The method for laying out and locating the test single plants

Abstract

The application provides a method for arranging and positioning a single plant, which comprises the following steps: planning a straight line investigation channel along the edge of a test field on the ground of the test field, taking the direction of the straight line investigation channel as a horizontal tree row direction, and determining the direction perpendicular to the horizontal tree row direction on the ground as a vertical tree column direction; giving each test single plant to be planted in the test field a unique coordinate code based on the horizontal tree row direction and the vertical tree column direction; and arranging each test single plant based on the coordinate code. The application solves the technical problem that the arrangement method in the prior art cannot realize single plant positioning and cannot achieve single plant research precision.

Description

Technical Field

[0001] This application relates to the field of forestry technology, and more specifically, to a method for the layout and location survey of experimental individual trees. Background Technology

[0002] In forestry production and scientific experiments, it is often necessary to study the impact of production measures and external conditions on tree growth, such as cultivating superior tree varieties and determining high-yield cultivation methods, all of which rely heavily on field trials. Once a reasonable field trial design is determined according to the experimental requirements, the success of the trial largely depends on the field layout of the experimental forest and the quality of data collection. Forestry field trials are primarily conducted in mountainous areas, requiring long-term and repeated surveys and data collection, which carries a high risk of human error. For example, tree breeding trials may involve hundreds of varieties, lasting for decades and requiring individual tree selection. In mountainous conditions, the terrain is highly varied, trees are tall, and visibility is poor, making field layout extremely difficult. Later surveys often involve spending considerable time identifying and locating individual experimental trees, frequently resulting in misidentification of test trees.

[0003] In current forestry experiments, individual trees within experimental plots are generally not numbered. Instead, surveys are repeated at the plot level, and analysis is based on plot mean values. This fails to achieve precise individual tree location and thus lacks the required research accuracy. These problems have remained largely unresolved, becoming a significant factor hindering the reliability of field experiments in mountain forestry.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This application provides a method for deploying and locating experimental individual plants, which at least solves the technical problem that existing deployment methods cannot achieve single-plant location and cannot reach the accuracy of single-plant research.

[0006] According to one aspect of the embodiments of this application, a method for deploying experimental individual trees is provided, comprising: planning a straight survey channel along the edge of the experimental site on the ground, and taking the direction of the straight survey channel as the transverse tree row direction, and determining the direction on the ground perpendicular to the transverse tree row direction as the longitudinal tree column direction; assigning a unique coordinate code to each experimental individual tree to be planted in the experimental site based on the transverse tree row direction and the longitudinal tree column direction; and deploying each experimental individual tree based on the coordinate code.

[0007] According to another aspect of the embodiments of this application, a method for locating a single experimental plant is also provided, comprising: locating the single experimental plant using the coordinate code set in the above method.

[0008] According to another aspect of the embodiments of this application, a method for locating and investigating experimental plants is also provided. Based on the coordinate codes set in the above-described layout method, an experimental layout table and an experimental investigation table are compiled, wherein the experimental layout table and the experimental investigation table are independent of each other. The experimental plants are located based on the above-described location method, data of the located experimental plants are collected, and the collected data are recorded as investigation data in the experimental investigation table for investigation and analysis. The investigation data in the experimental investigation table can be integrated and correlated based on the coordinate codes and the experimental data in the experimental layout table, so that experimental factors associated with the experimental layout table do not need to be considered when collecting data in the field.

[0009] In this embodiment, a straight survey path is planned along the edge of the experimental site on the ground, and the direction of the straight survey path is taken as the transverse tree row direction. The direction perpendicular to the transverse tree row direction on the ground is determined as the longitudinal tree column direction. Based on the transverse tree row direction and the longitudinal tree column direction, each experimental tree to be planted in the experimental site is assigned a unique coordinate code. Based on the coordinate codes, each experimental tree is deployed. This solution solves the technical problem that existing deployment methods cannot achieve single-tree positioning and cannot reach the required precision for single-tree research. Attached Figure Description

[0010] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0011] Figure 1 This is a flowchart of a method for arranging experimental single plants according to an embodiment of this application;

[0012] Figure 2 This is a flowchart of a forestry experimental deployment method that is suitable for mountainous conditions, facilitates deployment, and enables single-tree positioning, according to an embodiment of this application.

[0013] Figure 3 This is a flowchart of a method for locating a single experimental plant based on planar coordinates according to an embodiment of this application;

[0014] Figure 4 This is a flowchart of a method for locating and investigating a single experimental plant according to an embodiment of this application;

[0015] Figure 5 This is a flowchart of a method for deploying experimental single plants based on an unmanned aerial vehicle (UAV) according to an embodiment of this application. Detailed Implementation

[0016] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0017] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0018] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail. Any specific values ​​in all examples shown and discussed herein should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0019] Example 1

[0020] This application provides a method for arranging experimental individual plants, such as... Figure 1 As shown, the method includes the following steps:

[0021] Step S102: Plan a straight survey channel along the edge of the test site on the ground, and take the direction of the straight survey channel as the horizontal tree row direction, and determine the direction on the ground that is perpendicular to the horizontal tree row direction as the vertical tree column direction.

[0022] First, a straight survey route is planned. Based on the principle of facilitating accessibility, the straight survey route is positioned on one edge of the test site. Then, the direction of the straight survey route is designated as the transverse tree row direction, and the direction perpendicular to the transverse tree row direction on the ground is determined as the longitudinal tree column direction.

[0023] This embodiment provides a clear framework for planning straight survey channels and determining the lateral and longitudinal tree row directions, making the placement of individual experimental trees more organized and controllable. By planning channels along the edge of the experimental site and determining their direction, consistency and accuracy in the layout can be ensured, while making subsequent placement of individual experimental trees and data collection more efficient. Furthermore, this method provides a reliable coordinate system, facilitating the positioning and management of individual experimental trees and aiding in the subsequent analysis and interpretation of experimental results.

[0024] Step S104: Based on the horizontal tree row direction and the vertical tree column direction, assign a unique coordinate code to each experimental tree to be planted in the experimental site.

[0025] First, the row spacing and plant spacing are determined. The row spacing is the longitudinal distance between tree rows, and the plant spacing is the lateral distance between tree rows. A tree row is a single row of experimental trees along the lateral direction, and a tree row is a single row of experimental trees along the longitudinal direction. The plant spacing is greater than the row spacing to increase the visibility of the tree rows in the field. This embodiment, by clearly defining these distances, ensures that the arrangement of experimental trees on the experimental site has a certain regularity and comparability. Reasonable setting of row and plant spacing can effectively control the utilization efficiency of the experimental site, minimize the mutual influence between experimental trees, and facilitate subsequent data collection and analysis. Furthermore, this layout scheme helps improve the repeatability and accuracy of the experiment, thus providing a reliable basis for subsequent experimental results.

[0026] Then, based on the row spacing and plant spacing, planting holes for the experimental plants are arranged on the ground of the experimental plot, and each planting hole is assigned a unique coordinate code. For example, along the longitudinal tree column direction, the planting holes for the experimental plants are arranged from bottom to top in the first tree column according to the row spacing; after the first tree column is arranged, starting from the next tree column immediately adjacent to the first tree column, the planting holes for the experimental plants are arranged from bottom to top in the next tree column according to the row spacing, until the experimental plot is filled with planting holes. This embodiment ensures that the spacing between experimental plants is uniform by arranging planting holes on the experimental plot according to the prescribed row spacing, which helps to maximize the use of the experimental plot space and improve the efficiency of the experiment. The method of arranging the planting holes column by column along the longitudinal tree column direction ensures that the arrangement of experimental plants is systematic and operable, making subsequent experimental operations simpler and more efficient. At the same time, assigning a unique coordinate code to each planting hole helps to accurately locate and identify the experimental plants, providing a reliable foundation for subsequent data collection and analysis.

[0027] Specifically, when the straight survey channel is located on the lower edge of the experimental site, each planting hole is numbered sequentially from 1 along the horizontal tree row direction, starting from the lower edge of the experimental site. The horizontal coordinate of the tree row is assigned as x. In each vertical tree row direction, each planting hole is numbered sequentially from 1 from bottom to top, starting from the straight survey channel. The vertical coordinate of the planting hole in the tree row is assigned as y, thus assigning a unique coordinate code to the planting hole corresponding to each experimental tree. The advantage of this layout scheme is that it provides an intuitive and operable coordinate system, enabling each experimental tree to be accurately located and identified. In addition, this layout method also ensures that the distribution of experimental trees on the experimental site has a certain regularity and comparability, which is helpful for subsequent data collection, analysis, and interpretation.

[0028] Finally, fixed markers were set at the edge of the straight survey channel for each planting hole in each tree row. The coordinates of the fixed markers were (x, 0), where x represents the tree row number. On each tree row, a fixed marker was set at every predetermined number of planting holes, starting from coordinate (x, 1). The use of fixed markers ensured the accuracy and stability of the location of individual plants in the experiment. These markers also helped simplify the management and maintenance of the experimental site, while providing important reference points and basis for subsequent data collection and analysis, thereby improving the repeatability of the experiment and the reliability of the results.

[0029] Step S106: Based on the coordinate encoding, experimental plants are deployed in the field according to the experimental design.

[0030] When setting up the test plants, ensure that each plant is accurately placed at its corresponding coordinates. Measuring tools, such as rulers or GPS positioning systems, can be used to ensure accuracy.

[0031] Example 2

[0032] This application provides a forestry experimental layout method suitable for mountainous conditions, which is convenient for deployment and enables single-tree positioning. Figure 2 As shown, the method includes the following steps:

[0033] Step S202: Establish a plane coordinate system for the mountain experimental forest.

[0034] After the experimental site is determined, a straight survey corridor is planned horizontally along the edge of the experimental forest (also known as the experimental plot). Existing road systems should be utilized as much as possible. The straight survey corridor can be located at the upper or lower end of the experimental forest, based on accessibility. This horizontal straight survey corridor is designated as the x-axis of the experimental forest, and the corresponding longitudinal tree line direction perpendicular to the straight survey corridor is designated as the y-axis. This embodiment establishes a plane coordinate system for the mountain experimental forest, facilitating convenient experimental setup in mountainous conditions. By planning the straight survey corridor and establishing the coordinate system, the experimental setup process becomes simpler and clearer, helping to save time and resources.

[0035] In this embodiment, following the general definition in forestry, a row of trees running longitudinally down a mountain slope is called a tree column, and a row of trees running horizontally is called a tree row. If the straight survey channel is located at the lower end of the experimental forest, each row of experimental trees is numbered sequentially from left to right along the straight survey channel (horizontal axis), starting from 1. The horizontal coordinate of the tree column is coded as x. In each longitudinal tree column, each tree is numbered sequentially from bottom to top along the straight survey channel, starting from 1. The vertical coordinate of the tree row is coded as y. Thus, each experimental tree has a unique coordinate (x, y). This embodiment, through a coordinate coding system, ensures the uniqueness and traceability of each experimental tree, facilitating subsequent management and data analysis.

[0036] In practice, a straight survey corridor is first established within the experimental forest. Starting from the forest edge, planting pits are arranged along the corridor according to the designed tree spacing and row spacing. The lateral distance between tree rows is the tree spacing, and the longitudinal distance between tree rows is the row spacing. To avoid misidentification during trial setup and subsequent surveys, the tree spacing is usually greater than the row spacing. For example, the tree spacing is 3 meters, and the row spacing is 2 meters. Furthermore, planting pits are arranged along the slope, ensuring that trees in the same row are on the same straight line. After determining the planting pits, fixed markers are erected for each row of trees in the row immediately adjacent to the straight survey corridor, marked with coordinates (x, 0). In each row, starting from (x, 1), one cement marker is erected for every 10 trees, marked with coordinates (x, 10), (x, 20), ... By setting cement markers and specifying intervals, misidentification during trial setup and subsequent surveys can be effectively avoided, ensuring the accuracy and reliability of the data.

[0037] Step S204: Layout based on coordinate system.

[0038] This embodiment uses a planar coordinate-based method for setting up experimental single plants, plots, and replicates. If the experimental design consists of m treatments, n replicates, and k plant plots, then starting from position (1,1), experimental treatments are randomly arranged upwards along the first column. Each treatment is arranged with k plants consecutively. After the arrangement in the first column is completed, the next column is arranged sequentially. After the m treatments are completed, the next replicate begins until all n replicates are completed.

[0039] Table 1 below shows the coordinate-based experimental setup for a randomized block experiment with 4 treatments, 3 replicates, and 5 plants.

[0040]

[0041] Table 1

[0042] In Table 1, T1 to T4 represent different treatments, and I, II, and III represent the first, second, and third repetitions, respectively.

[0043] This embodiment allows for flexible arrangement of experimental treatments, replicates, and plots based on the coordinate system, making deployment more flexible and efficient, according to the experimental design and requirements. Furthermore, the method provided in this embodiment enables single-plant positioning, accurately determining the location of individual experimental plants even in complex mountainous environments. This is crucial for subsequent data collection, monitoring, and management.

[0044] This application has the following beneficial effects:

[0045] Facilitates experimental setup. Traditionally, setting up experiments on mountainous terrain requires planning all experimental blocks and plots before afforestation, planting the experimental seedlings in the corresponding locations during afforestation, and then drawing cumbersome experimental layout diagrams based on the experimental design. According to the technical solution provided in this application, the coordinate system covers the entire experimental forest, eliminating the need for pre-planning and marking of experimental blocks and plots in the field. Blocks and plots can be randomly arranged on-site based on the coordinate system during afforestation, greatly simplifying the experimental setup.

[0046] Facilitates data collection. According to the scheme proposed in this application, during the later stages of experimental data collection, individual trees can be accurately located and corresponding experimental treatments identified using the experimental forest coordinates. Field surveys only require mechanically and sequentially investigating individual trees based on the experimental forest coordinates. Compared to locating and surveying experimental trees based on experimental design layout diagrams, the scheme provided in this application is convenient, reliable, time-saving, and labor-saving. It significantly reduces human error caused by misidentifying experimental trees, greatly improves survey efficiency, and also facilitates outsourcing of experimental survey work and maintains experimental confidentiality.

[0047] This invention enables individual tree location. Traditional forestry experimental setup and survey practices do not distinguish between individual trees in experimental plots, making it impossible to compare survey values ​​of individual trees at different times; analysis and research can only be conducted based on the plot average. The solution provided in this application assigns a unique coordinate code to each individual tree in the experiment, allowing for multiple surveys and comparisons of individual trees, thus improving experimental precision from the plot level to the individual tree level.

[0048] It saves experimental land. According to the experimental layout plan in this application, the coordinate system of the experimental site can fully cover the experimental forest land, and theoretically all individual trees on the experimental site can be included in the experiment, thus significantly improving the utilization rate of the experimental forest land.

[0049] Example 3

[0050] This application provides a method for locating individual experimental plants based on planar coordinates, such as... Figure 3 As shown, the method includes the following steps:

[0051] Step S302: Obtain coordinate codes.

[0052] The experimental plants were arranged according to a coordinate system. As per Examples 1 and 2, each plant in each replicate and each treatment was assigned a unique coordinate code (x, y), accurately recording the coordinate code corresponding to each plant in each replicate and each treatment. The method for arranging the experimental plants is described in detail in Examples 1 and 2, and will not be repeated here.

[0053] A coordinate-based experimental layout table was developed to match coordinate codes with experimental treatments at the individual plant level. By establishing this table, the coordinate codes corresponding to each individual plant in each replicate and treatment can be clearly recorded, ensuring a structured and standardized experimental layout. This helps avoid errors and confusion in individual plant placement, ensuring the reliability and reproducibility of the experiment.

[0054] Based on the experimental layout table, the coordinate codes of the individual experimental plants to be located are obtained. These coordinate codes are generated according to the coordinate system established during the experimental setup. Each individual plant is assigned a unique coordinate code (x, y), where x represents the coordinate in the horizontal tree row direction and y represents the coordinate in the vertical tree column direction. In this embodiment, each individual plant is assigned a unique coordinate code, enabling accurate determination and recording of its location. This ensures the accuracy of the experimental data and makes the experimental results traceable, facilitating subsequent data analysis and interpretation.

[0055] Step S304: Locate the experimental plant according to the coordinate code.

[0056] The location of each individual experimental plant can be accurately determined on the test site based on the cement stake markers set on the ground. In this embodiment, using coordinate coding and a test layout table, the location of each individual experimental plant can be quickly and accurately determined on the test site without complex measurements and calculations. This saves significant time and labor costs, improving the efficiency of test setup and ease of operation. Furthermore, the coordinate coding allows for precise location of each individual plant, while the cement stake markers on the ground further ensure the accuracy and stability of the positioning. This helps guarantee the accuracy of the individual plant's location and reduces the possibility of experimental data errors.

[0057] The single-plant positioning method based on planar coordinates in this embodiment can improve the accuracy and reliability of experimental data, as well as the efficiency of experimental setup and ease of operation, thus laying the foundation for the credibility and repeatability of experimental results.

[0058] Example 4

[0059] This application provides a method for the location survey of a single experimental plant, such as... Figure 4 As shown, the method includes the following steps:

[0060] Step S402: Prepare the test layout table and test survey table.

[0061] The test setup is shown in Table 1 above, and will not be repeated here.

[0062] This application embodiment assumes that the investigation will focus on the effect of different treatments on the tree height of the experimental individual trees in Table 1 above. In this case, an experimental investigation table as shown in Table 2, which matches the experimental layout table, can be designed.

[0063]

[0064] Table 2

[0065] The experimental survey form and the experimental layout form are two independent recording tools. The experimental survey form records the coordinate code and survey data for each experimental plant, while the experimental layout form records information such as the experimental method and coordinate code for each experimental plant.

[0066] Step S404: Data collection based on the experimental questionnaire.

[0067] In traditional field surveys, it is usually necessary to conduct the survey according to the records in the experimental layout table. Surveyors must carefully check the experimental treatment information in the experimental layout table, then find the corresponding experimental plant locations in the field and make corresponding survey records. This method is very time-consuming and labor-intensive because the locations of experimental treatments are mostly random and disordered according to experimental requirements. Surveyors need to constantly search and confirm back and forth in the field according to the experimental layout table.

[0068] This application embodiment collects data from the located experimental plants based on coordinate encoding, and records the collected data as survey data in the experimental survey table for investigation and analysis. In later processing, the survey data in the experimental survey table and the experimental treatment in the experimental layout table are correlated and fused based on the coordinate encoding. In this way, experimental factors do not need to be considered when collecting data in the field.

[0069] Specifically, during field surveys, data is collected sequentially in the experimental forest according to the coordinate coding guidelines. There is no need to distinguish between experimental treatments, replicates, and individual trees on-site; the survey can be conducted solely based on the corresponding coordinate codes. For example, if the field survey shows a tree height of 2 meters based on coordinate code (5, 7), the survey value of the individual tree height at (5, 7) should be directly recorded as 2 meters in the coordinate-coded experimental survey table.

[0070] During the subsequent indoor data processing, the survey data in the experimental survey table were associated with the corresponding experimental treatments using the coordinate codes in the experimental layout table. According to Table 1, the plant with the coordinate code (5, 7) is easily identified as the second plant from the bottom up in treatment T1 of experiment III replicate, with a survey value of 2 meters according to the field survey records. For example, firstly, the coordinate codes of each experimental plant recorded in the experimental survey table are associated with the corresponding coordinate codes in the experimental layout table to ensure that each survey data corresponds to its corresponding coordinate code. Then, the survey data in the experimental survey table are associated and merged with the experimental treatment data at the corresponding coordinate positions in the experimental layout table according to the coordinate code correspondence. Finally, the merged data is organized to ensure the consistency and accuracy of the data format.

[0071] In this embodiment, the experimental survey form and the experimental layout form are independent of each other, and experimental factors do not need to be considered during field surveys. Thus, investigators only need to work according to the records in the experimental survey form, without needing to consider the information in the experimental layout form. The experimental survey form clearly records the coordinates of each experimental plant and the items to be investigated; therefore, investigators only need to investigate the experimental plants in the order indicated by the coordinates. This method greatly simplifies the field survey process, reduces the risk of mislocating experimental plants, saves a significant amount of time and effort, and can significantly improve survey efficiency.

[0072] The practical application of the method provided in this embodiment will be described in detail below.

[0073] The experimental site is located in a certain area, covering 80 mu (approximately 5.3 hectares). A logging road runs along the bottom of the hillside beneath the experimental forest. When setting up the full-sib progeny determination experiment, the logging road along the bottom of the hillside is designated as the horizontal axis (X), and the direction perpendicular to the horizontal axis along the slope is designated as the vertical axis (Y). From the west end of the experimental forest eastward, a cement post is buried every 3 meters along the X-axis, numbered (1, 1)..., (112, 1). Starting from each post, a line is drawn perpendicular to the X-axis along the slope, with a planting hole placed every 2 meters along the line. Due to variations in slope length, the number of holes in each row ranges from 5 to 42. For rows x with more than 10 holes, a row marker cement post is buried at every 10 trees, numbered (x, 10), (x, 20), (x, 30), and (x, 40). A randomized block design was adopted, with 142 families participating. Five-plant plots were used in eight replicates, with participating families randomly assigned within each replicate. After one replicate was completed, the next replicate began. After afforestation, a family configuration map based on coordinate coding was drawn. Using this method to conduct progeny determination experiments in the field can save more than 30% of labor time and 25% of experimental land. It allows for convenient location and investigation of any individual plant based on coordinates, solving the problem of extremely difficult single-plant location in the forest. This method is particularly suitable for progeny determination experiments in forests requiring the selection of superior families and individual plants.

[0074] The experimental site, covering an area of ​​50 mu (approximately 3.3 hectares), was used to conduct a dry season irrigation experiment on a mountain plantation. The experiment included seven treatments: ① control (conventional management); ② watering once in March; ③ water-retaining agent + watering once in March; ④ watering once in March + watering once in April; ⑤ water-retaining agent + watering once in March + watering once in April; ⑥ watering once in March + watering once in April + watering once in May; ⑦ water-retaining agent + watering once in March + watering once in April + watering once in May. Each treatment had 20 replicates, arranged on trees in the same row. The road along the upper part of the experimental plot was designated as the horizontal axis (X), and the direction perpendicular to the horizontal axis and downhill was designated as the vertical axis (Y). From south to north, a cement post was placed under each row of trees, numbered (1, 1)..., (20, 1) for the first row, and so on for the other six rows. The seven treatments were randomly distributed across the seven rows of trees. Using this method to set up forestry irrigation experiments in the field is extremely convenient for both experiment implementation and investigation. Multiple treatments can be easily and accurately located for individual trees based on coordinate assistance, which significantly improves field work efficiency and reduces human error in experiments.

[0075] Example 5

[0076] This application provides a method for deploying experimental single plants based on unmanned aerial vehicles (UAVs), such as... Figure 5 As shown, the method includes the following steps:

[0077] Step S502, Topographic survey.

[0078] Topographical surveys of the test site are conducted using sensors such as cameras or lidar mounted on drones. Aerial photography by drones can acquire high-resolution image data or 3D terrain models of the test site. Data acquired using lidar and other sensors is then used to generate high-precision topographic maps, including information such as ground elevation and slope.

[0079] Step S504, Data Processing and Analysis.

[0080] The collected terrain data is imported into a computer for processing and analysis. Remote sensing image processing software or Geographic Information System (GIS) software can be used to process the data and extract terrain features and relevant information about the test site.

[0081] Step S506: Develop a deployment plan.

[0082] On the map, plan a straight survey corridor horizontally along the edge of the experimental forest, making full use of the existing road system. The straight survey corridor can be located at the upper or lower end of the experimental forest based on the principle of facilitating accessibility. Set the straight line containing this horizontal survey corridor as the horizontal axis X of the experimental forest, and the corresponding vertical tree row direction perpendicular to the straight survey corridor as the vertical axis Y of the experimental forest.

[0083] In this embodiment, following the general definition in forestry, a row of trees running longitudinally down a mountain slope is called a tree row, and a row of trees running horizontally is called a tree line. If the straight survey passage is located at the lower end of the experimental forest, planting holes for the experimental individual trees are arranged from bottom to top on the first tree row along the longitudinal tree row direction on the map, according to the row spacing. After the first tree row is completed, starting from the next tree row immediately adjacent to the first tree row, planting holes for the experimental individual trees are arranged from bottom to top on the next tree row according to the row spacing, until the experimental area is filled with planting holes.

[0084] Mark the location of each planting hole on the map. The location of the planting hole can be marked using a coordinate system, such as a Cartesian coordinate system or a latitude and longitude coordinate system, to assign a unique coordinate code to each experimental plant.

[0085] Step S508: Deploy the equipment.

[0086] Based on the test deployment plan designed on the map, the test area is automatically set up using drones. The drones are equipped with GPS positioning systems and automatic flight control systems, enabling precise route planning and autonomous flight. During flight, the drones can automatically release test markers according to the pre-set deployment plan, completing the deployment of the test area.

[0087] The path planning during deployment will be described in detail below. First, a UAV path planning training model based on deep reinforcement learning is established, using training data obtained from the UAV's interaction with the environment. The model is constructed based on a reward function, including rewards for reaching the target, proximity to the target, collision penalties, and obstacle approach penalties. Deep reinforcement learning is used to learn the UAV's path planning strategy. During training, the policy parameters are gradually decreased to improve the model's stability and efficiency. Simultaneously, when the UAV is about to collide with an obstacle, a safety controller is triggered to ensure safe flight. For example, a preset value can be set at the beginning of training and gradually decreased with each training round, employing an adaptive learning rate adjustment strategy to dynamically adjust parameters based on performance during training, thereby improving training efficiency and convergence speed. Furthermore, when determining whether a collision with an obstacle will occur in the next state, dynamic factors such as the UAV's speed and acceleration are used to more accurately assess the collision risk and trigger the safety controller in a timely manner.

[0088] Furthermore, in situations with a large test area, multiple drones are required for coordinated operation. First, a multi-drone kinematic model is constructed to simulate drone motion behavior. Second, biological self-organization mechanisms and cooperation rules are mapped onto the multi-drone kinematic model, thus establishing behavioral rules for the multiple drones. These behavioral rules include target behavior rules, inter-drone obstacle avoidance rules, formation behavior rules, and obstacle avoidance rules. For different behavioral rules, the following definitions and implementations are provided: First, for the target behavior rule, the distance between each drone and the target area is calculated, and based on these distances, the virtual attraction of the target area to each drone is determined to encourage drones to approach the target area. Next, in the inter-drone obstacle avoidance rule, virtual forces between drones are determined based on their safe operating range to avoid collisions. In the formation behavior rule, based on the desired inter-drone distance and formation flight speed, the velocity matching behavior in Reynolds rules is used to ensure that the positions, speeds, and angles of the drones tend to be consistent. Finally, in the obstacle avoidance behavior rules, the distance from each drone to the obstacle was obtained, and based on these distances, the virtual repulsive force of the obstacle on each drone was determined to avoid collisions with the obstacle. Then, the weight values ​​of these behavior rules were fused, and based on the fused weight values ​​and the virtual control input of each behavior rule, the deployment path for multi-drone cooperative operation was determined.

[0089] Step S510: Perform experimental single-plant positioning.

[0090] The location of each experimental plant can be precisely determined on the experimental site using a GPS positioning system mounted on a drone, combined with pre-recorded coordinates. The drone can autonomously fly to the location of each plant based on a pre-set flight path and coordinate information for further positioning. Specifically, Kalman filtering is performed using the drone's GPS to accurately infer the plant's location. For example, based on matrix operations and state estimation using multiple parameters, iterative calculations and multi-sensor fusion technology ultimately achieve high-precision spatial coordinate positioning of the experimental plant.

[0091] Drones can also guide investigators to designated experimental plants for different treatments. They can also use cameras to collect data on the experimental plants and integrate this data with the locations of planting holes on a map to generate a survey form.

[0092] In some embodiments, when investigators need to manually process or collect data from individual experimental plants, the drone can automatically release experimental markers again based on the location information of the planting holes set on the map. Investigators can then associate the data of the individual experimental plants with the coordinate information of the planting holes using the QR code or ID information set on the experimental markers to generate a survey form.

[0093] In some embodiments, investigators may carry a positioning device that can send the collected data and the location information of the experimental plants to the cloud and associate it with the location of the planting holes on a map in the cloud.

[0094] In the positioning device, a geomagnetic sensor is used to acquire the movement speed of the investigator. The geomagnetic information received by the sensor is time-domain normalized to obtain processed normalized geomagnetic information. From this processed information, two specific zero points are selected as feature points. First, all first zero points are identified on the horizontal axis of the normalized geomagnetic information, from 0 until the vertical axis first falls below a first preset threshold. These zero points are then processed using the least squares method to determine their positions. Next, all second zero points are identified on the vertical axis of the normalized geomagnetic information, from the first preset threshold to a second preset threshold. These second zero points are then processed using the least squares method to determine their positions. By calculating the time difference between these two zero points, the investigator's movement speed can be calculated based on this time difference. In some embodiments, an IMU can also be used to correct the movement speed, for example, by establishing biometric weighting factors based on the investigator's biometrics (e.g., height, weight, stride length, walking rhythm, etc.). The IMU acceleration data is low-pass filtered, and IMU weighting factors are formed based on the sum of acceleration vectors at the previous and current sampling points, the minimum and maximum values ​​of the acceleration vectors, and the dynamic range and rate of change of the acceleration data. A step size model is generated by fitting the biometric weighting factors and the IMU weighting factors using linear regression, multiple linear regression, or support vector regression. This model is then used to estimate the investigator's current step size. The investigator's velocity in free motion is calculated based on the estimated current step size, and the error between the velocity calculated from geomagnetic sensing and the velocity in free motion is compared. This error is then used to correct the velocity calculated from geomagnetic sensing. This method improves the system's positioning accuracy and stability.

[0095] After collecting data from the located individual experimental trees, field surveyors record this data in an experimental survey form for subsequent investigation and analysis. The experimental survey form is a document used to record survey data for each individual experimental tree, including the tree's coordinate code and relevant collected data such as tree height, diameter at breast height (DBH), crown size, growth status, and health condition.

[0096] The structure of the experimental survey form can be designed according to actual needs and may include the following parts: Coordinate codes or coordinate positions obtained from positioning devices: Record the coordinate codes of each experimental tree to ensure accurate correspondence between data and tree location. Survey data: Includes collected data related to the experimental purpose, such as tree height, diameter at breast height (DBH), and crown size. Each data item corresponds to a specific coordinate code. Remarks: Used to record special circumstances or other matters requiring attention during the field survey.

[0097] After field investigators complete data collection and fill in the experimental survey forms, they integrate and correlate these survey data with the experimental data in the experimental layout forms for further analysis. For example, firstly, based on the coordinate codes recorded in the experimental survey forms, the survey data are matched with the corresponding experimental treatment data at the coordinate locations in the experimental layout forms. Then, the matched survey data is correlated with the experimental treatment data in the experimental layout forms to form a complete dataset. In this way, the survey data for each experimental plant can be associated with its corresponding experimental treatment. Afterward, the fused data is processed and cleaned to ensure consistency and accuracy. This includes processes such as removing outliers and filling in missing values. Finally, the fused data is used for further analysis and interpretation to evaluate the validity and reliability of the experimental results. This includes statistical analysis, chart visualization, and trend analysis.

[0098] Through the above steps, the survey data in the experimental survey form can be integrated and correlated with the experimental data in the experimental layout form, eliminating the need to consider experimental factors related to the experimental layout form when collecting data during field surveys. This allows investigators to focus solely on data collection during field surveys without worrying about complex information related to the experimental layout, thereby improving the efficiency and accuracy of field surveys.

[0099] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for arranging experimental individual plants, characterized in that, include: A straight survey channel is planned along the edge of the test site on the ground, and the direction of the straight survey channel is taken as the horizontal tree row direction. The direction perpendicular to the horizontal tree row direction on the ground is determined as the vertical tree column direction. Based on the horizontal tree row direction and the vertical tree column direction, each experimental tree to be planted in the experimental site is assigned a unique coordinate code; Based on the coordinate coding, and according to the experimental design, experimental plants were deployed in the field; The process of assigning a unique coordinate code to each experimental tree to be planted in the experimental site includes: determining the row spacing and the plant spacing, wherein the row spacing is the longitudinal distance between tree rows, and the plant spacing is the lateral distance between tree columns, wherein the tree row is a row of experimental trees along the lateral direction of the tree row, and the tree column is a row of experimental trees along the longitudinal direction of the tree column, and the plant spacing is greater than the row spacing to increase the visibility of the tree column in the field; based on the row spacing and the plant spacing, planting holes for the experimental trees are arranged on the ground in the experimental site, and each planting hole is assigned a unique coordinate code.

2. The method according to claim 1, characterized in that, in, The straight survey passage is set on one edge of the test site according to the principle of facilitating accessibility.

3. The method according to claim 2, characterized in that, Based on the row spacing and the plant spacing, planting holes for the experimental individual plants are arranged on the ground in the experimental plot, including: Along the longitudinal tree column direction, the planting holes for the experimental individual plants are arranged from bottom to top on the first tree column according to the row spacing; After the first row of trees is arranged, starting from the next row of trees immediately adjacent to the first row, the planting holes for the experimental plants are arranged from bottom to top in the next row of trees according to the row spacing, until the experimental site is filled with planting holes.

4. The method according to claim 1, characterized in that, After the planting holes are arranged, the method further includes: Fixed markers are set at the edge of the straight survey channel for each tree row of planting holes, and the coordinates of the fixed markers are (x, 0), where x represents the tree row number; On each tree column, starting from coordinate (x, 1), a fixed marker is set for every preset number of planting holes.

5. The method according to claim 1, characterized in that, Assigning a unique coordinate code to each planting hole includes: when the straight survey channel is located on the lower edge side of the test site, numbering each column of planting holes sequentially from 1 along the transverse tree row direction starting from the lower edge side of the test site, and setting the transverse coordinate code of the tree row to x; in each longitudinal tree row direction, numbering each column of planting holes sequentially from 1 from bottom to top starting from the straight survey channel, and setting the ordinate coordinate code of the planting holes in the tree row to y, so as to assign a unique coordinate code to the planting hole corresponding to each test plant.

6. The method according to claim 1, characterized in that, In an experiment requiring m treatments, n replicates, and k plant plots, starting from the intersection of the first tree column and the first tree row, experimental treatments are randomly arranged from bottom to top along the first tree column. Each treatment has k experimental plants arranged consecutively. After the first tree column is completed, starting from the next tree column immediately adjacent to the first tree column, the planting holes for the experimental plants are arranged from bottom to top along the next tree column according to the row spacing, until all m treatments are completed. Then, the next replicate begins, and so on, until all n replicates are completed.

7. A method for locating a single experimental plant, characterized in that, include: The experimental plant is located using the coordinate encoding set in any one of claims 1 to 6.

8. The method according to claim 7, characterized in that, The coordinate code is derived based on the fixed stakes set on the test site.

9. A method for location survey of experimental single plants, comprising: Based on the coordinate coding set in any one of claims 1 to 6, a test layout table and a test survey table are compiled, wherein the test layout table and the test survey table are independent of each other; The experimental plant is located using the method described in claim 7 or 8. Data of the located experimental plant is collected, and the collected data is recorded as survey data in the experimental survey table for investigation and analysis. The survey data in the experimental survey table can be integrated and correlated with the experimental data in the experimental layout table based on the coordinate code, so that experimental factors associated with the experimental layout table do not need to be considered when collecting data in the field.

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