CN106940734A - A kind of Migrating Insects monitor recognition methods and device in the air - Google Patents
A kind of Migrating Insects monitor recognition methods and device in the air Download PDFInfo
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- 241000238631 Hexapoda Species 0.000 title claims abstract description 99
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012544 monitoring process Methods 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 230000007613 environmental effect Effects 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims abstract description 5
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 13
- 238000012806 monitoring device Methods 0.000 claims description 7
- 238000004146 energy storage Methods 0.000 claims description 5
- 241000218691 Cupressaceae Species 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 3
- 230000033228 biological regulation Effects 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 3
- 229910052734 helium Inorganic materials 0.000 claims description 3
- 239000001307 helium Substances 0.000 claims description 3
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 claims description 3
- 241000607479 Yersinia pestis Species 0.000 abstract description 3
- 238000011160 research Methods 0.000 description 5
- 230000008054 signal transmission Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 241000894007 species Species 0.000 description 3
- 238000012271 agricultural production Methods 0.000 description 2
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- 238000012546 transfer Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 241000256626 Pterygota <winged insects> Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000007667 floating Methods 0.000 description 1
- 230000012010 growth Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000001617 migratory effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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Abstract
Recognition methods and device are monitored in the air the invention discloses a kind of Migrating Insects, are initially set up insect characteristic parameter database, are then set up caste image data base；On this basis, it is determined that needing the insect type observed, suitable observation opportunity and place are selected；Observed altitude is determined by insect type；Using captive balloon or unmanned plane during flying to the height that migrates, the video image at the height is shot；Utilize the Sensor monitoring aerological environmental data of carrying；Video image and environmental data wireless real-time transmission can further adjust observation position and observation visual angle to ground in software end；Target morphology characteristic parameter on image is extracted using image processing techniques, insect image identification database is compared, identifies Migrating Insects type that may be present.The image of time series is further handled, the information such as insect motion parameter, worm population density are obtained.The method of present invention monitoring Migrating Insects prevents and reduces natural disasters aspect equally with real value in insect pest situation early warning, crops.
Description
Technical field
The present invention relates to insect Detection Techniques field, more particularly to a kind of Migrating Insects monitor recognition methods and dress in the air
Put.
Background technology
Existing research shows that the insect of numerous species has phenomenon of migrating in nature.In agricultural production, migrate
Insect contributes to crops to pollinate, but migratory pest destruction crop growth, causes serious financial consequences.Therefore, people grind
Study carefully Migrating Insects monitoring technology, to take prophylactico-therapeutic measures in time according to insect pest situation information, reduce agricultural production loss.In order to direct
The type of observation identification insect, studies the habit of migrating of insect, comes usually using captive balloon or the aerial clap net of kite traction
Winged insect is caught, the real measured datas such as insect type, quantity, density are obtained.But this method is for low-density insect, the machine captured
Rate is smaller, and sampled data sample is less, and sampling efficiency is relatively low.Ground light lures the method can be as a kind of side for assisting in identifying insect
Method.But the limited height of its light-illuminating, is easier to catch subaerial flying insect, it is difficult to capture the elder brother that high-altitude is migrated
Worm, and this method is also difficult to directly obtain insect flight elevation information.Entomological radar remote sensing monitoring technology is not in recent years
Disconnected development.The research field has developed a series of different wave lengths (X-band, Ka wave bands etc.), different system (vertical beam, Dan Tian
Line scanning etc.) entomological radar, migrated in observation area echo from insect image for obtaining.Entomological radar can be with long-term system
Migrating Insects are monitored, its remotely-sensed data has very high spatial and temporal resolution, it has also become the strong prison of Migrating Insects research field
Survey instrument.The differentiation of Migrating Insects species is one of difficult point of radar image analysis.Although domestic and international entomological radar scholar is always
Make great efforts to improve entomological radar target identification ability, the information such as build, the frequency of fluttering its wings up and down of targeted insect are extracted in radar return, but
It is that the close insect of build may belong to variety classes.Therefore, the acquisition of real example data seems extremely important.Seen in radar remote sensing
While survey, if obtaining high-altitude field data, entomological radar echo, extraction Migrating Insects parameter are understood for deep,
Differentiation particularly to Migrating Insects species is significant.
The content of the invention
It is an object of the invention to solve existing Migrating Insects directly to monitor the problem of recognition methods is present, and insect thunder
There is provided a kind of real-time monitored identification Migrating Insects species direct in the air for the caste problem that differentiates existed up to remote sensing observations
Method, and the device that a kind of utilization this method directly observes identification Migrating Insects in the air is provided.
The technical solution adopted by the present invention is：A kind of Migrating Insects monitor identifying device in the air, including：
One flying platform for carrying observation device；
Flying platform is mounted below the bar that is connected；
It is connected and the energy-storage module that promising monitoring identifying device provides electric energy is installed between bar；
The bar that is connected is mounted below both view angle adjustment mechanism, and both view angle adjustment mechanism is adjusted by two dimensions in orientation and pitching
Mechanism is constituted, each regulation dimension mechanism include collector ring, motor and gear to；
Installed in both view angle adjustment mechanism with the visible light camera and infrared camera for moving anti-shudder performance；
The GPS and Temperature Humidity Sensor of monitoring height, position, environment temperature and humidity data are provided；
It will be seen that light and infrared two-way monitoring image and sensing data real-time Transmission return ground wireless transport module and
Antenna；
Gather sensing data and video image, transceiving data and the governor circuit module for completing system control.
Preferably, the flying platform can select unmanned plane or captive balloon according to practical flight height requirement, nobody
Machine can be selected in many rotor aerial photography aircrafts, captive balloon ball filled with helium, and hovering shape is maintained using buoyancy and heaving pile pulling force
State.
Preferably, the wireless signal transmission module is using radio system on Cypress Wireless USB NX pieces
And power amplifying device, 2.4GHz frequency ranges are operated in, signal transmission distance reaches 2km.
Preferably, the governor circuit module uses ARM11 series S3C6410 embeded processors, whole machine system is managed
System, realizes the functions such as system control, sensor data acquisition, data transfer, power management.
A kind of Migrating Insects of use said apparatus monitor recognition methods in the air, comprise the following steps：
Step 1：According to available data, Migrating Insects type, the height that migrates, season of migrating, the time of migrating, observation ground are set up
The Migrating Insects parameter database of the canonical parameters such as point, meteorological condition, determines each Parameter Typical or its interval range.Using now
Some Migrating Insects basic parameters, it may be determined that observation time and place and observed altitude.
Step 2：According to conventional images data, caste image data base is set up.Image data base is migrated elder brother for identification
Worm species provides basic data.
Step 3：It is determined that the insect type observed is needed, according to its meteorological condition of migrating, migrate season and time selected conjunction
Suitable observation opportunity and place.
Step 4：Observed altitude is determined, the height that can generally be migrated according to the type insect is determined.If insect thunder
Up to simultaneous observation, the echo from insect image indicated altitude that can be obtained according to radar observation is determined.
Step 5：Monitoring device is carried to the height that migrates using captive balloon, is adjusted according to observing environment and is carried the fast of camera
The parameters such as door time, sensitivity, shoot the video image at the height；Utilize the Sensor monitoring aerological environment number of carrying
According to.
Step 6：By video image and environmental data wireless real-time transmission to ground, sight can be further adjusted in software end
Visual angle is put and observed to location, and instruction is wirelessly transmitted into aerial monitoring device.
Step 7：Target morphology feature on image is extracted using image processing techniques, insect image identification database, identification is compared
Go out Migrating Insects type that may be present.The image of time series is further handled, estimation insect motion parameter, worm population density
Etc. information.
Preferably, the step 7 comprises the following steps：
Step 7-1：Insect image identification is pre-processed.The video image that usual high-altitude is shot is by ambient influnence complicated and changeable, light
Rocked according to condition, shooting platform, the factor such as shooting angle causes image quality issues.Therefore need to pre-process image,
Including operations such as image enhaucament, target area segmentation, object edge detections.
Step 7-2：Insect image identification characteristic parameter is extracted, it is such as long like circularity, eccentricity, girth, transverse axis length, the longitudinal axis.
Step 7-3：Comprehensive insect image identification database and its parameter, analysis identification insect type, calculate Migrating Insects motion
Parameter, worm population density.
Beneficial effect：The Migrating Insects provided using the present invention monitor recognition methods and device in the air, can be migrated
Direct observed image, environmental data and the caste information of insect.It is particularly sharp in Migrating Insects and plant protection art
It is significant with entomological radar image recognition caste research field.Directly observation combines the sight of ground entomological radar in the air
Survey, contribute to people more in depth to recognize ground entomological radar remotely-sensed data.The method of present invention monitoring Migrating Insects is in worm
Feelings early warning, crops prevent and reduce natural disasters aspect equally with real value.
Brief description of the drawings
Fig. 1 is the aerial monitoring method flow chart of Migrating Insects；
Fig. 2 is the aerial monitoring device structural representation of Migrating Insects.
In figure, 1- flying platforms, 2- is connected bar, 3- both view angle adjustments mechanism, 4- visible light cameras, 5-GPS and temperature
Humidity sensor, 6- wireless transport modules and antenna, 7- governor circuit modules, 8- infrared cameras, 9- energy-storage modules.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
As shown in Fig. 2 a kind of Migrating Insects monitor identifying device in the air, including flying platform 1, be connected bar 2, visual angle
Governor motion 3, visible light camera 4, GPS and Temperature Humidity Sensor 5, wireless transport module and antenna 6, governor circuit module 7,
Infrared camera 8 and energy-storage module 9；
The flying platform 1 is used to carry observation device, and is transported to insect communities highly, is mounted below and is connected
Energy-storage module 9 is installed between bar 2, the bar 2 that is connected, electric energy is provided for monitoring identifying device；The bar 2 that is connected is installed below
There is both view angle adjustment mechanism 3, both view angle adjustment mechanism 3 is made up of the two dimension governor motions in orientation and pitching, each regulation dimension machine
Structure includes collector ring, motor and gear, can adjust camera observed direction；Visible image capturing is installed in both view angle adjustment mechanism 3
Machine 4 and infrared camera 8, with anti-shudder performance is moved, provide visible ray and infrared image respectively, are adapted to day and night and connect
Continuous monitoring, image information is as research insect communities habit and the direct observation data of feature, with important value；The monitoring
Identifying device also sets up GPS and Temperature Humidity Sensor 5, wireless transport module and antenna 6, governor circuit module 7, GPS and warm and humid
Spend sensor 5 and monitoring height, position, environment temperature and humidity data are provided；Wireless transport module and antenna 6 can will be seen that light
Ground is gone back to infrared two-way monitoring image and sensing data real-time Transmission；Governor circuit module 7 gathers sensing data and regarded
Frequency image, transceiving data and completion system control function.
The flying platform can select unmanned plane or captive balloon according to practical flight height requirement, and unmanned plane can be selected
Filled with helium in many rotor aerial photography aircrafts, captive balloon ball, floating state is maintained using buoyancy and heaving pile pulling force.It is described wireless
Signal transmission module is operated in using radio system and power amplifying device on Cypress Wireless USB NX pieces
2.4GHz frequency ranges, signal transmission distance reaches 2km.The governor circuit module uses ARM11 series S3C6410 embedded processings
Device, manages machine system, realizes the functions such as system control, sensor data acquisition, data transfer, power management.
As shown in figure 1, a kind of Migrating Insects of use said apparatus monitor recognition methods in the air, comprise the following steps：
Step 1：According to available data, Migrating Insects type, the height that migrates, season of migrating, the time of migrating, observation ground are set up
The Migrating Insects parameter database of the canonical parameters such as point, meteorological condition, determines each Parameter Typical or its interval range.Using now
Some Migrating Insects basic parameters, it may be determined that observation time and place and observed altitude.
Step 2：According to conventional images data, caste image data base is set up.Image data base is migrated elder brother for identification
Worm species provides basic data.
Step 3：It is determined that the insect type observed is needed, according to its meteorological condition of migrating, migrate season and time selected conjunction
Suitable observation opportunity and place.
Step 4：Observed altitude is determined, the height that can generally be migrated according to the type insect is determined.If insect thunder
Up to simultaneous observation, the echo from insect image indicated altitude that can be obtained according to radar observation is determined.
Step 5：Monitoring device is carried to the height that migrates using captive balloon, is adjusted according to observing environment and is carried the fast of camera
The parameters such as door time, sensitivity, shoot the video image at the height；Utilize the Sensor monitoring aerological environment number of carrying
According to.
Step 6：By video image and environmental data wireless real-time transmission to ground, sight can be further adjusted in software end
Visual angle is put and observed to location, and instruction is wirelessly transmitted into aerial monitoring device.
Step 7：Target morphology feature on image is extracted using image processing techniques, insect image identification database, identification is compared
Go out Migrating Insects type that may be present.The image of time series is further handled, estimation insect motion parameter, worm population density
Etc. information.
The step 7 comprises the following steps：
Step 7-1：Insect image identification is pre-processed.The video image that usual high-altitude is shot is by ambient influnence complicated and changeable, light
Rocked according to condition, shooting platform, the factor such as shooting angle causes image quality issues.Therefore need to pre-process image,
Including operations such as image enhaucament, target area segmentation, object edge detections.
Step 7-2：Insect image identification characteristic parameter is extracted, it is such as long like circularity, eccentricity, girth, transverse axis length, the longitudinal axis.
Step 7-3：Comprehensive insect image identification database and its parameter, analysis identification insect type, calculate Migrating Insects motion
Parameter, worm population density.
Embodiments of the present invention are described in detail above in association with accompanying drawing, but the present invention is not limited to described reality
Apply mode.For one of ordinary skill in the art, in the range of the principle and technological thought of the present invention, to these implementations
Mode carries out a variety of changes, modification, replacement and deformation and still fallen within protection scope of the present invention.
Claims (6)
1. a kind of Migrating Insects monitor identifying device in the air, it is characterised in that：Including：
One flying platform for carrying observation device；
Flying platform is mounted below the bar that is connected；
It is connected and the energy-storage module that promising monitoring identifying device provides electric energy is installed between bar；
The bar that is connected is mounted below both view angle adjustment mechanism, and both view angle adjustment mechanism is by the two dimension governor motions in orientation and pitching
Composition, each regulation dimension mechanism include collector ring, motor and gear to；
Installed in both view angle adjustment mechanism with the visible light camera and infrared camera for moving anti-shudder performance；
The GPS and Temperature Humidity Sensor of monitoring height, position, environment temperature and humidity data are provided；
It will be seen that light and infrared two-way monitoring image and sensing data real-time Transmission return the wireless transport module and antenna on ground；
Gather sensing data and video image, transceiving data and the governor circuit module for completing system control.
2. a kind of Migrating Insects according to claim 1 monitor identifying device in the air, it is characterised in that：The flying platform
From unmanned plane or captive balloon, unmanned plane is selected in many rotor aerial photography aircrafts, captive balloon ball filled with helium.
3. a kind of Migrating Insects according to claim 1 monitor identifying device in the air, it is characterised in that：The wireless signal
Transport module is using radio system and power amplifying device on Cypress Wireless USB NX pieces.
4. a kind of Migrating Insects according to claim 1 monitor identifying device in the air, it is characterised in that：The governor circuit
Module uses ARM11 series S3C6410 embeded processors.
5. the Migrating Insects of a kind of use claim 1,2,3 or 4 described devices monitor recognition methods in the air, it is characterised in that：
Comprise the following steps：
Step 1：According to available data, set up Migrating Insects type, the height that migrates, season of migrating, the time of migrating, observation place,
The Migrating Insects parameter database of meteorological condition canonical parameter, determines each Parameter Typical or its interval range；Using existing
Migrating Insects basic parameter, it may be determined that observation time and place and observed altitude；
Step 2：According to conventional images data, caste image data base is set up；Image data base is identification Migrating Insects kind
Class provides basic data；
Step 3：It is determined that need the insect type observed, during observation selected according to its meteorological condition of migrating, migrate season and time
Machine and place；
Step 4：Observed altitude is determined, the height that is generally migrated according to the type insect is determined；If entomological radar is synchronously seen
Survey, the echo from insect image indicated altitude that is obtained according to radar observation is determined；
Step 5：Monitoring device is carried to the height that migrates using captive balloon, when adjusting the shutter for carrying camera according to observing environment
Between, sensitivity parameter, shoot the video image at the height；Utilize the Sensor monitoring aerological environmental data of carrying；
Step 6：By video image and environmental data wireless real-time transmission to ground, software end further adjust observation position and
Visual angle is observed, instruction is wirelessly transmitted to aerial monitoring device；
Step 7：Target morphology feature on image is extracted using image processing techniques, insect image identification database is compared, identifying can
The Migrating Insects type that can exist；The image of time series is further handled, estimation insect motion parameter, worm population density letter
Breath.
6. Migrating Insects according to claim 5 monitor recognition methods in the air, it is characterised in that：The step 7 include with
Lower step：
Step 7-1：Insect image identification is pre-processed；Image is pre-processed, including image enhaucament, target area segmentation, target side
Edge detection operation；
Step 7-2：Insect image identification characteristic parameter is extracted, it is such as long like circularity, eccentricity, girth, transverse axis length, the longitudinal axis；
Step 7-3：Comprehensive insect image identification database and its parameter, analysis identification insect type, calculating Migrating Insects kinematic parameter,
Worm population density.
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| CN110024769A (en) * | 2019-04-28 | 2019-07-19 | 河南省农业科学院植物保护研究所 | Unmanned plane formula pest-catching device and high-altitude flight insect net method for catching |
| CN113030949A (en) * | 2021-03-06 | 2021-06-25 | 河南省农业科学院植物保护研究所 | Insect biological flow measuring and calculating method based on insect radar |
| CN113030949B (en) * | 2021-03-06 | 2023-12-15 | 河南省农业科学院植物保护研究所 | Insect biological logistics measurement and calculation method based on insect radar |
| CN114969623A (en) * | 2022-07-28 | 2022-08-30 | 江西财经大学 | Data processing method and system for lepidoptera insect motion capture |
| CN114969623B (en) * | 2022-07-28 | 2022-10-25 | 江西财经大学 | Data processing method and system for lepidoptera insect motion capture |
| CN117250994A (en) * | 2023-11-14 | 2023-12-19 | 贵州航天智慧农业有限公司 | Method and system for tracking insect migration track based on unmanned aerial vehicle |
| CN117250994B (en) * | 2023-11-14 | 2024-02-02 | 贵州航天智慧农业有限公司 | Method and system for tracking insect migration track based on unmanned aerial vehicle |
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