A plant monitoring method and system

Abstract

The embodiment of the specification provides a plant monitoring method and system. The method is realized based on a plant monitoring system. The method comprises the following steps: determining a first monitoring point based on a monitoring area, and controlling a monitoring device to move to the first monitoring point, the first monitoring point being a position of a plant in the monitoring area; adjusting an image acquisition device based on an adjusting arm, and acquiring a first monitoring image; in response to the fact that a monitoring target exists in the first monitoring image and the monitoring target is located in a target area, controlling the monitoring device to stop moving; acquiring a monitoring height of the image acquisition device, determining a corrected plant height based on the monitoring height; and in response to the fact that the corrected plant height of the first monitoring point meets a preset early warning condition, issuing an early warning.

Description

TECHNICAL FIELD

[0001] The present specification relates to the field of intelligent monitoring, in particular to a plant monitoring method and system. BACKGROUND

[0002] In the breeding or production process of rice, it is necessary to monitor the height of rice for a long time so as to obtain the growth condition of the plant regularly and determine whether there is a growth abnormality problem. In the traditional operation mode, the height of the plant in the rice field needs to be measured by a staff member with a measuring ruler regularly. The staff member has a large labor intensity and the operation is complicated and tedious.

[0003] In view of the problem of automatically measuring the height of the plant, CN113554691B proposes a plant height measurement method. The application focuses on using a camera to shoot an image and obtain depth data to obtain a three-dimensional point cloud and calculate the height of the plant according to the three-dimensional point cloud. CN105675549B proposes a portable crop parameter measurement and growth intelligent analysis device and method. The application focuses on obtaining a multispectral image and realizing three-dimensional reconstruction of the crop canopy structure through photogrammetry technology and spatial interpolation technology. However, the distribution of multiple plants and natural environmental factors also affect the measurement accuracy, thereby affecting the accuracy of the judgment on the growth condition of the plant. It is of great significance to ensure the measurement accuracy for judging the growth condition of the plant. However, these applications do not consider the influence of the distribution of multiple plants and natural environmental factors on the measurement accuracy, and there are still problems of large accuracy fluctuation and high cost. The analysis result still needs to be checked by a large amount of manpower.

[0004] Therefore, it is desirable to provide a plant monitoring method and system capable of obtaining more accurate plant height monitoring results. SUMMARY

[0005] One or more embodiments of the present specification provide a plant monitoring system, the plant monitoring system comprising a monitoring device and a smart terminal; the monitoring device comprising an adjusting arm, an image acquisition device, a power driving device and a communication component; the image acquisition device is located on the adjusting arm and an automatic irrigation device; the adjusting arm comprises a joint with multiple degrees of freedom, configured to adjust the position of the image acquisition device; the communication component communicates with the smart terminal; the smart terminal comprises a processor, the smart terminal is configured to: determine a first monitoring point based on a monitoring area, and control the monitoring device to move to the first monitoring point, the first monitoring point being the position of the plant in the monitoring area; adjust the image acquisition device based on the adjusting arm, and acquire a first monitoring image; in response to the presence of a monitoring target in the first monitoring image, and the monitoring target being located in a target area, control the monitoring device to stop moving; acquire a monitoring height of the image acquisition device, determine a corrected plant height based on the monitoring height; in response to the corrected plant height of the first monitoring point meeting a preset warning condition, issue a warning.

[0006] One or more embodiments of the present specification provide a plant monitoring method, the method is implemented based on a plant monitoring system, the plant monitoring system comprising a monitoring device and a smart terminal; the monitoring device comprising an adjusting arm, an image acquisition device, a power driving device and a communication component; the image acquisition device is located on the adjusting arm and an automatic irrigation device; the adjusting arm comprises a joint with multiple degrees of freedom, configured to adjust the position of the image acquisition device; the communication component communicates with the smart terminal; the smart terminal comprises a processor, the method comprising: determining a first monitoring point based on a monitoring area, and controlling the monitoring device to move to the first monitoring point, the first monitoring point being the position of the plant in the monitoring area; adjusting the image acquisition device based on the adjusting arm, and acquiring a first monitoring image; in response to the presence of a monitoring target in the first monitoring image, and the monitoring target being located in a target area, controlling the monitoring device to stop moving; acquiring a monitoring height of the image acquisition device, and determining a corrected plant height based on the monitoring height; in response to the corrected plant height of the first monitoring point meeting a preset warning condition, issuing a warning. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1 is a system structure schematic diagram of a plant monitoring system according to some embodiments of the present specification;

[0008] Figure 2 is an exemplary flowchart of a plant monitoring method according to some embodiments of the present specification;

[0009] Figure 3 is an exemplary schematic diagram of a correction model according to some embodiments of the present specification;

[0010] Figure 4 is an exemplary schematic diagram of determining the height of a region plant according to some embodiments of the present specification. DETAILED DESCRIPTION

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings required to be used in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some examples or embodiments of the present specification, and for those skilled in the art, the present specification can also be applied to other similar scenarios without creative labor on the basis of these drawings. Unless it is clear from the language environment or otherwise stated, the same reference numbers in the drawings represent the same structures or operations.

[0012] It should be understood that the "system", "device", "unit" and / or "module" used herein is a method for distinguishing different components, elements, parts, sections or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0013] As shown in the specification and claims, unless the context clearly indicates otherwise, the words "one", "a", "an", and / or "the" do not refer to the singular, but can also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements explicitly identified, and these steps and elements do not constitute an exclusive list, and the method or device can also include other steps or elements.

[0014] Flowcharts are used in the present specification to illustrate the operations performed by the system according to the embodiments of the present specification. It should be understood that the preceding or subsequent operations are not necessarily performed in sequence. On the contrary, each step can be processed in reverse order or simultaneously. At the same time, other operations can also be added to these processes, or one or more steps of the operation can be removed from these processes.

[0015] For the problem of automatically measuring the height of the plant, CN113554691B calculates the height of the plant based on three-dimensional point cloud based on camera shooting image and depth data. CN105675549B constructs the three-dimensional structure of the plant surface light spot or light bar and calculates the height of the plant by acquiring multispectral images. However, without considering the distribution of multiple plants, changes in natural environmental factors, and different growth periods of plants, the measurement accuracy is often affected, and manual verification is required.

[0016] In view of this, some embodiments of the present specification provide a plant monitoring method and system based on plant type, plant monitoring height, inclination data and wind force and direction data at different times, considering the influence of natural environmental factors, to obtain more accurate plant height monitoring results.

[0017] Figure 1 Fig. 1 is a schematic diagram of a system structure of a plant monitoring system according to some embodiments of the present disclosure.

[0018] In some embodiments, the plant monitoring system 100 can include a monitoring device 110 and a smart terminal 120.

[0019] The monitoring device 110 is a device for monitoring plants. In some embodiments, the monitoring device 110 can include an adjusting arm 111, an image acquisition device 112, a power driving device 113, and a communication component 114.

[0020] The adjusting arm 111 is a component for adjusting the image acquisition device. In some embodiments, the adjusting arm can include multiple multi-degree-of-freedom joints for adjusting the position of the image acquisition device.

[0021] The image acquisition device 112 is a device for acquiring monitoring images. For example, the image acquisition device can include an industrial camera. In some embodiments, the image acquisition device can be located on the adjusting arm and the automatic irrigation device.

[0022] The power driving device 113 is a device for driving the relevant monitoring device. In some embodiments, the power driving device can include driving the adjusting arm and driving the roller.

[0023] The communication component 114 is a component for communicating with the smart terminal. In some embodiments, the communication component can realize communication with the smart terminal based on the Internet.

[0024] In some embodiments, the monitoring device 110 can further include a power supply and / or a base. The power supply can be a solar cell, an alternating current / direct current power supply, etc. The base refers to a device configured to support the remaining components of the monitoring device. The base can include a roller, a braking device.

[0025] The smart terminal 120 is a terminal for executing a plant monitoring method. In some embodiments, the smart terminal 120 can include a processor 121. In some embodiments, the smart terminal can control the monitoring device to implement the plant monitoring method by sending control instructions.

[0026] In some embodiments, the intelligent terminal can be configured to: determine a first monitoring point based on the monitoring area, and control the monitoring device to move to the first monitoring point; adjust the image acquisition device based on the adjusting arm, and acquire a first monitoring image; in response to the presence of a monitoring target in the first monitoring image and the monitoring target being located in the target area, control the monitoring device to stop moving; acquire a monitoring height of the image acquisition device, determine a corrected plant height based on the monitoring height; and in response to the corrected plant height of the first monitoring point satisfying a preset warning condition, issue a warning. For specific descriptions of the above, please refer to Figure 2 and the related descriptions thereof.

[0027] In some embodiments, the image acquisition device can further include an inclination sensor. The inclination sensor is a device for acquiring inclination data. In some embodiments, the inclination sensor can be configured to acquire inclination data of the monitoring device. For related descriptions of the inclination data, please refer to Figure 2 and the related descriptions thereof.

[0028] In some embodiments, the intelligent terminal can further drive the monitoring device to move based on an external irrigation device. For example, when the irrigation device slides on a track, the monitoring device can be configured to be mechanically connected with the irrigation device, and the monitoring device can adjust the height of the image acquisition device based on the adjusting arm.

[0029] It should be noted that the above descriptions of the plant monitoring system and its modules are for the convenience of description, and cannot limit the scope of the present specification to the embodiments. It can be understood that, for those skilled in the art, after understanding the principles of the system, the modules can be combined arbitrarily or connected with other modules to form a subsystem without departing from the principles. In some embodiments, Figure 1 The monitoring device 110 and the intelligent terminal 120 disclosed in

[0030] Figure 2 is an exemplary flowchart of a plant monitoring method according to some embodiments of the present specification. As shown in Figure 2 , the flowchart 200 includes the following steps. In some embodiments, the flowchart 200 can be executed by an intelligent terminal.

[0031] Step 210: determining a first monitoring point based on the monitoring area, and controlling the monitoring device to move to the first monitoring point.

[0032] The monitoring area refers to an area that needs to be monitored for plants. For example, the monitoring area can be a farmland area.

[0033] The first monitoring point refers to the initial monitoring point of each monitoring device. In some embodiments, the first monitoring point can be the position of the plant in the monitoring area.

[0034] In some embodiments, there is at least one target to be monitored in the monitoring area (for example, a fixed coordinate can be preselected in each monitoring area), and the intelligent terminal can determine the position of the target as the first monitoring point.

[0035] Step 220: Adjust the image acquisition device based on the adjusting arm to obtain a first monitoring image.

[0036] The first monitoring image is an image obtained based on the first monitoring point. In some embodiments, the initial position of the image acquisition device is at the preset highest point, and after reaching the first monitoring point, it gradually moves downward. When the first leaf appears, the intelligent terminal can adjust (such as translation, angle adjustment, etc.) the image acquisition device through the adjusting arm, so that the leaf is located in the middle of the lens, and the image taken at this position is taken as the first monitoring image.

[0037] Step 230: In response to the presence of the monitoring target in the first monitoring image and the monitoring target being located in the target area, control the monitoring device to stop moving.

[0038] The monitoring target refers to the part of the plant to be monitored. For example, the monitoring target can be the tip position of the leaf of the plant.

[0039] The target area refers to a preset range of areas that can be obtained by the image acquisition device. In some embodiments, the target area can be the middle area photographed by the lens of the image acquisition device, for example, it can be a circular area with a radius of 2 cm with the center point of the viewfinder as the center.

[0040] In some embodiments, the intelligent terminal can determine whether the monitoring target exists in the first monitoring image through image recognition (computer vision method, deep learning algorithm, etc.).

[0041] In some embodiments, in response to the presence of the monitoring target in the first monitoring image and the monitoring target being located in the target area, the intelligent terminal can control the monitoring device to stop moving.

[0042] Step 240: Obtain the monitoring height of the image acquisition device, and determine the corrected plant height based on the monitoring height.

[0043] The monitoring height refers to the height of the image acquisition device when monitoring. In some embodiments, the intelligent terminal can obtain the monitoring height of the image acquisition device through the monitoring device. For example, a height measuring sensor can be provided in the monitoring device to obtain the monitoring height of the image device.

[0044] The corrected plant height refers to the actual growth height of the plant after correction.

[0045] In some embodiments, the intelligent terminal can determine the corrected plant height based on at least one monitoring height of the image acquisition device. For example, the intelligent terminal can control the image acquisition device to aim the center of the target region at the monitoring target, and acquire the monitoring height at this time. When there are still other monitoring targets in the target region, the intelligent terminal can continue to move the image acquisition device and aim the center of the target region at the monitoring target, and acquire the monitoring height at this time. The intelligent terminal can calculate the average of the plurality of monitoring heights, and determine the average as the corrected plant height of the target region.

[0046] In some embodiments, the intelligent terminal can also determine the corrected plant height based on wind force and wind direction data, the monitoring height, and the inclination data.

[0047] The wind force and wind direction data refers to data reflecting the size of the wind force and the direction of the wind.

[0048] The inclination data refers to data reflecting the inclination of the monitoring device. For example, the inclination data can include the angle between the plane where the monitoring device is located and the plane parallel to the ground.

[0049] In some embodiments, the intelligent terminal can determine the corrected plant height based on the wind force and wind direction data, the monitoring height, and the inclination data in a plurality of ways. For example, the intelligent terminal can determine the plant deviation height by querying a first preset table based on the wind force and wind direction data, determine the actual height of the current plant from the ground based on the inclination data, and determine the corrected plant height by the actual height and the plant deviation height.

[0050] The first preset table can include the correspondence between the wind force and wind direction data and the plant deviation height, and the preset table can be determined based on historical data. The plant deviation height refers to the deviation value of the actual height of the plant from the monitoring height due to the effect of the wind force, for example, 2 cm, -1.5 cm, etc.

[0051] For example only, assuming that the plant deviation height is △h, the inclination data is α, and the monitoring height is h0, obtained by querying the first preset table, the corrected plant height H can be calculated by the following formula (1):

[0052] H = h0*cosα + △h (1)

[0053] In which, h0*cosα is the actual height of the current plant from the ground.

[0054] In some embodiments of the present specification, the corrected plant height is obtained by adjusting the monitoring height based on the wind force and wind direction data and the inclination data, which can make the determined corrected plant height closer to the actual height of the plant, so as to more accurately monitor the plant.

[0055] In some embodiments, the intelligent terminal can also acquire the monitoring height before irrigation and the monitoring height after irrigation respectively; and determine the corrected plant height based on the monitoring height before irrigation and the monitoring height after irrigation. The way of acquiring the monitoring height before irrigation and the monitoring height after irrigation can refer to the corresponding description of acquiring the monitoring height.

[0056] In some embodiments, the intelligent terminal can determine the corrected plant height in multiple ways based on the monitoring height before irrigation and the monitoring height after irrigation. For example, the intelligent terminal can take the average of the monitoring height before irrigation and the monitoring height after irrigation, and determine the average as the corrected plant height.

[0057] In some embodiments of the present specification, the corrected plant height is determined by combining the monitoring height before irrigation and the monitoring height after irrigation, which can make the determined corrected plant height more referential.

[0058] Step 250, issuing a warning in response to the corrected plant height of the first monitoring point meeting a preset warning condition.

[0059] The preset warning condition is a condition for judging whether to issue a warning. For example, the preset warning condition can be that the corrected plant height reaches a preset value, or the average of the corrected plant height of each first monitoring point reaches a preset value; for another example, the average or dispersion degree of the corrected plant height exceeds a preset range. The preset value and the preset range can be preset by human.

[0060] In some embodiments, the intelligent terminal can issue a warning in response to the corrected plant height of the first monitoring point meeting a preset warning condition. For example, the intelligent terminal can issue a text, voice warning or warning through light indication to the user or researcher.

[0061] In some embodiments of the present specification, the first monitoring image of the first monitoring point is acquired based on the image acquisition device, the monitoring device is moved to a suitable position based on the first monitoring image, the monitoring height is acquired, and then the corrected plant height is determined. By judging whether the corrected plant height meets the preset warning condition, a warning is issued, which can automatically monitor the height of the plant during the growth process. When the plant height is abnormal, a warning can be issued in time to remind the user or researcher to check.

[0062] It should be noted that the above description of the process 200 is only for example and illustration, and does not limit the scope of the present specification. Those skilled in the art can make various modifications and changes to the process 200 under the guidance of the present specification. However, these modifications and changes are still within the scope of the present specification.

[0063] Figure 3is an exemplary schematic diagram of a correction model according to some embodiments of the present specification. As shown in Figure 3 The correction model 370 is a machine learning model.

[0064] In some embodiments, the intelligent terminal can determine the corrected plant height 318 based on the current wind direction data 311, the wind direction sequence 312 of the historical period, the monitoring height 313, the inclination data 314, and the correction model 317.

[0065] The correction model 317 can be a machine learning model, such as a neural network model, etc.

[0066] As shown in Figure 3 The input of the correction model 317 can include the wind direction data 311 (which can include wind direction data 1, wind direction data 2, …, wind direction data n, etc.), the wind direction sequence 312 of the historical period, the monitoring height 313, and the inclination data 314, and the output of the correction model 317 can include the corrected plant height 318. For more information about the wind direction data 311, the monitoring height 313, and the inclination data 314, please refer to Figure 1 and related descriptions. In some embodiments, the corrected plant height output by the correction model can have a corresponding confidence.

[0067] The wind direction sequence of the historical period represents a sequence composed of wind direction data in the past period of time.

[0068] In some embodiments, the correction model 317 can be trained by a plurality of first training samples with first labels. For example, a plurality of first training samples with first labels can be input into an initial correction model, a loss function can be constructed based on the first labels and the output of the initial correction model, and the parameters of the initial correction model can be iteratively updated based on the loss function by gradient descent or other methods. When a preset condition is met, a trained correction model is obtained. The preset condition can be that the loss function converges, the number of iterations reaches a threshold, etc.

[0069] In some embodiments, the first training sample can at least include sample first-time wind direction data, sample second-time wind direction data, sample inclination data, and sample monitoring height data. The first time is later than the second time.

[0070] The first label can be the actual plant height determined after artificial review for the first training sample. In some embodiments, the first training sample can be obtained by simulating wind data and inclination data. In some embodiments, the first label can be determined based on artificial inspection or artificial review, and obtained by artificial labeling.

[0071] In some embodiments, the intelligent terminal can input the wind force and wind direction data 1, the wind force and wind direction data 2, and the wind force and wind direction data n at different running time points into the correction model to obtain the corrected plant height 1, the corrected plant height 2, and the corrected plant height n, and determine the final corrected plant height 318 by weighting.

[0072] The running time point refers to a time point corresponding to different wind force and wind direction data. The running time point can be continuous.

[0073] In some embodiments, the intelligent terminal can evaluate the plurality of corrected plant heights corresponding to the plurality of wind force and wind direction data at different running time points by the correction model, and determine the corrected plant height with the highest confidence from the plurality of corrected plant heights.

[0074] In some embodiments, the intelligent terminal can output the corrected plant height confidence at different running time points corresponding to different wind force and wind direction data based on the correction model, and determine the final corrected plant height of the first monitoring point by weighting based on the confidence of the corrected plant height corresponding to each wind force and wind direction data. For more information about the weight, see Figure 4 and the related description.

[0075] The plant type refers to a classification corresponding to the currently monitored plant. The plant type is different, and the influence of wind force on the plant is also different.

[0076] For example, the same wind force has a greater influence on a rice plant than on a corn plant.

[0077] In some embodiments, the intelligent terminal can obtain the sample based on the plant type and the simulated wind force data.

[0078] The simulated wind force data refers to the wind force and wind direction data simulated by human.

[0079] The growth period of the plant refers to a time period from the beginning of the growth of the plant from the seed to a specific stage. The growth period of the plant is different, and the influence of wind force on the plant is also different.

[0080] For example, the same wind force has a greater influence on a seedling stage plant than on a mature stage plant.

[0081] In some embodiments, the first training sample can further include the sample plant type and the growth period of the sample plant. For more information about the plant type and the growth period of the plant, see Figure 3and the related description. In some embodiments, the first training sample can also be obtained by simulating natural wind force data, inclination data, plant type, and growth period of the plant by a human. In some embodiments, the first label can also be obtained by statistically analyzing the distribution of plant height gradients in a period of time in multiple simulation data, and the distribution includes the frequency of occurrence of each plant height gradient. The case where the occurrence frequency is greater than a preset frequency threshold is taken as the first label of the corrected plant height in the past period of time, and the probability of occurrence of the case is taken as the confidence of the corrected plant height.

[0082] In the embodiments of the present specification, the intelligent terminal considers the influence of wind force, wind direction, plant type, and growth period of the plant through the correction model 270, and further evaluates multiple corrected plant heights based on multiple continuous running moments to obtain a corrected plant height with higher reliability than other corrected plant heights, thereby improving the accuracy of the final corrected plant height and reducing the workload of manual verification in the later stage.

[0083] In the embodiments of the present specification, the corrected plant height is determined by the correction model, which can use the self-learning ability of the machine learning model to find the rules from a large amount of simulation data, and obtain the relationship between wind force, wind direction data, inclination data, and monitoring height data, thereby improving the accuracy of the final corrected plant height.

[0084] Figure 4 is an exemplary schematic diagram of determining the regional plant height according to some embodiments of the present specification.

[0085] In some embodiments, as shown in Figure 4 , the intelligent terminal can also be configured to determine the regional plant height 430 of the monitoring region based on the corrected plant height 390.

[0086] For the related description of the corrected plant height and the monitoring region, please refer to the corresponding description of Figure 1 .

[0087] The regional plant height is data reflecting the comprehensive plant height of the monitoring region.

[0088] In some embodiments, the intelligent terminal can determine the regional plant height of the monitoring region based on at least one corrected plant height through multiple ways. For example, the intelligent terminal can statistically analyze the mode or average value of the corrected plant height in one monitoring region, and take the mode or average value as the regional plant height of the monitoring region.

[0089] In some embodiments, the intelligent terminal can also determine the overall deviation amplitude 410 based on the corrected plant height 390 and the wind force and wind direction data 311, and determine the regional plant height 430 based on the overall deviation amplitude 410 and the corrected plant height 390.

[0090] The overall deviation amplitude is an overall deviation that can occur in the monitoring area. For example, the growth of some plants in the monitoring area is uneven, or there is a situation that the north direction of the monitoring area is sunny and the south direction is not sunny, which leads to a large range of height between plants. Even if there is no measurement error, the statistical plant height of the area will also have an error, and at this time the plant height of the area needs to be corrected by using the overall deviation amplitude.

[0091] In some embodiments, the intelligent terminal can determine the overall deviation amplitude based on the corrected plant height and the wind force and wind direction data in multiple ways. For example, the intelligent terminal can statistically obtain a statistical value (such as an average value or a mode) of all corrected plant heights in the monitoring area, and determine the overall deviation amplitude according to the monitoring area where the plant is located, the statistical value, and the wind force and wind direction data by querying a second preset table. The second preset table can include a corresponding relationship among the monitoring area, the statistical value, the wind force and wind direction data, and the overall deviation amplitude, and the second preset table can be generated based on historical data.

[0092] In some embodiments, the intelligent terminal can also determine the overall deviation amplitude 420 based on the corrected plant height 390 and the wind force and wind direction data 311 by using a deviation amplitude determination model 410.

[0093] The deviation amplitude determination model is a model for determining the overall deviation amplitude. In some embodiments, the deviation amplitude determination model can be a machine learning model. For example, the deviation amplitude determination model can be a neural network model (Neural Networks, NN), a deep neural network model (Deep Neural Networks, DNN), etc. In some embodiments, the input of the deviation amplitude determination model can include at least one corrected plant height in the monitoring area and wind force and wind direction data, and the output can be the overall deviation amplitude corresponding to the monitoring area.

[0094] In some embodiments, the deviation amplitude determination model can be trained based on a large number of second training samples with second labels. The second training sample can be at least one sample corrected plant height of a sample monitoring area in the historical record, and the second label can be the historical actual overall deviation amplitude corresponding to the sample monitoring area, which can be obtained by manual monitoring and labeling.

[0095] The training method of the deviation amplitude determination model is similar to the training method of the correction model, and the specific description can be referred to Figure 3 .

[0096] In some embodiments of this specification, historical actual data is used as training samples to train a deviation amplitude determination model. Based on the corrected plant height and wind force and direction data, the deviation amplitude determination model is used to determine the overall deviation amplitude, which can make the determined overall deviation amplitude more accurate, thereby making the subsequently determined regional plant height more accurate.

[0097] In some embodiments, the smart terminal can determine the regional plant height in various ways based on the overall deviation amplitude and the corrected plant height. For example, the smart terminal can calculate a statistical value (such as the mean or mode) based on all corrected plant heights, and obtain the regional plant height based on the overall deviation amplitude and the statistical value. As an example only, the regional plant height can be the sum of the statistical value and the overall deviation amplitude.

[0098] In some embodiments, the smart terminal can also determine the weight sequence based on the corrected plant height, and determine the regional plant height based on the overall deviation amplitude, the weight sequence, and the corrected plant height.

[0099] The weighted sequence is a sequence consisting of the weights corresponding to the height of each plant. The plant height can be an integer, such as 11cm, 12cm, etc.

[0100] In some embodiments, the smart terminal can determine the weight sequence based on the corrected plant height using various methods. For example, the smart terminal can count the number of plant height segments corresponding to the corrected plant height, calculate the proportion of each plant height segment to all plants in the monitoring area, use the proportion of each plant height segment as the weight corresponding to each plant height segment, and arrange the weights corresponding to all plant height segments in a certain order to determine the weight sequence. Here, a plant height segment refers to a plant height value within a specific range, such as [0,5], (5,10], etc. The corrected plant height can be rounded to determine its corresponding plant height segment.

[0101] In some embodiments, the smart terminal can determine the regional plant height based on the overall deviation amplitude, weight sequence, and corrected plant height through various methods. For example, the smart terminal can perform a weighted summation based on the plant height corresponding to the corrected plant height and the weight sequence, and then adjust it by combining the overall deviation amplitude (e.g., by directly adding it to the result of the weighted summation) to determine the regional plant height. As an example only, assume that the plant heights within a certain monitoring area include [h1, h2, ..., h...]. n The weight sequence for each plant height corresponding to the corrected plant height is [k1, k2, ..., k]. n If the height of the plants in a given area is Q, then the height Q can be determined using the following formula (2):

[0102]

[0103] wherein, δ represents the overall deviation amplitude of the monitoring area.

[0104] In some embodiments of the present specification, by determining the weight sequence based on the corrected plant height, and then determining the regional plant height based on the overall deviation amplitude, the weight sequence and the corrected plant height, the overall characteristics of the plant height of the monitoring area can be comprehensively monitored, so that the determined regional plant height is more reasonable.

[0105] In some embodiments, the intelligent terminal can also determine the first monitoring point of the next monitoring period based on the weight sequence, the wind force and wind direction sequence and the inclination data of the historical period. The historical period can be a preset past period of time.

[0106] For related descriptions of inclination data, please refer to the corresponding description of Figure 2 .

[0107] The monitoring period refers to the stage period of monitoring. For example, one monitoring period can correspond to one growth period of the plant. The first monitoring point of the next monitoring period refers to the position that needs to be monitored in the next period.

[0108] In some embodiments, the intelligent terminal can determine the first monitoring point of the next monitoring period based on the weight sequence, the wind force and wind direction sequence and the inclination data of the historical period in multiple ways. For example, the intelligent terminal can adjust the point with larger wind force or larger wind direction fluctuation or larger inclination fluctuation in the current first monitoring point, and the first monitoring point where the plant corresponding to the corrected plant height with smaller weight in the weight sequence is located, to determine the first monitoring point of the next monitoring period.

[0109] For example only, the intelligent terminal can exclude the point in the first monitoring point where the wind force and wind direction data is greater than a preset wind force threshold and a preset fluctuation threshold, exclude the point in the first monitoring point where the inclination data fluctuation exceeds a preset fluctuation range, and exclude the corresponding point in the first monitoring point where the weight of the corrected plant height is less than a preset weight threshold. In the first monitoring point, new points are added near the first n points corresponding to the highest weight of the corrected plant height. In some embodiments, the intelligent terminal determines the remaining first monitoring points and the new points after excluding the points as the first monitoring points of the next monitoring period. The values of the preset wind force threshold, the preset fluctuation threshold, the preset fluctuation range, the preset weight threshold and n can be preset by humans.

[0110] In some embodiments of the present specification, by determining the first monitoring point of the next monitoring period based on the weight sequence, the wind force and wind direction sequence and the inclination data of the historical period, some monitoring points that are prone to measurement deviation can be excluded, so that the monitoring data obtained in the subsequent monitoring process is more reliable.

[0111] In some embodiments of the present specification, by determining the overall deviation range based on the corrected plant height and wind force and wind direction data, and then determining the regional plant height, the determined regional plant height can be more in line with the actual situation and can better reflect the overall height of the monitoring area.

[0112] In some embodiments of the present specification, by determining the regional plant height of the monitoring area based on the corrected plant height, the overall plant height of the monitoring area can be more reasonably and intuitively reflected, which is helpful for subsequent users or researchers to analyze the monitoring data.

[0113] The above has described the basic concept, and it is obvious that the above detailed disclosure is only used as an example for the person skilled in the art, and does not limit the present specification. Although it is not explicitly stated here, the person skilled in the art can make various modifications, improvements and corrections to the present specification. Such modifications, improvements and corrections are suggested in the present specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of the present specification.

[0114] At the same time, specific words are used in the present specification to describe the embodiments of the present specification. As "one embodiment", "an embodiment", and / or "some embodiments" means a certain feature, structure or characteristic related to at least one embodiment of the present specification. Therefore, it should be emphasized and noted that the "an embodiment" or "one embodiment" or "one alternative embodiment" mentioned in different places in the present specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present specification can be properly combined.

[0115] In addition, unless the claim explicitly states, the order of the processing elements and sequences described in the present specification, the use of numerals and letters, or the use of other names, is not intended to limit the order of the processes and methods of the present specification. Although some currently considered useful embodiments of the invention are discussed in the above disclosure through various examples, it should be understood that such details are only for the purpose of illustration, and the additional claims are not limited to the disclosed embodiments, on the contrary, the claims are intended to cover all modifications and equivalent combinations that meet the spirit and scope of the embodiments of the present specification. For example, although the system components described above can be realized by hardware devices, they can also be realized only by software solutions, such as installing the described system on existing servers or mobile devices.

[0116] For simplicity and to facilitate understanding of one or more embodiments, a description of an embodiment sometimes refers to a plurality of features in a single embodiment, drawing, or description of an embodiment. However, this method of disclosure is not to be interpreted as meaning that the claimed embodiment requires more features than are explicitly recited in the claims. In fact, claims that do not specifically claim a combination of features are intended to cover the various possible combinations of features as would be understood by a person of ordinary skill in the art.

[0117] Some embodiments use numerical values to describe components, quantities of attributes. It should be understood that such numerical values used in the description of embodiments are in some examples modified by the adjectives "about," "approximately," or "substantially." Unless otherwise stated, "about," "approximately," or "substantially" indicate that the described value allows for a ±20% variation. Accordingly, numerical parameters in the description and claims are approximations, and can vary depending upon the requirements of the particular embodiment. In some embodiments, numerical parameters are determined by the use of common rounding techniques. Although the numerical ranges and parameters setting forth the broad scope of the embodiments recited in this specification are approximations, the numerical values set forth in the specific examples are reported as precisely as possible. The numerical values set forth in the specific examples are provided to be as precise as reasonably possible. However, some variations may occur depending on the choice of the device used in the experiments.

[0118] Each patent, patent application, patent publication, and other material, such as articles, books, specifications, publications, documents, and the like, referenced herein are hereby incorporated by reference in their entirety for the teachings relevant to the sentence and / or paragraph in which the reference is made. Discrepancies between applications history documents and the present specification, other than limitations on the scope of the claims, are excepted. It is specifically intended that the description, definitions, and / or terminology used in the incorporated material be governed by the disclosures in the present specification, which are only meant to be methods of description and not of limitation.

[0119] Finally, it should be understood that the embodiments described herein are merely exemplary of the principles of the embodiments described herein. Other variations having essentially the same structure and function but different values for components, and / or different materials and arrangements are intended to be covered by the embodiments described herein. Thus, although the present embodiments have been described in detail, only the illustrative embodiments thereof have been described. It should be understood that modifications can be made to the embodiments described without departing from the scope of the present embodiments.

Claims

1. A plant monitoring system, characterized by, The plant monitoring system comprises a monitoring device and an intelligent terminal; The monitoring device comprises an adjusting arm, an image acquisition device, a power driving device and a communication component; the image acquisition device comprises an inclination sensor configured to acquire inclination data of the monitoring device; The image acquisition device is located on the adjusting arm and an automatic irrigation device; the adjusting arm comprises joints with multiple degrees of freedom and is configured to adjust the position of the image acquisition device; the communication component communicates with the intelligent terminal; The intelligent terminal comprises a processor and is configured to: determine a first monitoring point based on a monitoring area, and control the monitoring device to move to the first monitoring point, the first monitoring point being the position of a plant in the monitoring area; adjust the image acquisition device based on the adjusting arm, and acquire a first monitoring image; in response to the presence of a monitoring target in the first monitoring image and the monitoring target being located in a target area, control the monitoring device to stop moving; acquire a monitoring height of the image acquisition device; based on current wind direction data, a wind direction sequence of a historical period, the monitoring height and the inclination data, determine a corrected plant height through a correction model, the correction model being a machine learning model; the input of the correction model further comprises a plant type and a growth period of the plant, and the intelligent terminal is further configured to: based on the plant type and the growth period of the plant, run multiple times according to multiple running time instants corresponding to different wind direction data, to obtain multiple corrected plant heights corresponding to the different wind direction data and a corrected plant height confidence, and determine a final corrected plant height based on the multiple corrected plant heights and the corrected plant height confidence; in response to the final corrected plant height of the first monitoring point satisfying a preset warning condition, issue a warning.

2. The system of claim 1, wherein, The intelligent terminal is further configured to determine a regional plant height of the monitoring area based on the corrected plant height.

3. The system of claim 2, wherein, The intelligent terminal is further configured to: determine an overall deviation amplitude based on the corrected plant height and the wind direction data; determine the regional plant height based on the overall deviation amplitude and the corrected plant height.

4. A plant monitoring method, the method being implemented based on a plant monitoring system, characterized by, The plant monitoring system comprises a monitoring device and an intelligent terminal; The monitoring device comprises an adjusting arm, an image acquisition device, a power driving device and a communication component; the image acquisition device comprises an inclination sensor configured to acquire inclination data of the monitoring device; The image acquisition device is located on the adjusting arm and an automatic irrigation device; the adjusting arm comprises joints with multiple degrees of freedom and is configured to adjust the position of the image acquisition device; the communication component communicates with the intelligent terminal; The intelligent terminal comprises a processor and the method comprises: determine a first monitoring point based on a monitoring area, and control the monitoring device to move to the first monitoring point, the first monitoring point being the position of a plant in the monitoring area; adjust the image acquisition device based on the adjusting arm, and acquire a first monitoring image; In response to the presence of the monitoring target in the first monitoring image and the monitoring target being located in the target region, the monitoring device is controlled to stop moving; acquiring a monitoring height of the image acquisition device; based on the current wind direction data, the historical wind direction sequence, the monitoring height and the inclination data, determining a corrected plant height by a correction model, the correction model being a machine learning model; The input of the correction model further includes plant type and growth period of the plant, and the intelligent terminal is further configured to: based on the plant type and the growth period of the plant, running multiple times according to multiple running time corresponding to different wind direction data, obtaining multiple corrected plant heights and corrected plant height confidence corresponding to the different wind direction data, and determining the final corrected plant height by weighting based on the multiple corrected plant heights and the corrected plant height confidence; In response to the final corrected plant height of the first monitoring point meeting the preset warning condition, a warning is issued.

5. The method of claim 4, wherein, The method further comprises: determining a regional plant height of the monitoring region based on the corrected plant height.

6. The method of claim 5, wherein, The method further comprises: determining a regional plant height of the monitoring region based on the corrected plant height. The method further comprises: determining a regional plant height of the monitoring region based on the corrected plant height. The method further comprises: determining a regional plant height of the monitoring region based on the corrected plant height. The method further comprises: determining a regional plant height of the monitoring region based on the corrected plant height. The method further comprises: determining a regional plant height of the monitoring region based on the corrected plant height.

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