A plant monitoring system and method

Abstract

The embodiment of the present specification provides a plant monitoring system, which comprises a plurality of support structures, the number of the support structures is the same as the number of corner points of a plant monitoring area, each support structure corresponds to a corner point in one-to-one correspondence, each support structure is provided with a winding assembly, and each winding assembly is wound with a traction rope; a camera assembly, and the end of each traction rope is connected with the camera assembly; wherein each winding assembly comprises a driving mechanism and a winding wheel, the traction rope is wound on the winding wheel, and the driving mechanism is at least configured to control the rotation of the winding wheel in the winding direction.

Description

Technical Field

[0001] This manual relates to the field of plant monitoring technology, and in particular to a plant monitoring system and method. Background Technology

[0002] In large-scale plant cultivation, detailed monitoring of plant growth is typically required to accurately understand plant growth status and the growing environment. Taking rice breeding as an example, the purity of the male and female parent plants in the paddy field is crucial. Before pollination, it's essential to remove as many hybrid plants (non-weeds) as possible to avoid affecting the purity of the harvested rice seeds. Automatic identification of hybrid plants usually involves image recognition. However, because hybrid plants are highly similar to breeding plants, image recognition requires capturing clear images of the rice flowers and then identifying them based on factors such as flower color. This makes image acquisition difficult. Therefore, it is necessary to provide a plant monitoring system and method. Summary of the Invention

[0003] In order to obtain high-resolution plant images so as to accurately identify hybrid plants using image recognition technology, and to accurately monitor and understand the plant's growth process and status using image recognition technology, this specification provides a plant monitoring system and method.

[0004] This specification provides one or more embodiments of a plant monitoring system, the system comprising multiple support structures, the number of which is the same as the number of corner points in the plant monitoring area, each support structure corresponding one-to-one with a corner point, each support structure having a winding assembly with a traction rope wound around it; and a camera assembly, the end of each traction rope being connected to the camera assembly; wherein each winding assembly includes a drive mechanism and a winding wheel, the traction rope being wound around the winding wheel, and the drive mechanism being configured to at least control the winding wheel to rotate in the winding direction.

[0005] In some embodiments, the winding assembly further includes an angle sensor configured to detect the amount of rotation of the winding wheel.

[0006] In some embodiments, the drive mechanism is bidirectional, and a clutch mechanism is provided between the drive mechanism and the winding wheel, with the winding wheel connected to the drive mechanism through the clutch mechanism.

[0007] In some embodiments, the winding assembly further includes a damper configured to provide resistance that impedes the wire feeding direction of the winding reel.

[0008] In some embodiments, the winding assembly further includes a brake configured to brake the winding wheel.

[0009] In some embodiments, the system further includes a workbench disposed within the plant monitoring area, the workbench having a parking area.

[0010] This specification provides one or more embodiments of a plant monitoring method applied to a plant monitoring system. The plant monitoring system includes a camera component and multiple winding components. Each winding component has a traction rope wound around it, and the end of each traction rope is connected to the camera component to suspend the camera component above a plant monitoring area. The method includes: acquiring the current position and target position of the camera component; determining the working state of each winding component based on the target position and the current position, the working state including at least a driving state, a damping state, and a braking state; determining the target length of the traction rope on the winding component in the driving state based on the target position; and controlling the winding component in the driving state to retract the rope based on the target length to move the camera component to the target position.

[0011] In some embodiments, determining the operating state of each winding assembly based on the target position and the current position includes: comparing a first planar distance from each winding assembly to the target position and a second planar distance to the current position; determining the winding assembly whose first planar distance is less than the second planar distance as the driving state; determining the winding assembly whose first planar distance is equal to the second planar distance as the braking state; and determining the winding assembly whose first planar distance is greater than the second planar distance as the damping state.

[0012] In some embodiments, the method further includes: acquiring a hybrid detection instruction; pausing the movement of the camera component based on the hybrid detection instruction; and switching each of the winding components to a reverse drive state to reduce the height of the camera component.

[0013] In some embodiments, the method further includes: acquiring a local detection instruction; adjusting the height of the camera component based on the local detection instruction to acquire a local detection image; identifying a detection target from the local detection image and determining the location information of the detection target based on the local detection image; and determining a target distribution map based on the location information.

[0014] The beneficial effects of some embodiments in this specification include, but are not limited to: (1) The plant monitoring system adopts multiple support structures, each of which is set at the corner of the plant monitoring area. Each support structure is equipped with a winding assembly, and each winding assembly is wound with a traction rope. The end of each traction rope is connected to a camera assembly. The position of the camera assembly is adjusted by adjusting the extension length or extension length ratio of each traction rope. This is low-cost and makes the camera assembly move more smoothly, so that the camera assembly can acquire plant images more stably and reliably, so that the system can accurately identify weeds; (2) By setting a clutch mechanism between the drive mechanism and the winding wheel, the power connection and disconnection between the two can be controlled according to actual needs. This is not only conducive to achieving precise control of the extension length of the traction rope, but also conducive to protecting the drive mechanism and extending its service life; (3) By setting a brake on the winding assembly, the winding wheel can be further prevented from rotating, so that the extension length of the winding wheel remains unchanged, thereby improving the stability of the camera assembly when shooting; (4) By determining the position based on the current position and the target position of the camera assembly... The working state of each winding component is determined, and the target length of the traction rope on the winding component in the driving state is determined based on the target position. Then, the winding component in the driving state is controlled to retract the wire to move the camera component to the target position. This can achieve smooth movement of the camera component in the plant monitoring area, and it will not be limited by the area of ​​the plant monitoring area, nor will it be affected by environmental factors such as weather. Therefore, plant images can be obtained more clearly to identify weeds more accurately. (5) The camera component is stopped based on the weed detection command, and the height of the camera component is reduced by switching each winding component to the reverse driving state, so that the camera component can take close-up pictures of weeds and obtain local images of weeds to improve the identification accuracy of weeds by the plant monitoring system. (6) The plant monitoring system adjusts the height of the camera component based on the local detection command to obtain local detection images, and identifies the detection target from the local detection images. The location information of the detection target is determined based on the local detection images, and then the target distribution map is determined. This can realize the systematic monitoring of the growth of plants in the plant monitoring area to better protect the growth of plants. Attached Figure Description

[0015] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0016] Figure 1 This is a schematic diagram of a plant monitoring system according to some embodiments of this specification;

[0017] Figure 2 This is a schematic diagram of a winding reel according to some embodiments of this specification;

[0018] Figure 3 This is a schematic diagram illustrating the cooperation of the drive mechanism, damper, and brake according to some embodiments of this specification;

[0019] Figure 4 This is a schematic diagram of a plant monitoring system according to other embodiments of this specification;

[0020] Figure 5 This is an exemplary flowchart of a plant monitoring method according to some embodiments of this specification;

[0021] Figure 6 This is an exemplary flowchart of a plant monitoring method according to other embodiments of this specification. Detailed Implementation

[0022] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0023] It should be understood that the terms “system,” “device,” “unit,” and / or “module” used herein are one way to distinguish different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0024] As indicated in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0025] Flowcharts are used in this specification to illustrate the operations performed by the system according to embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0026] This specification provides a plant monitoring system using several embodiments. Each support structure is positioned at a corner of the plant monitoring area. Each support structure has a winding assembly with a traction rope wound around it. Each traction rope is connected to a camera component at its end. The position of the camera component is adjusted by changing the extension length (or proportion) of each traction rope, allowing for smoother movement and more stable and reliable acquisition of plant images. This enables the system to accurately identify weeds. Furthermore, the system is not limited by the area of ​​the plant monitoring area; the camera component can be positioned near any location within the monitoring area and is unaffected by weather or other environmental factors, thus possessing wide applicability and practicality.

[0027] The plant monitoring system provided in some embodiments of this specification can be applied to various plant breeding scenarios, such as rice breeding and wheat breeding. In some embodiments, the plant monitoring system can also be applied to other plant identification scenarios, such as plant phenotypic (e.g., plant height, color, degree of wilting, etc.) identification.

[0028] Figure 1 This is a schematic diagram of a plant monitoring system according to some embodiments of this specification.

[0029] like Figure 1 As shown in the figure, some embodiments of this specification provide a plant monitoring system capable of acquiring images of plants within a monitoring area S for plant monitoring. The plant monitoring system includes multiple support structures 10, multiple winding assemblies 20, multiple traction ropes 21, and a camera assembly 30. The number of support structures 10 is the same as the number of corner points in the plant monitoring area S. Each support structure 10 is erected at or near one of the corner points of the plant monitoring area S, so that each corner point of the plant monitoring area S has a support structure 10, i.e., each support structure 10 corresponds one-to-one with a corner point. Each support structure 10 is provided with a winding assembly 20, and each winding assembly 20 is wound with a traction rope 21. The end of each traction rope 21 is connected to the camera assembly 30.

[0030] The support structure 10 can have various structural forms. In some embodiments, the support structure 10 can be a support column, such as... Figure 1 As shown, four support columns can be inserted into the four corners of the plant detection area S. In some embodiments, the support structure 10 can also be a support bracket, and multiple support brackets can be suspended from the top (such as the greenhouse roof) corresponding to the corners of the plant detection area S.

[0031] The plant monitoring area S refers to the area of ​​plant growth that needs to be monitored (e.g., for weed or invasive species). The corner points of the plant monitoring area S are the intersection points of two adjacent sides of the shape formed by S. For example, if the shape formed by S is a triangle, the corner points are the three vertices of the triangle. Similarly, if the shape formed by S is a quadrilateral, the corner points are the four vertices of the quadrilateral.

[0032] Understandably, the number of support structures 10 is related to the shape formed by the plant monitoring area S. For example, when the shape formed by the plant monitoring area S is a triangle, the number of support structures 10 is 3. Or, for example, when the shape formed by the plant monitoring area S is a quadrilateral, the number of support structures 10 is 4.

[0033] The traction rope 21 refers to the component used to move the camera assembly 30. In some embodiments, the material of the traction rope 21 is not limited and can be a metallic or non-metallic material. For example, the material of the traction rope 21 may include steel wire, nylon, polyester, etc.

[0034] The winding assembly 20 refers to the component used for winding and controlling the traction rope 21. In some embodiments, the winding assembly 20 corresponds one-to-one with the support structure 10, and each winding assembly 20 is disposed at the upper end of the support structure 10, thereby laying the traction rope 21 above the plant monitoring area S. In some embodiments, the setting height of each winding assembly 20 on each support structure 10 may be the same. In some embodiments, each winding assembly 20 includes a drive mechanism and a winding wheel 22 (e.g., Figure 2 (As shown), the traction rope 21 is wound around the winding reel 22, and the drive mechanism is configured to at least control the rotation of the winding reel 22 in the take-up direction. For more information on the winding assembly, please refer to [link to relevant documentation]. Figure 2 and Figure 3 Related descriptions.

[0035] Camera component 30 refers to a device or apparatus used for taking pictures. For example, camera component 30 may include a video camera, a camera, etc.

[0036] In some embodiments, the camera component 30 is connected to the end of each traction rope 21 and suspended above the plant monitoring area S to capture images of the plants within the monitoring area S. In some embodiments, the position of the camera component 30 is related to the extension length or proportion of each traction rope 21. The plant monitoring system can adjust the position of the camera component 30 in the x, y, and z directions by controlling the extension length or proportion of each traction rope 21. Figure 1As shown, when the extension length of each traction rope 21 is the same, the camera component 30 is suspended at the center of the plant monitoring area S, and its position can be represented as (0, 0, z), where z represents the height of the camera component 30. For example, when the extension length of each traction rope 21 is simultaneously extended or shortened, the height of the camera component 30 in the z-direction can be correspondingly lowered or raised.

[0037] In some embodiments, the plant monitoring system can determine the current position and target position of the camera component 30, thereby controlling each winding component 20 to adjust the length of each traction rope 21 and move the camera component 30 to the target position to take pictures of the plant.

[0038] In some embodiments, the plant monitoring system can calculate the current position of the camera component 30 based on the current length of the traction rope 21. In some embodiments, the plant monitoring system can determine the target position of the camera component 30 by acquiring user input.

[0039] In some embodiments, the plant monitoring system can preset a field patrol mode, and the camera component 30 can move based on a preset movement trajectory. The plant monitoring system can determine the current position and target position of the camera component 30 based on the preset movement trajectory. For a detailed explanation of the above, please refer to the relevant descriptions below.

[0040] In some embodiments, the camera component 30 may include a multispectral camera. The multispectral camera can be used to acquire multispectral images of the plant. In some embodiments, the plant monitoring system can determine the plant's growth status based on the multispectral images. For example, based on the multispectral images, the plant monitoring system can determine the plant's growth status through historical experience, algorithmic models, etc.

[0041] It should be noted that the number of camera components 30 can be one or more, and the types of camera components 30 can be the same or different. The specific configuration can be determined according to actual needs. For example, there can be two camera components 30, one of which is a high-definition camera used to acquire high-definition plant images; the other is a multispectral camera used to acquire multispectral images of the plant. Understandably, multiple camera components 30 of the same or different types (such as cameras) can also be integrated into a single camera component 30.

[0042] In some embodiments, the camera component 30 can automatically store and upload relevant image data. Exemplary image data includes plant images, multispectral images of plants, etc. It should be noted that signal transmission between the components of the plant monitoring system can be achieved in various ways. Exemplary signal transmission methods may include wired transmission methods (e.g., Ethernet, cable, etc.), wireless transmission methods (e.g., Bluetooth, WiFi, etc.), etc.

[0043] Figure 2 This is a schematic diagram of a winding reel according to some embodiments of this specification. As previously described, the winding assembly 20 includes a drive mechanism ( Figure 2 (Not shown) and winding wheel 22.

[0044] A drive mechanism refers to a mechanism or device for providing power to the winding assembly 20. For example, a drive mechanism may include, but is not limited to, a motor. In some embodiments, the drive mechanism can control the winding reel 22 to rotate in the take-up direction to shorten the extended length of the traction rope 21. Exemplarily, the drive mechanism can control the rotation of the winding reel 22 in the take-up direction by being powered by the winding reel 22.

[0045] Understandably, the take-up direction and the let-out direction are opposite to each other. The take-up direction refers to the direction of rotation of the winding reel 22 to shorten the extended length of the traction rope 21; the let-out direction refers to the direction of rotation of the winding reel 22 to extend the extended length of the traction rope 21. For example, if the let-out direction is the direction of clockwise rotation around the winding reel 22, then the take-up direction is the direction of counterclockwise rotation around the winding reel 22.

[0046] The winding reel 22 refers to the structure used for winding the traction rope 21. The winding reel 22 can be designed in various structural shapes, such as cylindrical, I-beam, or drum-shaped. In some embodiments, the winding reel 22 can be designed as a cylindrical structure with a rotating shaft, which can be fixedly connected to the drive mechanism, with the traction rope 21 wound as a single strand on the outer surface of the cylinder. The rotating shaft can be an integral part of the winding reel 22 or a separate structure. Fixed connections include detachable connections (e.g., welding) and non-detachable connections (e.g., threaded connections). It should be noted that the structural dimensions (e.g., diameter) of the winding reel 22 are not limited and can be determined based on actual conditions.

[0047] In some embodiments, the drive mechanism can be configured in a one-to-one correspondence with the winding reel 22, meaning each winding reel 22 can be connected to its respective drive mechanism and controlled independently by that mechanism. It should be noted that the connection between the winding reel 22 and the drive mechanism can be direct or indirect. For example, the shaft of the winding reel 22 can be fixedly connected to the drive mechanism. Alternatively, the connection can be achieved through other structures (such as gear assemblies).

[0048] In some embodiments, the winding assembly 20 further includes an angle sensor configured to detect the amount of rotation of the winding wheel 22.

[0049] The rotation of the winding reel 22 reflects the change (e.g., shortening or lengthening) in the length of the traction rope 21 extending beyond the winding reel 22 as the reel 22 rotates. In some embodiments, the rotation of the winding reel 22 can be calculated mathematically based on the radius of the winding reel 22 and the rotation angle of the winding reel 22. In some embodiments, the rotation angle of the winding reel 22 can be measured by an angle sensor. In some embodiments, the angle sensor can be positioned at any feasible location on the winding assembly 20 to measure the rotation angle of the winding reel 22 each time. For example, the angle sensor can be positioned on the output shaft 25 of the drive mechanism. Alternatively, the angle sensor can be positioned on the shaft of the winding reel 22. It should be noted that since the traction rope 21 is wound in a single strand on the surface of the winding reel 22, its diameter (or radius) can be considered constant when the winding reel 22 rotates.

[0050] In some embodiments, angle sensors can be configured one-to-one with winding wheels 22, that is, each winding wheel 22 can be fixedly connected to its respective angle sensor, and its rotation angle can be measured individually by its respective angle sensor.

[0051] In some embodiments, the drive mechanism is bidirectional, and a clutch mechanism is provided between the drive mechanism and the winding wheel 22, with the winding wheel 22 connected to the drive mechanism via the clutch mechanism. Bidirectional drive can be understood as the drive mechanism being able to rotate in the winding direction to shorten the extension length of the traction rope 21; the drive mechanism can also rotate in the unwinding direction to extend the extension length of the traction rope 21.

[0052] A clutch mechanism is a device or apparatus used to transmit or disconnect power. For example, clutch mechanisms can include jaw clutches, ratchet clutches, electromagnetic clutches, etc.

[0053] In some embodiments, the clutch mechanism can be disposed on the output shaft 25 of the drive mechanism, and the winding reel 22 can be directly or indirectly connected to the clutch mechanism, thereby achieving connection with the drive mechanism. In some embodiments, since the clutch mechanism is disposed between the drive mechanism and the winding reel 22, when the clutch mechanism is engaged, the winding reel 22 achieves power connection; when the clutch mechanism is disengaged, the winding reel 22 achieves power disconnection. In some embodiments, when the winding reel 22 does not require power connection, the plant monitoring system can control the clutch mechanism to disengage, that is, cut off the transmission connection between the drive mechanism and the winding reel 22.

[0054] In some embodiments of this specification, a clutch mechanism is provided between the drive mechanism and the winding reel, which can control the power connection and disconnection between the two according to actual needs. This not only helps to achieve precise control of the extension length of the traction rope, but also helps to protect the drive mechanism and extend its service life.

[0055] For further information on the winding assembly, please refer to the relevant sections in other parts of this manual (e.g., Figure 3 (and related descriptions).

[0056] In some embodiments of this specification, the plant monitoring system employs multiple support structures, each positioned at a corner of the plant monitoring area. Each support structure is equipped with a winding assembly, on which a traction rope is wound. The end of each traction rope is connected to a camera component. The position of the camera component is adjusted by changing the extension length or proportion of each traction rope. This method is low-cost and allows for smoother movement of the camera component, enabling it to acquire plant images more stably and reliably, thus facilitating accurate identification of weeds by the system.

[0057] Figure 3 This is a schematic diagram illustrating the cooperation of the drive mechanism, damper, and brake according to some embodiments of this specification.

[0058] like Figure 3 As shown, the winding assembly 20 also includes a damper 23, configured to provide resistance against the wire feeding direction of the winding reel 22. The resistance in the wire feeding direction of the winding reel 22 is greater than the pulling force exerted on the winding reel 22 by the camera assembly 30 itself when the camera assembly 30 is in any position.

[0059] In some embodiments, the damper 23 can be disposed at any feasible location on the winding assembly 20. For example, the damper 23 can be disposed on the output shaft 25 of the drive mechanism. As another example, the damper 23 can be part of the winding reel 22.

[0060] In some embodiments, a damping clutch may also be provided between the damper 23 and the winding wheel 22 to control the damping connection or disconnection between the damper 23 and the winding wheel 22. For example, when the drive mechanism controls the winding wheel 22 to release the wire, the damping effect between the damper 23 and the winding wheel 22 can be disconnected.

[0061] In some embodiments, when the clutch mechanism is disengaged and the power between the drive mechanism and the winding wheel 22 is disconnected, the damper 23 can provide resistance to the winding wheel 22 to counteract the tension on the winding wheel 22 caused by the weight of the camera component 30 itself, so that the camera component 30 does not pull the traction rope 21 due to its own weight, thereby ensuring the stability of the camera component 30 when shooting.

[0062] In some embodiments, the winding assembly 20 further includes a brake 24 configured to brake the winding wheel 22.

[0063] Brake 24 refers to a device or apparatus used to prevent the winding reel 22 from rotating. For example, brake 24 may include a block brake, a magnetic eddy current brake, etc.

[0064] In some embodiments, the brake 24 may be disposed at any feasible location on the winding assembly 20. For example, the brake 24 may be disposed on the output shaft 25 of the drive mechanism to brake the output shaft 25, thereby preventing the winding wheel 22 from rotating.

[0065] In some embodiments, considering that the camera component 30 may undergo posture changes during movement, a counterweight can be added to the camera component 30 to maintain its posture stability during movement. It should be noted that the specific value of the counterweight can be adjusted according to actual conditions, as long as it is sufficient to ensure that the camera component 30 maintains its posture stability during movement.

[0066] In some embodiments of this specification, the winding assembly can be further prevented from rotating by setting a brake, so that the extension length of the winding wheel remains unchanged, thereby improving the stability of the camera assembly during shooting.

[0067] Figure 4 This is a schematic diagram of a plant monitoring system according to other embodiments of this specification.

[0068] like Figure 4 As shown, the plant monitoring system also includes a workbench 40, which is located within the plant monitoring area S and has a parking area.

[0069] Workbench 40 refers to a platform used to service the camera assembly 30. The parking area refers to the area on workbench 40 used for parking the camera assembly 30. In some embodiments, the parking area can be located anywhere on workbench 40, such as the center of workbench 40, the right side of workbench 40, etc.

[0070] In some embodiments, the workbench 40 is located at the center of the plant monitoring area S. In some embodiments, the parking area may be located at the center of the workbench 40 as the initial zero position of the camera component 30 (denoted as (0, 0, 0)) to facilitate the rapid determination of the current position or target position of the camera component 30, and to quickly calculate the traction rope 21 and its extension length or extension length ratio required to move the camera component 30 from the current position to the target position.

[0071] In some embodiments, the plant monitoring system can control the camera component 30 to return to the workbench 40 after each shooting task and park in the parking area to await the next shooting task. In some embodiments, the workbench 40 can be used to provide various services to the camera component 30. For example, when the camera component 30 is in the parking area, the workbench 40 can charge the camera component 30. Another example is that when the camera component 30 is in the parking area, the workbench 40 can perform data transmission with the camera component 30 (e.g., receiving image data captured by the camera component 30 or uploading preset field inspection modes to the camera component 30). Yet another example is that when the camera component 30 is in the parking area, the workbench 40 can clear the memory of the camera component 30 to ensure that the camera component 30 can capture more plant images. Furthermore, the workbench 40 can be equipped with multiple position sensors to monitor the position of the camera component 30 to ensure that the camera component 30 is in normal working condition.

[0072] In some embodiments of this specification, the plant monitoring system can provide various services to the camera component by setting up a workbench, enabling the camera component to work more persistently and better, thereby ensuring the comprehensiveness and accuracy of the image data captured by the camera component to a certain extent, and thus ensuring the stability and reliability of the plant monitoring system.

[0073] In some embodiments, the plant monitoring system may further include a server for processing data and / or information related to the plant monitoring system. In some embodiments, the server may be regional or remote. In some embodiments, the server may include a processing device. The processing device may process data and / or information obtained from other devices or system components. The processing device may execute program instructions based on this data, information, and / or processing results to perform one or more functions described in this application. In some embodiments, the processing device may include one or more sub-processing devices (e.g., a single-core processing device or a multi-core multi-chip processing device). By way of example only, the processing device may include a central processing unit (CPU), a dedicated instruction processor (ASIP), a graphics processing unit (GPU), a controller, a microprocessor, or any combination thereof. In some embodiments, the server may further include registers for storing data and / or information related to the plant monitoring system.

[0074] In some embodiments, the plant monitoring system may further include a user terminal. A user terminal refers to one or more terminal devices or software used by a user. For example, a user terminal may include one or any combination of mobile devices, tablet computers, and other devices with input and / or output capabilities.

[0075] In some embodiments, the user terminal can be used for user interaction with the plant monitoring system. For example, the user terminal can be used for remote monitoring to view plant images captured by the imaging component 30 in real time. As another example, the user terminal can be used to input relevant control commands (such as hybrid plant detection commands) based on the plant images.

[0076] In some embodiments, the user terminal, server, workbench 40, camera assembly 30, and winding assembly 20 interact with each other via a network. For example, the user terminal, server, and workbench 40 can interact via a far-field communication network (e.g., 5G), while the workbench 40, camera assembly 30, and winding assembly 20 can interact via a near-field communication network (e.g., WiFi, Bluetooth).

[0077] Some embodiments of this specification also provide a plant monitoring method applied to a plant monitoring system. This plant monitoring system includes a camera assembly 30 and multiple winding assemblies 20. Each winding assembly 20 has a traction rope 21 wound around it, and the end of each traction rope 21 is connected to the camera assembly 30 to suspend the camera assembly 30 above the plant monitoring area S. Specific details of the plant monitoring system can also be found in the descriptions of other embodiments in this specification, and will not be repeated here.

[0078] Figure 5 This is an exemplary flowchart of a plant monitoring method according to some embodiments of this specification. Figure 5 As shown, process 500 includes the following steps. In some embodiments, process 500 may be performed by a plant monitoring system (such as a server).

[0079] Step 510: Obtain the current position and target position of the camera component.

[0080] The current position of the camera component refers to its current location. In some embodiments, the current position of the camera component can be obtained in various ways. For example, the current position of the camera component can be obtained by multiple displacement sensors disposed on the worktable. Another example is that the current position of the camera component can be calculated based on the current extension length of each traction rope.

[0081] The target position of the camera component refers to the location that the camera component needs to reach. In some embodiments, the target position of the camera component can be obtained in various ways. For example, the user can preset the target position of the camera component (e.g., preset field patrol mode). Another example is that the user can input the target position of the camera component in real time.

[0082] In some embodiments, the plant monitoring system can obtain a preset movement trajectory of the camera component and determine the current position and target position of the camera component based on the preset movement trajectory.

[0083] A preset movement trajectory refers to the pre-defined movement trajectory of the camera component. For example, a preset movement trajectory may include various trajectory shapes such as a "bow shape" or a "square shape". In some embodiments, the plant monitoring system may allow the user to preset a field patrol mode (i.e., a preset field patrol mode), which may include at least a preset movement trajectory.

[0084] In some embodiments, based on a preset movement trajectory, the plant monitoring system can automatically determine the current position and target position of the camera component. For example, when the camera component moves in a "bow-shaped" preset movement trajectory in the plane formed by the x and y directions, the starting point of a certain row can be taken as the current position, and the ending point of that row can be taken as the target position.

[0085] Step 520: Determine the working status of each winding component based on the target position and the current position.

[0086] The operating state of the winding assembly can reflect the rotational state of the winding wheel. In some embodiments, the operating state of the winding assembly may include at least a driving state, a braking state, and a damping state.

[0087] In some embodiments, when the winding assembly is in a driven state, the winding wheel rotates in the take-up direction under the drive of the drive mechanism to shorten the extended length of the traction rope. In some embodiments, when the winding assembly is in a braking state (e.g., braked by a brake), the winding wheel stops rotating, and the extended length of the traction rope remains unchanged. In some embodiments, when the winding assembly is in a damped state, the clutch mechanism disengages, the power between the winding wheel and the drive mechanism is disconnected, and the winding wheel rotates in the unwinding direction under the tension of the traction rope (e.g., the tension generated when the camera assembly is pulled by the traction rope on the winding wheel in the driven state), to extend the extended length of the traction rope.

[0088] In some embodiments, the plant monitoring system can determine the operating status of each winding assembly in a variety of ways, based on the target location and the current location. For example, the plant monitoring system can determine the operating status of each winding assembly using historical data.

[0089] In some embodiments, the operating state of each winding assembly is determined based on the target position and the current position, including: comparing the first plane distance from each winding assembly to the target position and the second plane distance to the current position; determining the winding assembly whose first plane distance is less than the second plane distance as a driving state; determining the winding assembly whose first plane distance is equal to the second plane distance as a braking state; and determining the winding assembly whose first plane distance is greater than the second plane distance as a damping state.

[0090] The first planar distance refers to the distance from the winding assembly (such as a winding reel) to the target position of the camera assembly on the plane formed by the x and y directions. The second planar distance refers to the distance from the current position of the winding assembly (such as a winding reel) to the camera assembly on the plane formed by the x and y directions. In some embodiments, the plant monitoring system can automatically compare the first planar distance and the second planar distance to determine the operating status of each winding assembly.

[0091] Understandably, when the camera assembly moves from its current position to the target position, the working states of each winding assembly are not entirely the same, and the extension length of the traction rope on each winding wheel is also not entirely the same. For example, if the pattern formed by the plant monitoring area is a quadrilateral, and the camera assembly moves from the initial zero position (e.g., (0, 0, 0)) to any position directly in front of the initial zero position (e.g., (0, y, 0)), the working states of the winding assemblies at the four vertices of the quadrilateral (the upper left winding assembly, the upper right winding assembly, the lower right winding assembly, and the lower left winding assembly, respectively) are, in sequence, the driving state, the driving state, the damping state, and the damping state.

[0092] Step 530: Based on the target position, determine the target length of the traction rope on the winding assembly in the driving state.

[0093] The target length of the traction rope refers to the required reduction in the extended length of the traction rope on the winding assembly in the driven state. In some embodiments, based on the target position, the plant monitoring system can determine the target length of the traction rope on the winding assembly in the driven state in various ways, in conjunction with the current position of the camera component. For example, the plant monitoring system can determine the target length of the traction rope on the winding assembly in the driven state using historical data. Another example is that the plant monitoring system can determine the target length of the traction rope on the winding assembly in the driven state using a preset relation table. Yet another example is that the plant monitoring system can calculate the actual extended length of the traction rope on the winding assembly in the driven state when the camera component is at the target position using geometric relationships, and compare this actual extended length with the extended length of the traction rope at the current position to determine the target length.

[0094] Step 540: Based on the target length, control the winding assembly in the driving state to take in the wire to move the camera assembly to the target position.

[0095] In some embodiments, based on the target length, the plant monitoring system can control the winding assembly in the driving state to take in the line by controlling the operating parameters of the corresponding drive mechanism. During take-in, the camera assembly is pulled, and the winding assembly in the damped state releases the line. The winding assembly in the braking state maintains a constant extension length of the traction rope, thereby moving the camera assembly to the target position. In some embodiments, the plant monitoring system can determine the operating parameters of the drive mechanism (e.g., rotation speed, rotation direction, etc.) based on the target length using algorithm models, preset tables, etc., and control the winding assembly in the driving state to take in the line based on these operating parameters.

[0096] For more information on plant monitoring methods, please refer to [link / reference]. Figure 6 And its related descriptions.

[0097] In some embodiments of this specification, the working state of each winding component is determined based on the current position and target position of the camera component, and the target length of the traction rope on the winding component in the driving state is determined based on the target position. This allows the winding component in the driving state to retract the rope, thereby moving the camera component to the target position. This enables the camera component to move smoothly within the plant monitoring area without being limited by the area of ​​the plant monitoring area or affected by environmental factors such as weather. As a result, plant images can be acquired more clearly, allowing for more accurate identification of weeds.

[0098] Figure 6 This is an exemplary flowchart of a plant monitoring method according to other embodiments of this specification. Figure 6 As shown, process 600 includes the following steps. In some embodiments, process 600 may be performed by a plant monitoring system (such as a server).

[0099] Step 610: Obtain the hybrid detection command.

[0100] The hybrid plant detection command refers to the command used to detect hybrid plants in a plant. The hybrid plant detection command can be acquired when the camera component moves in a plane parallel to the plant monitoring area.

[0101] In some embodiments, the hybrid plant detection instruction can be generated by the plant monitoring system. Exemplarily, the plant monitoring system can determine whether a plant image meets preset conditions by performing image recognition on plant images captured by a camera component; in response to the plant image meeting the preset conditions, it generates a hybrid plant detection instruction. The preset conditions may include a similarity between the plant in the plant image and the hybrid plant not being less than a preset threshold. The preset threshold refers to a pre-set similarity value. In some embodiments, the preset threshold can be determined based on experience, experiments, simulations, etc.

[0102] In some embodiments, the hybrid detection instruction can also be obtained based on any other feasible method. For example, it can be obtained based on user input.

[0103] Step 620: Based on the hybrid plant detection instruction, pause the moving camera component.

[0104] In some embodiments, based on the hybrid plant detection command, the plant monitoring system can stop operating the corresponding drive mechanism to pause the moving camera component. It is worth noting that pausing the moving camera component here refers to pausing the planar movement of the camera component in the x and y directions.

[0105] Step 630: Switch each winding assembly to reverse drive mode to reduce the height of the camera assembly.

[0106] The reverse drive state refers to the working state opposite to the drive state. Understandably, when the winding assembly is in the reverse drive state, the drive mechanism drives the winding wheel to rotate in the unwinding direction to extend the extension length of the traction rope.

[0107] In some embodiments, when the camera assembly stops moving, the plant monitoring system can control the brake to close and the clutch to engage, so as to establish a power connection between the winding wheel and the drive mechanism. Then, by controlling the operating parameters of the drive mechanism (such as the direction of rotation), each winding assembly can be switched to a reverse drive state to reduce the height of the camera assembly.

[0108] In some embodiments, the plant monitoring system is in a preset field patrol mode. By performing image recognition on the plant images captured by the camera component, if it is determined that the plant images meet the preset conditions, a hybrid plant detection instruction can be generated, and then the same steps described above can be performed to further identify the plants.

[0109] In some embodiments of this specification, the camera component is stopped from moving based on the hybrid plant detection command, and the height of the camera component is reduced by switching each winding component to a reverse drive state, so that the camera component can take close-up pictures of the hybrid plants and obtain local images of the hybrid plants, thereby improving the identification accuracy of the hybrid plants by the plant monitoring system.

[0110] It should be noted that the above descriptions of processes 500 and 600 are for illustrative purposes only and do not limit the scope of this specification. Those skilled in the art can make various modifications and changes to processes 500 and 600 under the guidance of this specification. However, these modifications and changes remain within the scope of this specification.

[0111] In some embodiments, when the camera component pauses its movement and lowers its height, the plant monitoring system can automatically acquire the real-time position of the camera component and store it in a register. In some embodiments, the real-time position of the camera component can be obtained through geometric calculation based on the extension length of each traction rope. Understandably, in weed identification, each time the camera component pauses its movement and lowers its height, the plant monitoring system can obtain the real-time position of a camera component. When the plant monitoring system identifies a weed in the image captured at that position, that position is the location of the weed.

[0112] In some embodiments, similar to the process 600 for detecting hybrid plants, the plant monitoring system can also perform target detection on the plant monitoring area. In some embodiments, the target detection process may include: acquiring local detection instructions; adjusting the height of the camera component based on the local detection instructions to acquire a local detection image.

[0113] A local detection command refers to a detection command that acquires an image (i.e., a local detection image) of a local location within the plant monitoring area. For example, a local detection command could be a command to acquire a detailed image of a plant in a local area. The plant monitoring system can acquire local detection images by adjusting the height of the camera component; specific details regarding adjusting the height of the camera component can be found in the preceding description.

[0114] In some embodiments, the target detection process may further include: identifying the target from the acquired local detection image, and determining the location information of the target based on the local detection image.

[0115] The detection target can be any object of interest during plant growth. Detection targets can include, but are not limited to, hybrid plants, plant canopy, specific parts of the plant (such as flowers, leaves, stems, etc.), different types of plants (such as male and female parents), and the plant's pest and disease status. Through image recognition, the plant monitoring system can identify the detection target from the acquired local detection images. The specific methods for determining the location information of the detection target based on local detection images can be found in the previous description and will not be repeated here.

[0116] In some embodiments, the target detection process may further include: determining a target distribution map based on the location information of the detected target.

[0117] In some embodiments, target detection can be performed in the field patrol mode. When the preset field patrol mode is completed, the plant monitoring system can automatically generate a target distribution map (such as a distribution map of miscellaneous plants, a distribution map of pests and diseases, etc.) in the plant monitoring area based on the multiple real-time locations of the camera components obtained in the preset field patrol mode (e.g., the location of miscellaneous plants), thereby enabling systematic monitoring of the plants.

[0118] In some embodiments of this specification, the plant monitoring system adjusts the height of the camera component based on local detection commands to acquire local detection images, identifies the detection target from the local detection images, determines the location information of the detection target based on the local detection images, and then determines the target distribution map. This system can systematically monitor the growth of plants in the plant monitoring area to better ensure plant growth.

[0119] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

[0120] Furthermore, this specification uses specific terms to describe embodiments thereof. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Moreover, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0121] Furthermore, unless expressly stated in the claims, the order of processing elements and sequences, the use of numbers and letters, or other names described in this specification are not intended to limit the order of the processes and methods described herein. Although various examples have been discussed in the foregoing disclosure of some embodiments of the invention that are currently considered useful, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments; rather, the claims are intended to cover all modifications and equivalent combinations that conform to the spirit and scope of the embodiments described herein. For example, while the system components described above can be implemented using hardware devices, they can also be implemented solely using software solutions, such as installing the described system on existing servers or mobile devices.

[0122] Similarly, it should be noted that, in order to simplify the description disclosed herein and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of embodiments in this specification may sometimes combine multiple features into a single embodiment, drawing, or description thereof. However, this method of disclosure does not imply that the subject matter of this specification requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of a single embodiment disclosed above.

[0123] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0124] For each patent, patent application, patent application publication, and other material, such as articles, books, specifications, publications, and documents, referenced in this specification, the entire contents of which are incorporated herein by reference. This excludes historical application documents that are inconsistent with or conflict with the content of this specification, as well as documents that limit the broadest scope of the claims in this specification (currently or subsequently appended to this specification). It should be noted that in the event of any inconsistency or conflict between the descriptions, definitions, and / or terminology used in the supplementary materials to this specification and the content of this specification, the descriptions, definitions, and / or terminology used in this specification shall prevail.

[0125] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and should be considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. A method for monitoring plant populations, characterized in that, An application is made in a plant monitoring system, which includes a camera assembly and multiple winding assemblies. Each winding assembly is wound with a traction rope, and the end of each traction rope is connected to the camera assembly to suspend the camera assembly above the plant monitoring area. Each of the winding assemblies includes a drive mechanism, a winding wheel, a damper, and a brake. The traction rope is wound around the winding wheel. The drive mechanism is configured to control the winding wheel to rotate in the take-up direction. The damper is configured to provide resistance against the unwinding direction of the winding wheel. The brake is configured to brake the winding wheel. The method includes: Obtain the current position and target position of the camera component; Based on the target position and the current position, the operating state of each winding assembly is determined, including driving state, damping state and braking state; Based on the target position, determine the target length of the traction rope on the winding assembly in the driving state; Based on the target length, the winding assembly in the driving state is controlled to take in the wire to move the camera assembly to the target position; Determining the operating state of each winding assembly based on the target position and the current position includes: Compare the distance of each of the winding components from the first plane where the target position is located with the distance from the second plane where the current position is located; The winding assembly whose first planar distance is less than the second planar distance is determined to be the driving state; The winding assembly whose first planar distance is equal to the second planar distance is defined as the braking state; and The winding assembly whose first planar distance is greater than the second planar distance is defined as the damping state; The method further includes: Obtain hybrid plant detection instructions; Based on the hybrid detection command, pause the movement of the camera component; Each of the winding components is switched to reverse drive mode to reduce the height of the camera component.

2. The plant monitoring method according to claim 1, characterized in that, The method further includes: Obtain local detection instructions; The height of the camera component is adjusted based on the local detection command to acquire a local detection image; The detection target is identified from the local detection image, and the location information of the detection target is determined based on the local detection image; A target distribution map is determined based on the location information.

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