggots of each vegetable bed, and controlling the moving mechanism again to drive the spraying mechanism to spray the corresponding pesticide amount to each vegetable bed in sequence. Wherein, the pesticide amount is in positive correlation with the estimated value of the density of the Chinese chive maggots. Light-blocking conditions were maintained while spraying the trap and insecticide.
As a further improvement of the invention, the moving mechanism comprises a carrier, a track and a driving component. The track is fixedly arranged right above the leek field, and the extending direction is parallel to the length direction of the leek field. The carrying platform is slidably mounted on the track, and the bottom of the carrying platform is fixedly connected with the spraying mechanism. The driving assembly is arranged on the carrier and used for driving the carrier to generate relative motion with the track, and further forming a conveying end of the moving mechanism.
As a further improvement of the invention, the carrying platform is provided with a T-shaped through groove which penetrates through the carrying platform from front to back. The carrying platform is connected with the track in a sliding mode through the T-shaped through groove. The top of the carrying platform is also provided with a strip-shaped containing groove. The driving assembly comprises a rack, a gear and a driving motor. The rack runs through the accommodating groove and is fixedly connected to the upper surface of the track, and the length of the rack is matched with the carrying platform. The gear can be rotatably arranged at the top of the carrying platform, and the gear is meshed with the tooth grooves. The driving motor is used for driving the gear to rotate, and then the carrying platform generates relative motion with the track.
As a further improvement of the invention, a plurality of pulleys are respectively and rotatably connected to the two sides of the carrying platform in the T-shaped through groove. The rolling surface of each pulley is in contact with the rail.
As a further improvement of the invention, the spraying mechanism also comprises two liquid storage tanks. The two liquid storage tanks are used for storing the trapping agent and the pesticide respectively. Each liquid storage tank is respectively connected with a plurality of sprayers through a plurality of connecting pipelines.
As a further improvement of the invention, the spraying speed of the spraying mechanism is constant, and the moving speed of the moving mechanism is adjustable.
And/or
The moving speed of the moving mechanism is constant, and the spraying speed of the spraying mechanism is adjustable.
As a further improvement of the invention, the Chinese chive maggot density estimation system comprises:
and the image acquisition module is used for acquiring the single-frame image of the leek field and acquiring the leek field image to be subjected to density estimation.
And the light supplementing module is used for supplementing light to the leek field at intervals under the light shading condition so as to acquire a single-frame image. And the light supplement frequency of the light supplement module is consistent with the acquisition frequency of the single-frame image.
And the image processing module is used for firstly carrying out segmentation processing on the single-frame image to obtain a target image corresponding to the target vegetable bed region in the single-frame image. And then preprocessing the target image to obtain an enhanced target image. And then, respectively intercepting images of various appearances from the enhanced target image to obtain a Chinese chive maggot training sample and other appearance training samples, thereby forming a sample set for training a Chinese chive maggot recognition model. The image processing module is also used for sequentially segmenting the leek field image and then carrying out preprocessing and enhancing to obtain the vegetable bed image to be estimated.
The established Chinese chive maggot recognition model needs to be trained on a network before application, the Chinese chive maggot recognition model is initialized in the training process, a loss function and a training function are set, the Chinese chive maggot recognition model is subjected to iterative training by using a sample set, verified neural network model parameters are reserved, and then training of the Chinese chive maggot recognition model is completed. And carrying out region identification on the vegetable bed image to be estimated by using the trained chive maggot identification model, and identifying the chive maggot region in the vegetable bed image to be estimated.
The Chinese chive maggot density estimation system further comprises:
a calculating module for calculating the total number P of target pixels corresponding to the maggot region of Chinese chive in the whole vegetable bed image to be estimated according to the maggot region of Chinese chive in the vegetable bed image to be estimated all . Then according to a preset unit average pixel number occupied by a single Chinese chive maggot
And further calculating the number N of the Chinese chive maggots in the vegetable bed image to be estimated. And then, calculating the number of the Chinese chive maggots in a unit area according to the field area of the vegetable bed to be estimated, namely the density of the Chinese chive maggots in the vegetable bed to be estimated.
As a further improvement of the invention, the image acquisition module and the light supplement module are both fixedly arranged on the conveying end of the moving mechanism.
As a further improvement of the invention, the image acquisition module adopts a CCD camera. The light supplementing module adopts a soft light box.
The invention also discloses a spraying method for the Chinese chive maggot prevention and treatment, which is applied to any one of the spraying devices for the Chinese chive maggot prevention and treatment. The spraying method comprises the following steps:
spraying a certain amount of trapping agent to each vegetable ridge of the leek field in sequence.
And (II) after each vegetable ridge is sprayed with the trapping agent for a preset time period, estimating the maggot density of the Chinese chive on the corresponding vegetable ridge.
And thirdly, setting the insecticide amount required by each vegetable bed according to the estimated density of the Chinese chive maggots of each vegetable bed, and spraying the corresponding insecticide amount to each vegetable bed in sequence. Wherein the amount of the insecticide is positively correlated with the estimated density of the leek maggots, and the light-shielding condition is maintained when the trapping agent and the insecticide are sprayed.
Compared with the prior art, the technical scheme disclosed by the invention has the following beneficial effects:
the spraying device is characterized in that a linearly movable spraying mechanism is arranged on a plurality of vegetable beds of the leek field, a trapping agent is sprayed to each vegetable bed under a shading condition, the density of the leek maggots in each vegetable bed is estimated after a period of time, and then the spraying amount of the needed insecticide is set according to the estimated value. The spraying mode of the spraying device is self-adaptively adjusted according to insect pest degree, and according to local conditions, the pesticide amount of the leek field with serious insect pests can be increased, the penetration depth of the pesticide is increased, and the effect of insect control is improved. The pesticide amount can also be properly reduced for the leek field with light insect pests, and the effect of saving cost is considered while the pest control effect is ensured.
The spraying method has the same beneficial effects as the spraying device, and is not repeated herein.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram of a spraying device arranged above a leek field in a greenhouse in embodiment 1 of the invention;
FIG. 2 is a partially enlarged perspective view of the spraying mechanism and the moving mechanism of FIG. 1;
FIG. 3 is a perspective view of the driving assembly of FIG. 2;
FIG. 4 is a front view of the carrier of FIG. 3;
FIG. 5 is a flowchart of the method for estimating the maggot density of leek in embodiment 3 of the present invention;
fig. 6 is a schematic perspective view of the viewing range and the region of interest of the CCD camera in embodiment 3 of the present invention;
FIG. 7 is a schematic diagram of the segmentation of the target image according to embodiment 3 of the present invention;
FIG. 8 is a schematic diagram of an image capture module disposed on each furrow in accordance with other embodiments of the present invention;
fig. 9 is a sample schematic view of various aspects in embodiment 3 of the present invention.
Fig. 10 is a schematic flow chart of the digital pest control method for the leek planting shed in embodiment 4 of the invention.
Description of the main elements
1. A spraying mechanism; 11. a sprayer; 12. a liquid storage tank; 2. a moving mechanism; 21. a stage; 211. a T-shaped through groove; 212. an accommodating groove; 213. a pulley; 22. a track; 23. a drive assembly; 231. a rack; 232. a gear; 233. the motor is driven.
The present invention is described in further detail with reference to the drawings and the detailed description.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "mounted on" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.
Example 1
The embodiment provides a spraying device for preventing and controlling Chinese chive maggots, which is used for respectively spraying a trapping agent and an insecticide on a Chinese chive field. The leek field can comprise a plurality of vegetable beds in a grid shape. Multiple rows of Chinese chives with certain planting distance are planted in each vegetable ridge. The Chinese chives are harvested after a round of growing period, and short roots (about 2-3 cm in length) are left in the vegetable beds. At this time, the spraying device can be used for spraying and deinsectizing each vegetable ridge. The spraying device provided by the embodiment can be applied to greenhouses, and of course, can also be applied to open-air fields in some embodiments.
Referring to fig. 1, the spraying device may include: the device comprises a spraying mechanism 1, a moving mechanism 2, a Chinese chive maggot density estimation system and a controller.
Referring to fig. 2, the spraying mechanism 1 is used for spraying the trapping agent or the pesticide to a plurality of vegetable beds of the leek field. The spraying mechanism 1 comprises a plurality of sprayers 11 and may further comprise two liquid storage tanks 12.
The plurality of sprayers 11 are positioned above the leek field and arranged along the width direction of the leek field. A plurality of atomizers 11 can adopt to have and be similar to the electronic atomising head that unmanned aerial vehicle sprayed on the pesticide, also can choose the atomising head of other models certainly, as long as can satisfy the vaporific medicament that sprays out evenly spread and spill the soil surface in the vegetable bed can. A plurality of sprayers 11 can be arranged on the same straight pipe bracket to realize stability.
Two reservoirs 12 are provided for storing the trap and insecticide, respectively. Each of the tanks 12 is connected to a plurality of sprayers 11 through a plurality of connecting pipes, respectively. In other words, each aerosol 11 is connected to two reservoirs 12 through two pipes, so that electric valves electrically connected to the controller can be provided on the two pipes, respectively, and when it is desired to spray the trapping agent, the electric valves on the pipes communicating with the trapping agent reservoirs 12 are opened, and the other is closed, or vice versa. Thereby realizing that different medicaments are not interfered when being sprayed.
Referring to fig. 3 and 4, the conveying end of the moving mechanism 2 is used for driving the spraying mechanism 1 to move along the length direction of the leek field. The moving mechanism 2 may include a stage 21, a rail 22, and a driving assembly 23.
The rail 22 can be fixedly arranged right above the leek field, and the extending direction is parallel to the length direction of the leek field. In this embodiment, two ends of the rail 22 may be respectively and fixedly connected to two opposite ends of the greenhouse, and the middle section of the rail 22 may be provided with a plurality of nodes for erecting a stable bracket.
The carrier 21 is slidably mounted on the rail 22, and the bottom of the carrier 21 is fixedly connected with the spraying mechanism 1. The driving assembly 23 is mounted on the stage 21 and is configured to drive the stage 21 to move relative to the rail 22, so as to form a conveying end of the moving mechanism 2. In this embodiment, the carrier 21 may be provided with a T-shaped through groove 211 penetrating in the front-back direction. The stage 21 may be slidably connected to the rail 22 through the T-shaped through groove 211. The top of the carrier 21 is also provided with a strip-shaped accommodating groove 212.
The driving assembly 23 may include a rack 231, a gear 232 and a driving motor 233, and may further include two mounting plates symmetrically disposed and used for mounting the gear. The rack 231 penetrates the receiving groove 212 and is fixedly connected to the upper surface of the rail 22, and the length of the rack 231 matches the length of the stage 21. Gear 232 is rotatably mounted on the top of stage 21 and gear 232 is in meshing engagement with the gullets. The driving motor 233 is used for driving the gear 232 to rotate, so as to realize the relative movement of the stage 21 and the rail 22.
Further, a plurality of pulleys 213 are rotatably connected to both sides of the stage 21 in the T-shaped through groove 211. The rolling surface of each pulley 213 is in contact with the rail 22, so that friction between the stage 21 and the rail 22 can be reduced.
The Chinese chive maggot density estimation system is used for estimating the Chinese chive maggot density of each vegetable ridge of the Chinese chive field. Specific estimation processes and their principles will be described below and in other embodiments.
The controller is used for:
(a) firstly, the moving mechanism 2 is controlled to drive the spraying mechanism 1 to spray quantitative trapping agent to each vegetable bed in sequence. In this embodiment, the trapping agent may be wood vinegar with a certain concentration. Because the leek maggots are anaerobic organisms living in the soil, a proper amount of pyroligneous liquor is sprayed on the premise of shading, and the pungent smell of juice spontaneously flowing out of the wound after the leeks are harvested is utilized, so that a part of the leek maggots can be effectively attracted to the soil, and the density of the leek maggots in the whole vegetable bed can be estimated according to the part of the leek maggots trapped on the soil in the subsequent process.
(b) And after spraying the trapping agent for a preset time period in each vegetable bed, controlling the Chinese chive maggot density estimation system to estimate the Chinese chive maggot density in each vegetable bed.
Through setting the preset time period, the smell of the trapping agent can be more comprehensively volatilized into the soil. The length of the preset time period can be determined according to factors such as the spraying amount of the trapping agent, the thickness of the soil layer and the like. The optimal dosage is summarized through a plurality of experiments in actual operation.
(c) And setting the required pesticide amount of the corresponding vegetable bed according to the estimated density value of the Chinese chive maggots of each vegetable bed, and controlling the moving mechanism 2 again to drive the spraying mechanism 1 to spray the corresponding pesticide amount to each vegetable bed in sequence. Wherein, the pesticide amount is in positive correlation with the estimated value of the density of the Chinese chive maggots.
The pesticide can be prepared from garlic oil with a certain concentration, or other environment-friendly pesticide without residue.
In this embodiment, the estimated leek maggot density value reflects the real distribution of leek maggots in the vegetable bed, and the required pesticide amount corresponding to each estimated density can be obtained by looking up the table according to an estimated value-dosage comparison table obtained through multiple experiments. The demand of the insecticide in each vegetable ridge is determined by referring to the estimated value, so that the insecticide dosage can be increased for the leek fields with serious insect pests according to local conditions, the penetration depth of the insecticide is increased, and the effect of insect control is improved. The pesticide amount can also be properly reduced for the leek field with light insect pests, and the effect of saving cost is considered while the pest control effect is ensured.
In addition, in this embodiment, the spraying rate of the spraying mechanism 1 can be kept constant, and the moving speed of the moving mechanism 2 can be adjusted. The moving speed of the moving mechanism 2 can be constant, and the spraying speed of the spraying mechanism 1 can be adjusted. The two modes can realize that the amount of the medicament sprayed in each vegetable ridge by the spraying mechanism 1 is adjustable.
The structure and function of the Chinese chive maggot density estimation system will be described in the following preliminary explanation:
the Chinese chive maggot density estimation system can comprise a model construction module, an image acquisition module, a light supplement module, an image processing module and a calculation module.
The model building module is used for building a leek maggot recognition model based on a neural network.
The image acquisition module is used for acquiring a single-frame image of the leek field and is also used for acquiring an image of the leek field to be subjected to density estimation.
The light supplementing module is used for supplementing light to the leek field at intervals under the light shading condition so as to acquire a single-frame image. And the light supplementing frequency of the light supplementing module is consistent with the acquisition frequency of the single-frame image. The image acquisition module can adopt a CCD camera. The light supplementing module can adopt a soft light box. The CCD camera may be fixedly mounted below the stage 21 as shown in the figure, and the light supplement module may also be mounted in the same manner.
The image processing module is used for firstly carrying out segmentation processing on the single-frame image to obtain a target image corresponding to the target vegetable bed region in the single-frame image. And then preprocessing the target image to obtain an enhanced target image. And then, respectively intercepting images of various appearances from the enhanced target image to obtain a Chinese chive maggot training sample and other appearance training samples, thereby forming a sample set for training a Chinese chive maggot recognition model. The image processing module is also used for sequentially segmenting the leek field image and then carrying out preprocessing and enhancing to obtain the vegetable bed image to be estimated.
The established Chinese chive maggot recognition model needs to be trained on a network before application, the Chinese chive maggot recognition model is initialized in the training process, a loss function and a training function are set, the Chinese chive maggot recognition model is subjected to iterative training by using a sample set, verified neural network model parameters are reserved, and then training of the Chinese chive maggot recognition model is completed. And carrying out region identification on the vegetable bed image to be estimated by using the trained chive maggot identification model, and identifying the chive maggot region in the vegetable bed image to be estimated.
The calculation module is used for calculating and obtaining the total number P of target pixels corresponding to the Chinese chive maggot region in the whole vegetable bed image to be estimated according to the Chinese chive maggot region in the vegetable bed image to be estimated all . Then according to a preset unit average pixel number occupied by a single Chinese chive maggot
And further calculating the number N of the Chinese chive maggots in the vegetable bed image to be estimated. And then, calculating to obtain the number of the Chinese chive maggots in a unit area according to the field area of the vegetable bed to be estimated, namely the density of the Chinese chive maggots in the vegetable bed to be estimated.
Example 2
The present embodiment provides a spraying method for the control of maggots of Chinese chives, which can be applied to the spraying device in embodiment 1. The spraying method comprises the following steps:
spraying a certain amount of trapping agent to each vegetable ridge of the leek field in sequence.
And (II) after each vegetable ridge is sprayed with the trapping agent for a preset time period, carrying out Chinese chive maggot density estimation on the corresponding vegetable ridge.
And thirdly, setting the insecticide amount required by each vegetable bed according to the estimated density of the Chinese chive maggots of each vegetable bed, and spraying the corresponding insecticide amount to each vegetable bed in sequence. Wherein the pesticide amount is in positive correlation with the estimated density value of the Chinese chive maggots, and the light-shielding condition is kept when the trapping agent and the pesticide are sprayed.
Example 3
Referring to fig. 5, the present embodiment provides a method for estimating the density of maggots in leek field, which is used for estimating the density of maggots in leek field. The Chinese chive maggot density estimation method can be applied to the Chinese chive maggot density estimation system in the embodiment 1 and can also be applied to the spraying method for Chinese chive maggot prevention and control in the embodiment 2. The leek field can comprise a plurality of vegetable beds in a grid shape. Multiple rows of Chinese chives with certain planting distance are planted in each vegetable ridge. The Chinese chives are harvested after a round of growing period, and short roots (about 2-3 cm in length) are left in the vegetable beds. And in a period of time after harvesting, the trapping agent is sprayed to the soil of the vegetable bed, so that the Chinese chive maggots can be attracted to the soil surface. In the method for estimating the density of the leek maggots in the embodiment, the image acquisition and the density estimation are carried out in a period of time when the leek maggots are attracted to the ground surface. The Chinese chive maggot density estimation method comprises the following steps:
s1: and constructing a chive maggot recognition model based on a neural network.
In this embodiment, the neural network of the Chinese chive maggot recognition model can extract color features. Color features are the most widely used visual features in image retrieval, mainly because color is often quite correlated with objects or scenes contained in an image. In addition, compared with other visual features, the color features have smaller dependence on the size, direction and visual angle of the image, so that the robustness is higher. In the embodiment, the leek maggots trapped on the ground have milky color characteristics, the leeks in the leek field have green color characteristics, the soil in the leek field has yellow brown color characteristics, the color characteristics of the plurality of appearances are obviously different, and deep learning and identification are easy to perform by the leek maggot identification model.
Color histograms are color features that are widely employed in many image retrieval systems. It describes the proportion of different colors in the whole image, and does not care about the spatial position of each color, i.e. cannot describe the object or object in the image. Color histograms are particularly suitable for describing images that are difficult to segment automatically. Therefore, in the embodiment, the color quantification is realized by constructing the neural network-based Chinese chive maggot identification model and using the neural network method. The neural network of the Chinese chive maggot recognition model can adopt the existing Convolutional Neural Network (CNN), and can also adopt other neural networks, such as a Deep Neural Network (DNN) and a Recurrent Neural Network (RNN), and the specific principle is not described herein again.
S2: and acquiring a single-frame image of the leek field, and further segmenting the single-frame image to obtain a target image corresponding to a target vegetable bed region in the single-frame image.
Under the shading condition, the leek field is subjected to interval light supplement through a light supplement module, and then a single-frame image is acquired. And the light supplement frequency of the light supplement module is consistent with the acquisition frequency of the single-frame image.
Referring to fig. 6, the embodiment can complete the acquisition of a single frame image through one image acquisition module. The image acquisition module is arranged right above the central point of the target vegetable bed. The view finding direction of the image acquisition module is over against the target vegetable bed, and the view finding area projected on the ground by the image acquisition module is not smaller than the area of the target vegetable bed. The image acquisition module may employ a high resolution CCD camera. The light supplementing module can adopt a soft light box.
In this embodiment, an area of interest may be set in the acquired single-frame image, so that a target image in the entire single-frame image may be extracted, and further, the single-frame image may be segmented. In the figure, the region of interest is the portion of the vegetable bed F1 in fig. 6, and for the ridge R around the vegetable bed, it needs to be removed from the single frame image. In this embodiment, the shooting view of the CCD camera may be fixed, and since the vegetable beds are generally in a square grid shape, the shooting view of the CCD camera may be at least capable of covering a single vegetable bed F1, and may also be capable of shooting a local ridge around the vegetable bed, but it is not necessary to shoot a vegetable bed F2 adjacent to the vegetable bed to avoid interference. The same setting can be used for the illumination range of the soft light box. The target image obtained after the segmentation processing is the rectangular dotted-line framed image shown in fig. 7.
Referring to fig. 8, in this embodiment, a guide rail (not shown) may be disposed above the plurality of vegetable beds, a group of image acquisition modules and a light supplement module are disposed on the guide rail, the light supplement module and the image acquisition modules are mounted at a same fixed position, and a light supplement direction of the light supplement module is opposite to the target vegetable bed. Like this, image acquisition module and light filling module just can remove along the extending direction of guide rail to can move the location to each vegetable rectangular pieces of land in a field directly over, carry out image acquisition and supplementary light filling. Of course, in other embodiments, the number of the image acquisition modules and the number of the light supplement modules may be multiple as shown in fig. 8, which corresponds to the number of the vegetable beds, and each vegetable bed may be provided with a group of matched image acquisition modules and light supplement modules.
In the embodiment, the density of the Chinese chives can be estimated at night or in the morning, the Chinese chive field is supplemented with light at intervals by the light supplementing module under the light shading condition, a single-frame image is collected, the light supplementing frequency of the light supplementing module is consistent with the collecting frequency of the single-frame image, high-temperature illumination is avoided, interference on the Chinese chive maggots is reduced, the problem that the Chinese chive maggots drill back to the ground due to illumination stimulation to reduce the number of the Chinese chive maggots is avoided, and the accuracy of density estimation of the Chinese chive maggots is guaranteed. The method has the advantages that synchronous light supplement is carried out on the images in a short time while single-frame images are collected, a large amount of shadows and noise points in the single-frame images caused by dark light are avoided, image quality is improved, and accuracy of estimation of the Chinese chive maggot density is further improved.
S3: and preprocessing the target image to obtain an enhanced target image.
In this embodiment, the method for preprocessing the target image may include the following steps:
eliminating the interference of illumination, noise and other factors in the target image. Of course, in other embodiments, the preprocessing method may further include the existing steps in image processing such as edge-cutting enhancement, curvature correction, and shading processing, which are not described herein again for the purpose of obtaining a clearer target image.
S4: and respectively intercepting images of various appearances in the enhanced target image to obtain a Chinese chive maggot training sample and other appearance training samples, thereby forming a sample set for training a Chinese chive maggot recognition model. In this embodiment, the other appearance training samples may include leek training samples and soil training samples, and certainly may also include some field sundries (such as gravel and other insects). The richer the sample set is, the more accurate the identification of the trained Chinese chive maggot identification model to the Chinese chive maggots, but the same, the more complicated the training process is, so the proper number and type of samples need to be selected.
Referring to fig. 9, (a) is a sample of one captured leek; (b) intercepting one of the soil appearance samples; (c) and intercepting one of the leek maggot appearance samples.
S5: and initializing the Chinese chive maggot recognition model, setting a loss function and a training function, performing iterative training on the Chinese chive maggot recognition model by using a sample set, and keeping the verified neural network model parameters so as to complete the training of the Chinese chive maggot recognition model.
In this embodiment, as described above, the chive maggot recognition model may extract color features in the training sample by quantizing the color histogram, thereby realizing recognition of various appearances in the image. Through continuous training and optimization, the region which can accurately identify the Chinese chive maggots in the vegetable bed image can be finally obtained.
In addition, in the training stage of the Chinese chive maggot recognition model, the Chinese chive maggots in each Chinese chive maggot training sample account for the pixels delta i Carrying out quantity statistics, and calculating the unit average pixel number after the training of the Chinese chive maggot recognition model is finished
In the formula, m is the number of the samples of the Chinese chive maggot training samples.
S6: collecting the leek field images to be subjected to density estimation according to the steps S2 and S3, sequentially segmenting the leek field images, and then performing pretreatment and enhancement to obtain the vegetable bed images to be estimated.
It should be noted that all steps before step S6 are to obtain a trained chive maggot recognition model. However, the image collected in step S2 is also collected during a period of time after the leeks are harvested and the trapping agent is sprayed. The actual application process of the estimation of the density of the Chinese chive maggots is corresponding to the step S6. The obtained vegetable ridge image to be estimated is just the vegetable ridge needing density estimation for subsequent pest control.
S7: carrying out region identification on the vegetable bed image to be estimated by utilizing the trained chive maggot identification model, identifying the chive maggot region in the vegetable bed image to be estimated, and carrying out region identification on the chive maggot region in the vegetable bed image to be estimatedAnd obtaining the total number P of target pixels corresponding to the maggot region of the Chinese chives in the whole vegetable bed image to be estimated all 。
S8: according to the unit average pixel number of single Chinese chive maggot
And further calculating the number N of the Chinese chive maggots in the vegetable bed image to be estimated:
s9: and calculating the number of the Chinese chive maggots in a unit area according to the field area of the vegetable bed to be estimated, namely the density of the Chinese chive maggots in the vegetable bed to be estimated.
The Chinese chive maggot density estimation method realizes training of the Chinese chive maggot recognition model by constructing the Chinese chive maggot recognition model based on the neural network and through a sample set consisting of various appearance images in the Chinese chive field. And then, carrying out region identification on the vegetable bed image to be estimated by utilizing the trained chive maggot identification model, identifying the chive maggot region in the vegetable bed image to be estimated, and further obtaining the total number of target pixels corresponding to the chive maggot region in the whole vegetable bed image to be estimated. And then calculating the number of the Chinese chive maggots in the vegetable bed image to be estimated according to the unit average pixel number delta occupied by the single Chinese chive maggots, and calculating the number of the Chinese chive maggots in a unit area, namely the density of the Chinese chive maggots in the vegetable bed to be estimated according to the field area of the vegetable bed to be estimated.
According to the Chinese chive maggot density estimation method, density estimation can be performed on the Chinese chives at night or in the morning, light supplementing modules are used for supplementing light to the Chinese chive field at intervals under the light shading condition, single-frame images are collected, the light supplementing frequency of the light supplementing modules is consistent with the collecting frequency of the single-frame images, high-temperature illumination is avoided, interference on the Chinese chive maggots is reduced, the problem that the number of the Chinese chive maggots on the ground is reduced due to the fact that the Chinese chive maggots drill underground due to illumination stimulation is avoided, and accuracy of Chinese chive maggot density estimation is guaranteed. The method has the advantages that the single-frame image is collected and synchronously supplemented with light for a short time, so that a large amount of shadows and noise points in the single-frame image due to dark light are avoided, the image quality is improved, and the accuracy of estimating the density of the Chinese chive maggots is further improved, so that the density of the Chinese chive maggots in each vegetable bed in the Chinese chive field is effectively estimated, and a sufficient theoretical basis is provided for later-stage pest control.
Example 4
The embodiment provides a digital pest control method for a Chinese chive planting shed, which can be applied to the Chinese chive planting shed. The leek planting shed can comprise one or more rows of leek fields, and each leek field can comprise a plurality of vegetable beds arranged in a grid shape. Multiple rows of Chinese chives with certain planting distance are planted in each vegetable ridge.
Referring to fig. 1, the digital pest control method may include the steps of:
first, preparation stage of insect killing
(1) A spraying device is built above the leek field in the leek planting shed, and the spraying device can adopt the spraying device in the embodiment 1.
(2) And (4) setting the trapping dose required to be sprayed by each vegetable ridge according to the land area of each vegetable ridge.
(3) And setting the sampling frequency of the image acquisition module according to the central point position of each vegetable ridge, and setting the light supplement frequency of the light supplement module to be consistent with the sampling frequency.
(4) Keeping the inside of the leek planting shed in a closed light shading condition.
In the embodiment, the Chinese chives in the Chinese chive field can be harvested in the preparation stage of deinsectization. And maintaining the average height of the harvested Chinese chives within 3-8 cm. The juice flowing out of the harvested Chinese chives can also emit trapping smell to underground Chinese chive maggots.
Secondly, spraying the trapping agent
The control moving mechanism 2 drives the spraying mechanism 1 to move directionally, the preset corresponding amount of trapping agent is sprayed to each vegetable bed in sequence, and the vegetable beds are kept stand for waiting, so that part of underground Chinese chive maggots are trapped on the ground.
Third, density estimation stage
(1) After each vegetable bed is sprayed with the trapping agent for a preset time period, the moving mechanism 2 is controlled to drive the image acquisition module to sequentially acquire single-frame images of each vegetable bed.
(2) And respectively estimating the density of the Chinese chive maggots of each vegetable bed according to the single-frame image of each vegetable bed, and further obtaining the estimated density of the Chinese chive maggots corresponding to each vegetable bed.
Fourthly, spraying insecticide
(1) And looking up a table according to the estimated density value of the Chinese chive maggots of each vegetable bed and a preset estimated value-dosage comparison table to obtain the pesticide dosage required to be sprayed on each vegetable bed.
(2) The moving mechanism 2 is controlled to drive the spraying mechanism 1 to move directionally, and insecticides with corresponding doses are sprayed to each vegetable bed in sequence, so that one round of insecticidal cycle is completed.
In this embodiment, in the pesticide spraying stage, after the pesticide is sprayed to each vegetable bed, soil turning can be performed between rows and plants of the Chinese chives, and a certain amount of plant ash is scattered on the surface of the turned soil. After plant ash is scattered on each vegetable bed, the vegetable beds can be ventilated and aired. The airing period is 5-7 days. The plant ash can dry soil and destroy the wet environment liked by the Chinese chive maggots, and the black plant ash can fully absorb the energy in sunlight to properly heat the soil, so that the drying of the soil is further accelerated. It should be noted that, because the leeks are not resistant to high temperature, ventilation is needed during airing, and cooling is needed if necessary to protect the growth of the leeks.
In addition, after each round of insecticidal cycle is finished, the estimated chive maggot density value of each vegetable bed and the sprayed insecticide amount can be counted, and statistical data of each round of insecticidal cycle is generated and added into a biological control database for real-time updating. Data analysis can be regularly carried out according to the statistical data of multiple rounds of pest killing cycles in the biological control database, and then a data change curve for reflecting the pest control effect of each vegetable ridge and the whole Chinese chive planting shed can be obtained. The controller can send the data change curve obtained periodically to an interaction terminal such as a mobile phone, a computer or a monitoring center in a wireless transmission mode, so that data reference is provided for relevant agricultural technicians, and the method is favorable for summarizing, improving and predicting and evaluating the staged biological control.
It should be added that the transfer end of the moving mechanism 2 needs to be moved at least three times from the head end to the tail end of the planting shed in the above-mentioned trapping agent spraying stage, trapping agent spraying stage and insecticide spraying stage. The first movement of the spray of the corresponding trapping agent may return to the starting point immediately after the plurality of sprays of trapping agent. And after waiting for a preset time period, carrying out second movement, wherein the second movement corresponds to the acquisition of the images of the multiple vegetable beds, and the estimated density value of the Chinese chive maggots of each vegetable bed can be gradually calculated in the acquisition period. After the images of each vegetable ridge are collected, the conveying end can immediately and quickly return to the head end, and then the third movement is carried out, and the third movement corresponds to spraying of the insecticide.
According to the pest control method, the trapping agent spraying, the Chinese chive maggot density estimation and the pesticide spraying are sequentially carried out on the Chinese chive field after the spraying mechanism which can reciprocate along the length direction of the Chinese chive field is built in the Chinese chive planting shed. Spraying a certain amount of trapping agent to each vegetable bed, trapping a part of the maggots of the Chinese chives below the vegetable bed to the ground, collecting images on each vegetable bed, and estimating the density of the maggots of the Chinese chives on each vegetable bed by image recognition and other technologies. And finally, setting the required insecticide amount of each vegetable bed according to the estimated chive maggot density value of each vegetable bed, and spraying the insecticide with the corresponding amount to the plurality of vegetable beds in the chive planting shed. The pesticide amount of the Chinese chive field with serious insect damage can be increased, the penetration depth of the pesticide is increased, and the insect control effect is improved. Can also properly reduce the pesticide amount of the leek field with light insect pests, and can save the cost while ensuring the insect control effect. The method can give consideration to both higher spraying efficiency and better spraying effect.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A spray set for leek maggot prevention and cure, its characterized in that, it includes:
the spraying mechanism (1) is used for spraying a trapping agent or a pesticide to a plurality of vegetable beds in the leek field; the spraying mechanism (1) comprises a plurality of sprayers (2); the sprayers (2) are positioned above the leek field and distributed along the width direction of the leek field;
the conveying end of the moving mechanism (2) is used for driving the spraying mechanism (1) to move along the length direction of the leek field;
the Chinese chive maggot density estimation system is used for estimating the Chinese chive maggot density of each vegetable bed of the Chinese chive field; and
a controller to:
(a) firstly, controlling the moving mechanism (2) to drive the spraying mechanism (1) to spray quantitative trapping agent to each vegetable bed in sequence;
(b) after spraying the trapping agent for a preset time period in each vegetable bed, controlling a Chinese chive maggot density estimation system to estimate the Chinese chive maggot density in each vegetable bed;
(c) setting the pesticide amount required by the corresponding vegetable bed according to the estimated density value of the Chinese chive maggots of each vegetable bed, and controlling the moving mechanism (2) again to drive the spraying mechanism (1) to spray the corresponding pesticide amount to each vegetable bed in sequence; the pesticide amount is positively correlated with the estimated density value of the Chinese chive maggots; light-blocking conditions were maintained while spraying the trap and insecticide.
2. The spraying device for maggot prevention and cure of leek according to claim 1, wherein the moving mechanism (2) comprises a carrier (21), a track (22) and a driving component (23); the rail (22) is fixedly arranged right above the leek field, and the extending direction is parallel to the length direction of the leek field; the carrier (21) is arranged on the track (22) in a sliding manner, and the bottom of the carrier (21) is fixedly connected with the spraying mechanism (1); the driving assembly (23) is arranged on the carrier (21) and is used for driving the carrier (21) to generate relative motion with the rail (22), and further forming a conveying end of the moving mechanism (2).
3. The spraying device for preventing and treating the maggots of the Chinese chives as claimed in claim 2, wherein the carrying platform (21) is provided with a T-shaped through groove (211) which penetrates through the carrying platform from front to back; the carrying platform (21) is connected with the track (22) in a sliding way through the T-shaped through groove (211); the top of the carrier (21) is also provided with a strip-shaped containing groove (212); the driving assembly (23) comprises a rack (231), a gear (232) and a driving motor (233); the rack (231) penetrates through the accommodating groove (212) and is fixedly connected to the upper surface of the rail (22), and the length of the rack (231) is matched with that of the carrier (21); the gear (232) is rotatably arranged at the top of the carrying platform (21), and the gear (232) is meshed with the tooth socket; the driving motor (233) is used for driving the gear (232) to rotate, and then the carrier (21) generates relative movement with the rail (22).
4. The spraying device for the maggot prevention and cure of leek according to claim 3, wherein a plurality of pulleys (213) are respectively rotatably connected to the two sides of the carrier (21) in the T-shaped through groove (211); the rolling surface of each pulley (213) is in contact with the rail (22).
5. The spraying device for the maggot prevention and cure of leek according to claim 1, wherein the spraying mechanism (1) further comprises two liquid storage tanks (12); two reservoirs (12) for storing a trap and an insecticide, respectively; each liquid storage tank (12) is respectively connected with a plurality of sprayers (2) through a plurality of connecting pipelines.
6. The spraying device for the maggot prevention and cure of leek according to claim 1, wherein the spraying rate of the spraying mechanism (1) is constant, and the moving speed of the moving mechanism (2) is adjustable;
and/or
The moving speed of the moving mechanism (2) is constant, and the spraying speed of the spraying mechanism (1) is adjustable.
7. The spraying device for maggot prevention and cure of leek according to claim 1, wherein said leek maggot density estimation system comprises:
the image acquisition module is used for acquiring a single-frame image of the leek field and acquiring an image of the leek field to be subjected to density estimation;
the light supplementing module is used for supplementing light to the leek field at intervals under the light shading condition so as to acquire the single-frame image; the light supplementing frequency of the light supplementing module is consistent with the acquisition frequency of the single-frame image;
the image processing module is used for firstly carrying out segmentation processing on a single-frame image to obtain a target image corresponding to a target vegetable bed region in the single-frame image; preprocessing the target image to obtain an enhanced target image; then, images of various appearances are respectively intercepted from the enhanced target image to obtain a Chinese chive maggot training sample and other appearance training samples, and a sample set for training the Chinese chive maggot recognition model is further formed; the image processing module is further used for sequentially segmenting the leek field image and then carrying out pretreatment and enhancement to obtain a vegetable bed image to be estimated;
the established Chinese chive maggot recognition model needs to be subjected to network training before application, the Chinese chive maggot recognition model is initialized in the training process, a loss function and a training function are set, the Chinese chive maggot recognition model is subjected to iterative training by using the sample set, verified neural network model parameters are reserved, and then the training of the Chinese chive maggot recognition model is completed; performing region identification on the vegetable bed image to be estimated by using the trained Chinese chive maggot identification model, and identifying a Chinese chive maggot region in the vegetable bed image to be estimated;
the leek maggot density estimation system further comprises:
a calculating module, configured to calculate, according to the leek maggot region in the vegetable bed image to be estimated, a total number P of target pixels corresponding to the leek maggot region in the whole vegetable bed image to be estimated all (ii) a Then according to a preset unit average pixel number occupied by a single Chinese chive maggot
Further calculating the number N of the Chinese chive maggots in the vegetable bed image to be estimated; and then calculating the number of the Chinese chive maggots in a unit area according to the field area of the vegetable bed to be estimated, namely the density of the Chinese chive maggots in the vegetable bed to be estimated.
8. The spraying device for preventing and treating Chinese chive maggots according to claim 7, wherein the image acquisition module and the light supplement module are both fixedly installed on the conveying end of the moving mechanism (2).
9. The spraying device for maggot prevention and cure of leek according to claim 8, wherein the image acquisition module adopts a CCD camera; the light supplementing module adopts a soft light box.
10. A spraying method for maggots of Chinese chives, which is applied to the spraying device for maggots of Chinese chives according to any one of claims 1 to 9; the spraying method comprises the following steps:
spraying a certain amount of trapping agent to each vegetable ridge of the leek field in sequence;
after each vegetable ridge is sprayed with the trapping agent for a preset time period, carrying out Chinese chive maggot density estimation on the corresponding vegetable ridge;
thirdly, setting the required pesticide amount of each vegetable bed according to the estimated density value of the Chinese chive maggots of each vegetable bed, and spraying the corresponding pesticide amount to each vegetable bed in sequence; wherein the pesticide amount is positively correlated with the estimated density value of the Chinese chive maggots; light-blocking conditions were maintained while spraying the trap and insecticide.
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