An information collection and monitoring system for wild yew

Abstract

The present invention relates to an information collection and monitoring system for wild yew trees. The system leverages drone technology to construct a flight trajectory model for the information collection drone based on the tree shape and size, combined with camera-related parameters. This enables regular, all-round remote monitoring of the yew trees. This system allows for the timely detection and prevention of the most damaging pests and diseases to wild yew trees. Furthermore, the information collection and monitoring system enables plant protection station staff to remotely monitor wild yew trees, particularly addressing the monitoring and protection challenges faced by scattered yew trees in the Qinling Mountains.

Description

Technical Field

[0001] The invention belongs to the technical field of protection and monitoring of rare and endangered wild plants, and in particular relates to an information collection and monitoring system for wild yew. Background Art

[0002] The yew is a rare and endangered plant species recognized worldwide. In 1994, it was designated a Class I rare and endangered plant species in my country. It is also considered a "national treasure" by the 42 countries where it grows. The United Nations has also banned its logging, making it a veritable "giant panda of plants." Due to its sparse population and unique habitat, any destruction of the yew would cause irreversible damage to biodiversity and the ecological environment, making it particularly vulnerable to conservation efforts. The yew belongs to the gymnosperm family, which is a plant that does not flower or bear fruit, and whose seeds grow exposed without a pericarp. In contrast, plants with pericarp-enclosed seeds that flower and bear fruit are called angiosperms.

[0003] In 1967, a plant metabolite called "paclitaxel" was discovered in the Pacific yew tree. Yew is another name for the yew, derived from the purple-red stripes that appear in its heartwood. Over a decade later, researchers discovered that paclitaxel can eliminate cancer cells by disrupting mitosis, demonstrating some, but not absolute, efficacy in cancer treatment. In the early 1990s, after learning of the yew's anti-cancer properties, the southwestern region of China, home to the world's richest wild yew reserves, underwent a wholesale debarking of its natural forests, driven by huge profits. Debarking the yew, and indeed all trees, is tantamount to massacre. The bark of a tree contains long, tubular cells similar to our blood vessels: sieve tubes that transport organic matter and vessels that transport water and inorganic salts. Debarking a tree severs the plant's nutrient transport "blood vessels," particularly the sieve tubes in the outer layer, disrupting the tree's natural nutrient transport.

[0004] The yew plant can reach up to 30 meters tall, with linear or lanceolate leaves arranged in spirals or interdigitated. The plant is dioecious, with seeds that are either drupe-like, entirely enclosed in a fleshy aril, or nut-like, enclosed in a cup-shaped fleshy aril. In autumn, it produces cherry-sized, red, bean-shaped fruits, hence the name.

[0005] Wild yew trees are primarily found in the Qinling Mountains, often growing in the upper reaches of mountains above 1,000-1,200 meters above sea level. They prefer cool, humid climates and are highly cold-tolerant, preferring shade and moisture, cold-resistant, and drought-tolerant, with the ability to withstand temperatures as low as -30°C. Their adaptability allows them to be cultivated throughout northern and southern China. Yew trees are shallow-rooted plants with a weak taproot and well-developed lateral roots. They prefer loose, fertile, well-drained soil, typically growing in sandy soils. They are shade-loving, drought-tolerant, and cold-resistant, and can thrive in dense forests.

[0006] The yew tree is suitable for cultivation throughout northern and southern China. It prefers shade, tolerates drought, and is cold-resistant, requiring a soil pH of 5.5-7.0. It tolerates shade and can grow even in dense forests. It is a perennial, but does not form a forest. It is commonly found in mixed coniferous and broad-leaved forests dominated by Korean pine. It grows on rocky or infertile mountaintops, often in a shrub-like form. It is often found scattered beneath moist, fertile coniferous and broad-leaved forests on shady or semi-shady slopes. It prefers a cool, humid climate and can withstand temperatures below -30°C. It is highly cold-resistant, with an optimum temperature of 20-25°C, making it a shade-bearing species. It prefers moisture but is sensitive to waterlogging, and is best cultivated in loose, moist, well-drained sandy loam. Reproduction: The yew tree is dioecious, with cross-pollination and spacing between plants, which hinders fertilization and reduces seed production. The seeds mature within the same year, have thick arils, and under natural conditions, require two winters and one summer to germinate.

[0007] Wild yew trees are extremely scattered in the Qinling Mountains, with some areas showing scattered growth. Currently, scattered growth accounts for a large proportion of the areas surveyed, and further exploration and surveying are ongoing. However, wild yew trees grow at high altitudes and are relatively scattered. Monitoring the growth environment and health of the discovered wild yew trees, particularly the pests and diseases that pose the greatest threat to them, is crucial. Furthermore, monitoring and protecting wild yew trees deep in the mountains presents a significant challenge. Summary of the Invention

[0008] To address these existing challenges, the present invention proposes an information collection and monitoring system for wild yew trees. Leveraging drone technology, the system constructs a flight trajectory model for the information-collecting drone based on the tree's shape and size, combined with camera-related parameters. This enables regular, comprehensive remote monitoring of the yew trees. This system allows for the timely detection and prevention of the most damaging pests and diseases affecting wild yew trees. Furthermore, the system enables plant protection station staff to remotely monitor wild yew trees, particularly addressing the monitoring and protection challenges faced by scattered yew trees in the Qinling Mountains.

[0009] The present invention provides an information collection and monitoring system for wild yew trees, comprising: a work box, an information collection drone, a control center, and a soil information collection unit and a solar power supply unit electrically connected to the control center. The information collection drone is connected to the control center via a wireless network.

[0010] The working box includes an upper box body, a lower box body and a box top. The bottom surface of the upper box body is provided with a landing platform for parking the information collection drone; the landing platform is connected to the bottom surface of the upper box body by a slide rail, and the landing platform can extend to the outside of the upper box body; the information collection drone is provided with a camera at the bottom and a directional sonic bird repellent is installed on the top;

[0011] The box top is a gable top including a first inclined surface and a second inclined surface, the first inclined surface is provided with an air temperature detection sensor, an air humidity sensor and a weather monitor, and the second inclined surface is provided with the solar power supply unit;

[0012] The control center is connected to the monitoring switchboard of the plant protection station via a wireless network. The control center includes: a memory module for collecting and storing various types of information, an attendance allocation module for setting patrol attendance frequency parameters and issuing attendance instructions to the information collection drone, a motion module for controlling the movement of the landing platform, and a route planning module for setting the drone's flight route.

[0013] In the present invention, the soil information collection unit and the control center are arranged in the lower box, the soil information collection unit includes four soil moisture collection units, and the soil moisture collection units include an information sensing mechanism and a retractable bearing rod for carrying the information sensing mechanism;

[0014] Furthermore, in the information collection and monitoring system for wild yew of the present invention, the air temperature detection sensor, the air humidity sensor, the weather monitor, and the bearing rod are all electrically connected to the control center.

[0015] In the present invention, the air temperature sensor, air humidity sensor, and weather monitor are primarily used to monitor the air environment surrounding the yew trees. The weather monitor is also used to monitor weather conditions in the yew trees' location, providing a reference for the patrol schedules of the information-gathering drones. If severe weather such as thunderstorms is detected during a certain period in the future, the control center will not issue patrol instructions to the information-gathering drones during that time, or will interrupt any previously scheduled patrol instructions. Furthermore, within two days after the severe weather ends, the control center will issue patrol instructions to the information-gathering drones at a specific time to monitor whether the severe weather has caused damage to the yew trees that requires immediate repair.

[0016] In the present invention, the solar power supply unit is used to provide power to various parts of the information collection and monitoring system, mainly used to provide power to the charging device of the information collection drone; the information collection drone must be replenished with power after returning to the upper box after each outing.

[0017] In the present invention, the camera on the bottom of the information collection drone can rotate 360 degrees in both horizontal and vertical directions. The drone captures images of the yew trees through the camera and transmits them to a memory module in a control center. The control center then transmits the images to the monitoring switchboard at the plant protection station, enabling information collection and monitoring.

[0018] In the present invention, when the information collection drone stops at the landing platform, the landing gear of the information collection drone is automatically locked by the fixing mechanism on the landing platform to prevent the information collection drone from being damaged by collision.

[0019] In the present invention, the landing platform is connected to the bottom surface of the upper box body through a slide rail and can extend to the outside of the upper box body. The landing platform is controlled by the motion module of the control center. When the information collection drone needs to patrol, it is automatically slid and carried to the outside of the upper box body by the landing platform to perform the flight mission; when the information collection drone lands back on the landing platform after patrolling, it is automatically slid and carried to the inside of the upper box body by the landing platform. A mechanical arm that can automatically extend and retract and is fixedly connected to one end of the landing platform is fixedly provided on the inner wall of the upper box body. The mechanical arm is fixedly installed on the end of the landing platform close to the inside of the upper box body and is also controlled by the motion module of the control center. On the one hand, the mechanical arm provides power for the automatic sliding of the landing platform, and on the other hand, it prevents the landing platform from tilting downward due to the gravity of the information collection drone when it is outside the upper box body.

[0020] In the present invention, a sonicator for driving away birds and animals also needs to be installed on the outside of the working box to prevent damage to related devices inside and outside the working box.

[0021] Furthermore, in the information collection and monitoring system of the present invention, the route planning module realizes flight trajectory setting by controlling the flight speed and time of the information collection UAV;

[0022] The flight trajectory includes four segments in sequence: a first trajectory, a second trajectory, a third trajectory and a fourth trajectory, wherein the third trajectory is a three-dimensional equiangular conic spiral curve formed by spirally ascending around the yew;

[0023] The first trajectory starts from the landing platform and vertically rises to a height h1 along the z-axis at a speed υ1 to reach point A. The second trajectory starts from point A and flies horizontally a distance s1 at a speed υ2 in the direction close to the yew to be monitored to reach point O. The third trajectory starts from point O and rises along a three-dimensional equiangular conic spiral curve around the yew to be monitored to the cone vertex point P, and point P is directly above the tree top point D of the yew. The fourth trajectory starts from point P, returns to point A along the straight line formed by point P and point A, and finally lands on the landing platform.

[0024] Furthermore, in the information collection and monitoring system of the present invention, in a rectangular coordinate system, the point trace formation equation of the third trajectory is:

[0025] Let T be the flight time, ω be the angular velocity of the drone around the z-axis, the linear velocity υ3 be rising in the positive direction parallel to the z-axis, the vertical distance from point O to the midline of the yew tree trunk be R m; the vertical height from the top of the yew tree to point O be hm, the focal length of the camera lens be bm, the pitch of the three-dimensional equiangular conic spiral be M m, and the value of M is equal to the pixel width of the camera;

[0026] At time T=0, the coordinates of point O are (0, 0, 0). The coordinates of the information collection drone at time T are (x(T), y(T), z(T)). Then:

[0027] x(T) = (R-υ3* T) * cos(ωT) Formula (1),

[0028] y(T) = (R-υ3* T) * sin(ωT) Formula (2),

[0029] z(T) =υ3T Formula (3);

[0030] Among them, ω and υ3 satisfy the relationship (4):

[0031] ω Formula (4),

[0032] In the formula (4), angle θ is the semi-cone angle of the cone formed by the three-dimensional equiangular conic spiral curve, n is the number of spiral turns of the three-dimensional equiangular conic spiral curve, and it satisfies the formula (5):

[0033] Formula (5),

[0034] And θ satisfies the relationship (6):

[0035] R*cosθ - H*sinθ = b Formula (6);

[0036] In the formula (5) and formula (6), the vertical height of the cone formed by the three-dimensional equiangular conic spiral curve is Hcm, and H= .

[0037] Furthermore, in the information collection and monitoring system described in the present invention, the information collection drone is a small four-rotor drone, and the linear speed υ3 ranges from 3m / s to 10m / s.

[0038] Furthermore, in the information collection and monitoring system described in the present invention, the focal length b of the camera lens is 85mm~135mm, the viewing angle of the camera is 50°~70°, and the pixel width of the camera is 202mm~330mm.

[0039] In the present invention, the downward tilt angle of the surveillance camera is generally equal to θ.

[0040] Furthermore, in the information collection and monitoring system of the present invention, the soil information collection unit includes at least four soil moisture collection units, each of which includes an information sensing mechanism and a retractable supporting rod for supporting the information sensing mechanism. The information sensing mechanism of each soil moisture collection unit includes a soil moisture sensor, a soil pH sensor, a soil temperature sensor, and a soil volumetric water content sensor. Furthermore, the information sensing mechanism of each soil moisture collection unit may also include a soil nutrient sensor.

[0041] Furthermore, in the information collection and monitoring system described in the present invention, a second camera for monitoring whether the information collection drone is damaged is installed on the inner side of the box top. The image taken by the second camera is stored in the memory module of the control center and eventually transmitted to the monitoring switchboard of the plant protection station.

[0042] The present invention constructs a flight trajectory model for an information-gathering drone based on the tree shape and size of yew trees, combined with camera-related parameters. This enables regular, comprehensive remote monitoring of yew trees. This allows for the timely detection and prevention of the most damaging pests and diseases to wild yew trees. Furthermore, the information collection and monitoring system enables plant protection station staff to remotely monitor wild yew trees, particularly addressing the monitoring and protection challenges faced by scattered yew trees in the Qinling Mountains.

[0043] Common diseases and pests of yew, such as spider mites, aphids, stem rot, and damping-off, need to be discovered in a timely manner and treated and protected in a timely manner using a variety of control measures, mainly manual control and biological control, supplemented by chemical control.

[0044] Furthermore, in the information collection and monitoring system of the present invention, the adjustment cycle of the parameters in the second track, the third track and the fourth track is 2 to 4 years per time.

[0045] The growth rate of yew is relatively slow, and the annual growth rate of adult yew is less than 10 mm. Therefore, the patrol trajectory of the installed and set information collection drone does not need to be adjusted frequently.

[0046] Furthermore, in the information collection and monitoring system of the present invention, the attendance allocation module sets the patrol attendance frequency according to the season, specifically:

[0047] The patrol attendance frequency of the information collection drone is set to 1-2 times / 7 days from June to August each year, the patrol attendance frequency is set to 1 time / 15 days from September to October each year, the patrol attendance frequency is set to 1 time / 20 days from November to March each year, and the patrol attendance frequency is set to 1 time / 15 days from April to May each year.

[0048] In the present invention, the peak seasons for yew pests and diseases are mainly concentrated in summer and autumn, especially July and August. During this period, high temperatures and humidity provide a favorable environment for the reproduction and spread of pests and diseases. For example, stem rot mainly occurs in the high-temperature summer and autumn seasons. The occurrence and prevalence of the disease mainly depend on the temperature in July and August. If the disease occurs early, the seedlings will have weak heat resistance and the disease will be more serious. White rot generally begins in early June, and the disease reaches its peak when the temperature rises to around 30°C from July to August. The temperature reaches a peak of 35°C, and the disease basically stops by the end of September. Aphids, because the temperature in the greenhouse is always maintained above 18°C, aphids can continue to reproduce and cause damage in the summer, especially in the hot summer season.

[0049] Furthermore, in the information collection and monitoring system described in the present invention, the directional sonic bird repellent device is set to a bird repelling ultrasonic wave of 12kHz~25kHz.

[0050] The application method of the information collection and monitoring system of the present invention is as follows: after scattered yew trees are discovered during a field survey, a monitoring space range of the yew trees is cleared and the information collection and monitoring system is fixed at a suitable position of the monitoring point; the tree height and the maximum outer diameter of the yew trees are measured, the positions of point A and point O are determined, the corresponding values of parameters h and R are obtained, and the flight trajectory of the information collection and monitoring system is set; then the information collection and monitoring system can start working directly.

[0051] Compared with the prior art, the present invention has the following beneficial technical effects:

[0052] The information collection and monitoring system described in this invention leverages drone technology. Based on the tree shape and size of the yew trees, combined with camera-related parameters, a flight trajectory model is constructed for the information collection drone. This enables regular, comprehensive remote monitoring of the yew trees. This allows for the timely detection and prevention of the most damaging pests and diseases to wild yew trees. Furthermore, the information collection and monitoring system enables plant protection station staff to remotely monitor wild yew trees, particularly addressing the monitoring and protection challenges faced by scattered yew trees in the Qinling Mountains. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a schematic diagram of the information collection and monitoring system structure of the present invention;

[0054] Figure 2 A schematic diagram of the flight trajectory of an information collection drone according to a specific embodiment of the present invention;

[0055] Figure 3 Schematic diagram of parameters of the point trace forming equation of the third trajectory of the present invention;

[0056] Among them: 1. working box, 2. upper box body, 3. lower box body, 4. air temperature detection sensor, 5. air humidity sensor, 6. weather monitor, 7. landing platform, 8. information collection drone, 9. control center, 10. fixed structure, 11. load-bearing rod, 12. information sensing mechanism. DETAILED DESCRIPTION

[0057] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described in detail with reference to the accompanying drawings. The described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. If specific conditions are not specified in the specific implementation method, they shall be carried out according to conventional conditions or conditions provided by the manufacturer.

[0058] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with certain aspects of the present disclosure as detailed in the appended claims. The terminology used in this disclosure is for the purpose of describing specific embodiments only and is not intended to be limiting of the disclosure.

[0059] like Figure 1 As shown, the present invention is an information collection and monitoring system for wild yew, the information collection and monitoring system comprising: a work box 1, an information collection drone 8, a control center 9, and a soil information collection unit and a solar power supply unit electrically connected to the control center 9, the information collection drone 8 and the control center 9 being connected via a wireless network;

[0060] The working box 1 includes an upper box body 2, a lower box body 3 and a box top. A landing platform 7 for parking an information collection drone 8 is provided on the bottom surface of the upper box body 2; the landing platform 7 is connected to the bottom surface of the upper box body 2 by a slide rail and can extend to the outside of the upper box body 2; a camera is provided at the bottom of the information collection drone 8, and a directional sonic bird repellent is installed on the top;

[0061] The box top is a gable top including a first inclined surface and a second inclined surface. The first inclined surface is provided with an air temperature detection sensor 4, an air humidity sensor 5 and a weather monitor 6, and the second inclined surface is provided with the solar power supply unit.

[0062] The soil information collection unit and the control center 9 are arranged in the lower box 3. The soil information collection unit includes four soil moisture collection units. The soil moisture collection units include an information sensing mechanism 12 and a retractable carrying rod 11 for carrying the information sensing mechanism 12.

[0063] The above-mentioned control center 9 is connected to the monitoring switchboard of the plant protection station through a wireless network. The above-mentioned control center 9 includes: a memory module for collecting and storing various types of information, an attendance allocation module for setting patrol attendance frequency parameters and issuing attendance instructions to the above-mentioned information collection drone 8, a motion module for controlling the movement of the landing platform 7, and a route planning module for setting the drone's flight route.

[0064] The air temperature sensor 4, air humidity sensor 5, and weather monitor 6 are primarily used to monitor the air environment surrounding the yew trees. Furthermore, the weather monitor 6 monitors the weather conditions in the yew trees' vicinity, providing a reference for the patrol schedules of the information-gathering drone 8. If severe weather, such as thunderstorms, is detected during a future period, the control center 9 will not issue patrol instructions to the information-gathering drone 8 during that period, or will interrupt any previously scheduled patrol instructions. Furthermore, within two days after the severe weather ends, the control center 9 will issue patrol instructions to the information-gathering drone 8 at a specific time to monitor whether the severe weather has caused damage to the yew trees that requires immediate repair.

[0065] The above-mentioned solar power supply unit is used to provide power to various parts of the above-mentioned information collection and monitoring system, mainly used to provide power to the charging device of the information collection drone 8; the information collection drone 8 must be replenished with power after returning to the upper box 2 after each outing.

[0066] The camera on the bottom of the information collection drone 8 is capable of 360° rotation both horizontally and vertically. The drone 8 captures images of the yew trees through its camera and transmits them to a memory module in the control center 9. The control center 9 then transmits the images to the monitoring switchboard at the plant protection station, enabling information collection and monitoring.

[0067] When the information collection drone 8 stops at the landing platform 7, the landing gear of the information collection drone 8 is automatically locked by the fixing mechanism on the landing platform 7 to prevent the information collection drone 8 from being damaged by collision.

[0068] The above-mentioned landing platform 7 is connected to the bottom surface of the above-mentioned upper box body 2 through a slide rail, and can extend to the outside of the upper box body 2. The landing platform 7 is controlled by the motion module of the control center 9. When the information collection drone 8 needs to patrol, it is automatically slid and carried to the outside of the upper box body 2 by the landing platform 7 to perform the flight mission; when the information collection drone lands back on the landing platform 7 after completing the patrol, it is automatically slid and carried to the inside of the upper box by the landing platform 7. A mechanical arm that can automatically extend and retract and is fixedly connected to one end of the landing platform 7 is fixedly provided on the inner wall of the upper box body 2. The mechanical arm is fixedly installed on the end of the landing platform 7 close to the inside of the upper box body 2 and is also controlled by the motion module of the control center 9; on the one hand, the mechanical arm provides power for the automatic sliding of the landing platform 7, and on the other hand, it prevents the landing platform 7 from tilting downward due to the gravity of the information collection drone 8 when it is outside the upper box body 2.

[0069] The outside of the above-mentioned working box 1 also needs to be installed with a sonicator for driving away birds and animals to prevent damage to related devices inside and outside the working box 1.

[0070] like Figure 2 As shown, in the information collection and monitoring system of the present invention, the route planning module realizes the flight trajectory setting by controlling the flight speed and time of the information collection drone 8;

[0071] The flight trajectory includes four segments in sequence: a first trajectory, a second trajectory, a third trajectory and a fourth trajectory, wherein the third trajectory is a three-dimensional equiangular conic spiral curve formed by spiraling around the yew tree;

[0072] The first trajectory starts from the landing platform 7 and rises vertically along the z-axis at a speed of υ1 to a height h1 to reach point A. The second trajectory starts from point A and flies horizontally along the y-axis toward the yew tree to be monitored at a speed of υ2 for a distance s1 to reach point O. The third trajectory starts from point O and rises along a three-dimensional equiangular conic spiral curve around the yew tree to the cone vertex point P directly above the yew tree top point D. The fourth trajectory starts from point P and returns to point A along the straight line formed by point P and point A, and finally lands on the landing platform 7.

[0073] In the rectangular coordinate system, the point formation equation of the third trajectory is:

[0074] Let T be the flight time, ω be the angular velocity of the drone around the z-axis, the linear velocity υ3 be rising in the positive direction parallel to the z-axis, the vertical distance from point O to the centerline of the yew tree trunk be R m; the vertical height from the top of the yew tree to point O be hm, the focal length of the camera lens be bm, and the pitch of the three-dimensional equiangular conic spiral be Mm, the pixel width of the camera.

[0075] At time T=0, the coordinates of point O are (0, 0, 0). The coordinates of the information collection drone 8 at time T are (x(T), y(T), z(T)). Then:

[0076] x(T) = (R-υ3* T) * cos(ωT) Formula (1),

[0077] y(T) = (R-υ3* T) * sin(ωT) Formula (2),

[0078] z(T) =υ3T Formula (3);

[0079] Among them, ω and υ3 satisfy the relationship (4):

[0080] ω Formula (4),

[0081] In the above formula (4), angle θ is the semi-cone angle of the cone formed by the above three-dimensional equiangular conic helical curve, n is the number of spiral turns of the above three-dimensional equiangular conic helical curve, and it satisfies formula (5):

[0082] Formula (5),

[0083] And θ satisfies the relationship (6):

[0084] R*cosθ - H*sinθ = b Formula (6);

[0085] In the above equations (5) and (6), the vertical height of the cone formed by the three-dimensional equiangular conic spiral curve is Hcm, and H= .

[0086] In some embodiments, the information collection drone 8 is a small quad-rotor drone, and the linear speed υ3 is in the range of 3 m / s to 10 m / s.

[0087] In some embodiments, the information sensing mechanism 12 of the soil moisture collection unit includes a soil moisture sensing unit, a soil pH sensing unit, a soil temperature sensing unit, a soil volumetric water content sensing unit, and a soil nutrient sensing unit.

[0088] In some embodiments, the focal length range of the camera lens is 85 mm to 135 mm, the viewing angle of the camera is 50° to 70°, and the pixel width M of the camera is 202 mm to 330 mm.

[0089] In some embodiments, the downward tilt angle of the surveillance camera is equal to θ.

[0090] In some embodiments, a second camera is installed on the inner side of the box top to monitor whether the information collection drone 8 is damaged. The image taken by the second camera is stored in the memory module of the control center 9 and eventually transmitted to the monitoring switchboard of the plant protection station.

[0091] Based on the tree shape and size of the yew, combined with relevant camera parameters, a flight trajectory model for the information-gathering drone 8 was constructed, enabling regular, comprehensive remote monitoring of the yew. This particularly allows for the timely detection and prevention of the most damaging pests and diseases to wild yew. Furthermore, the information collection and monitoring system enables plant protection station staff to remotely monitor wild yew, particularly addressing the monitoring and protection of scattered yew trees in the Qinling Mountains.

[0092] Common diseases and pests of yew, such as spider mites, aphids, stem rot, and damping-off, need to be discovered in a timely manner and treated and protected in a timely manner using a variety of control measures, mainly manual control and biological control, supplemented by chemical control.

[0093] In some embodiments, the adjustment period of the parameters in the second trajectory, the third trajectory, and the fourth trajectory is 2 to 4 years.

[0094] The growth rate of yew is relatively slow, and the annual growth rate of an adult yew is less than 10 mm. Therefore, the patrol trajectory of the installed and set information collection drone 8 does not need to be frequently adjusted.

[0095] In some embodiments, the attendance allocation module sets the patrol attendance frequency according to the season, specifically:

[0096] The patrol attendance frequency of the above-mentioned information collection drone 8 is set to 1-2 times / 7 days from June to August each year, the patrol attendance frequency is set to 1 time / 15 days from September to October each year, the patrol attendance frequency is set to 1 time / 20 days from November to March each year, and the patrol attendance frequency is set to 1 time / 15 days from April to May each year.

[0097] The peak season for yew pests and diseases is mainly in summer and autumn, especially July and August. During this period, high temperatures and humidity create a favorable environment for the reproduction and spread of pests and diseases. For example, stem rot mainly occurs during the high temperatures of summer and autumn. The occurrence and prevalence of the disease depend mainly on the temperature in July and August. If the disease occurs early, the seedlings will have weak heat resistance and the disease will be more serious. White rot generally begins in early June and reaches its peak when the temperature rises to around 30°C from July to August. The disease reaches its peak when the temperature reaches 35°C, and the disease basically stops by the end of September. Aphids, because the temperature in the greenhouse is always maintained above 18°C, aphids can continue to reproduce and cause damage in the summer, especially during the hot summer season.

[0098] In some embodiments, the directional sonic bird repellent device uses ultrasonic waves with a frequency of 12kHz to 25kHz to repel birds.

[0099] In some embodiments, the application method of the information collection and monitoring system of the present invention is as follows: after scattered yew trees are found during a field survey, the monitoring space range of the yew trees is cleared, and the information collection and monitoring system is fixed at a suitable position of the monitoring point through the fixed structure 10 at the bottom of the box 1; the tree height and the maximum outer diameter of the yew trees are measured, and the corresponding values of the parameters h and R are obtained, and the flight trajectory of the information collection and monitoring system is set; then the information collection and monitoring system can start working directly.

[0100] The present invention is further described in detail below with reference to specific embodiments. Example 1:

[0101] like Figure 1 and Figure 2 As shown, the information collection and monitoring system for wild yew of the present invention includes: a work box 1, an information collection drone 8, a control center 9, and a soil information collection unit and a solar power supply unit electrically connected to the control center 9. The information collection drone 8 is connected to the control center 9 via a wireless network;

[0102] The work box 1 includes an upper box body 2, a lower box body 3 and a box top. The bottom surface of the upper box body 2 is provided with a landing platform 7 for parking an information collection drone 8. The landing platform 7 is connected to the bottom surface of the upper box body 2 by a slide rail and can extend to the outside of the upper box body 2. The information collection drone 8 is provided with a camera at the bottom and a directional sonic bird repellent is installed on the top.

[0103] The top of the box is a gable top including a first inclined surface and a second inclined surface. The first inclined surface is provided with an air temperature detection sensor 4, an air humidity sensor 5 and a weather monitor 6, and the second inclined surface is provided with a solar power supply unit;

[0104] The soil information collection unit and the control center 9 are arranged in the lower box 3. The soil information collection unit includes four soil moisture collection units. The soil moisture collection unit includes an information sensing mechanism 12 and a retractable bearing rod 11 for carrying the information sensing mechanism 12.

[0105] The control center 9 is connected to the monitoring switchboard of the plant protection station through a wireless network. The control center 9 includes: a memory module for collecting and storing various types of information, an attendance allocation module for setting patrol attendance frequency parameters and issuing attendance instructions to the information collection drone 8, a motion module for controlling the movement of the landing platform 7, and a route planning module for setting the drone's flight route.

[0106] The air temperature sensor 4, air humidity sensor 5, and weather monitor 6 are primarily used to monitor the air environment surrounding the yew trees. Furthermore, the weather monitor 6 monitors the weather conditions in the yew trees' location, providing a reference for the patrol schedules of the information-gathering drone 8. If severe weather, such as thunderstorms, is detected during a certain period in the future, the control center 9 will not issue patrol instructions to the information-gathering drone 8 during that time, or will interrupt any previously scheduled patrol instructions. Furthermore, within two days after the severe weather ends, the control center 9 will issue patrol instructions to the information-gathering drone 8 at a specific time to observe whether the severe weather has caused any damage to the yew trees that requires immediate repair.

[0107] The solar power supply unit is used to provide power to various parts of the information collection and monitoring system, mainly used to provide power to the charging device of the information collection drone 8; the information collection drone 8 needs to be replenished with power after returning to the upper box 2 after each trip.

[0108] The camera on the bottom of information collection drone 8 can rotate 360 degrees horizontally and vertically. Information collection drone 8 captures images of the yew trees through its camera and transmits them to a memory module in control center 9. Control center 9 then transmits the images to the monitoring switchboard at the plant protection station, enabling information collection and monitoring.

[0109] When the information collection drone 8 stops at the landing platform 7, the landing gear of the information collection drone 8 is automatically locked by the fixing mechanism on the landing platform 7 to prevent the information collection drone 8 from being damaged by collision.

[0110] The landing platform 7 is connected to the bottom surface of the upper box body 2 through a slide rail and can extend to the outside of the upper box body 2. The landing platform 7 is controlled by the motion module of the control center 9. When the information collection drone 8 needs to patrol, it is automatically slid and carried to the outside of the upper box body 2 by the landing platform 7 to perform the flight mission; when the information collection drone lands back on the landing platform 7 after completing the patrol, it is automatically slid and carried to the inside of the upper box by the landing platform 7. A mechanical arm that can automatically extend and retract and is fixedly connected to one end of the landing platform 7 is fixedly provided on the inner wall of the upper box body 2. The mechanical arm is fixedly installed on the end of the landing platform 7 close to the inside of the upper box body 2 and is also controlled by the motion module of the control center 9; on the one hand, the mechanical arm provides power for the automatic sliding of the landing platform 7, and on the other hand, it prevents the landing platform 7 from tilting downward due to the gravity of the information collection drone 8 when it is outside the upper box body 2.

[0111] The outside of the working box 1 also needs to be installed with a sonicator for driving away birds and animals to prevent damage to related devices inside and outside the working box 1.

[0112] like Figure 2 and Figure 3 As shown, in the information collection and monitoring system of this embodiment 1, the route planning module realizes the flight trajectory setting by controlling the flight speed and time of the information collection UAV 8;

[0113] The flight trajectory includes four sections in sequence: the first trajectory, the second trajectory, the third trajectory and the fourth trajectory, wherein the third trajectory is a three-dimensional equiangular conic spiral curve formed by spiraling around the yew tree;

[0114] The first trajectory starts from the landing platform 7 and rises vertically along the z-axis at a speed of υ1 to a height h1 to reach point A. The second trajectory starts from point A and flies horizontally along the y-axis toward the yew tree to be monitored at a speed of υ2 for a distance s1 to reach point O. The third trajectory starts from point O and rises along a three-dimensional equiangular conic spiral curve around the yew tree to the top point P of the tree. The fourth trajectory starts from point P and returns to point A along the straight line formed by point P and point A, and finally lands on the landing platform 7.

[0115] In the rectangular coordinate system, the point formation equation of the third trajectory is:

[0116] Let T be the flight time, ω be the angular velocity of the drone around the z-axis, the linear velocity υ3 be rising in the positive direction parallel to the z-axis, the vertical distance from point O to the centerline of the yew tree trunk be R m; the vertical height from the top of the yew tree to point O be hm, the focal length of the camera lens be bm, and the pitch of the three-dimensional equiangular conic spiral curve be M m, the pixel width of the camera;

[0117] At time T=0, the coordinates of point O are (0, 0, 0). At time T, the coordinates of the information collection drone 8 are (x(T), y(T), z(T)). Then:

[0118] x(T) = (R-υ3* T) * cos(ωT) Formula (1),

[0119] y(T) = (R-υ3* T) * sin(ωT) Formula (2),

[0120] z(T) =υ3T Formula (3);

[0121] Among them, ω and υ3 satisfy the relationship (4):

[0122] ω Formula (4),

[0123] In formula (4), angle θ is the semi-cone angle of the cone formed by the three-dimensional equiangular conic spiral curve, n is the number of spiral turns of the three-dimensional equiangular conic spiral curve, and it satisfies formula (5):

[0124] Formula (5),

[0125] And θ satisfies the relationship (6):

[0126] R*cosθ - H*sinθ = b Formula (6);

[0127] In equations (5) and (6), the vertical height of the cone formed by the three-dimensional equiangular conic spiral curve is H cm, and H = .

[0128] The information collection drone 8 is a small quadrotor drone with a linear speed υ3 of 8 m / s, h = 30 m, and R = 5 m.

[0129] The information sensing mechanism 12 of the soil moisture collection unit includes a soil moisture sensing part, a soil pH value sensing part, a soil temperature sensing part and a soil volume water content sensing part.

[0130] The focal length range of the camera lens is: b=85mm, the viewing angle of the camera is 60°, and the pixel width of the camera is M=294mm.

[0131] The camera is tilted downward by an angle equal to θ.

[0132] A second camera is installed on the inner side of the box top to monitor whether the information collection drone 8 is damaged. The images taken by the second camera are stored in the memory module of the control center 9 and eventually transmitted to the monitoring switchboard of the plant protection station.

[0133] Based on the tree shape and size of the yew, combined with relevant camera parameters, a flight trajectory model for the information-gathering drone 8 was constructed, enabling regular, comprehensive remote monitoring of the yew. This particularly allows for the timely detection and prevention of the most damaging pests and diseases to wild yew. Furthermore, the information collection and monitoring system enables plant protection station staff to remotely monitor wild yew, particularly addressing the monitoring and protection of scattered yew trees in the Qinling Mountains.

[0134] Common diseases and pests of yew, such as spider mites, aphids, stem rot, and damping-off, need to be discovered in a timely manner and treated and protected in a timely manner using a variety of control measures, mainly manual control and biological control, supplemented by chemical control.

[0135] The adjustment cycle of the parameters in the second, third and fourth trajectories is 2 years / time.

[0136] The growth rate of yew is relatively slow, and the annual growth rate of an adult yew is less than 10 mm. Therefore, the patrol trajectory of the installed and set information collection drone 8 does not need to be frequently adjusted.

[0137] The attendance allocation module sets the patrol attendance frequency according to the season, specifically:

[0138] The patrol attendance frequency of the information collection drone 8 is set to 2 times / 7 days from June to August each year, 1 time / 15 days from September to October each year, 1 time / 20 days from November to March each year, and 1 time / 15 days from April to May each year.

[0139] The directional sonic bird repeller uses ultrasonic waves with a frequency of 25kHz to repel birds.

[0140] The present invention is described by the above-mentioned specific embodiments. It should be understood by those skilled in the art that various changes and equivalent substitutions may be made to the present invention without departing from the scope of the present invention. Parts not described in detail in the present specification are well-known technologies to those skilled in the art. In addition, various modifications may be made to the present invention for specific situations or specific circumstances without departing from the scope of this new use. Therefore, the present invention is not limited to the specific embodiments disclosed, but should include all embodiments falling within the scope of the claims of the present invention.

Claims

1. An information collection and monitoring system for wild yew, characterized in that: The information collection and monitoring system includes: a work box, an information collection drone, a control center, and a soil information collection unit and a solar power supply unit electrically connected to the control center. The information collection drone is connected to the control center via a wireless network. The working box includes an upper box body, a lower box body and a box top. A landing platform for parking an information collection drone is provided on the bottom surface of the upper box body; the landing platform is connected to the bottom surface of the upper box body via a slide rail and can extend to the outside of the upper box body; a camera is provided at the bottom of the information collection drone, and a directional sonic bird repellent is installed on the top; The box top is a gable-shaped top including a first inclined surface and a second inclined surface. The first inclined surface is provided with an air temperature detection sensor, an air humidity sensor and a weather monitor, and the second inclined surface is provided with the solar power supply unit. The soil information collection unit and the control center are provided in the lower box body. The control center is connected to the monitoring switchboard of the plant protection station via a wireless network. The control center includes: a memory module for collecting and storing various types of information, an attendance allocation module for setting patrol attendance frequency parameters and issuing attendance instructions to the information collection drone, a motion module for controlling the movement of the landing platform, and a route planning module for setting the flight path of the drone; The route planning module sets the flight trajectory by controlling the flight speed and time of the information collection drone; The flight trajectory includes four segments in sequence: a first trajectory, a second trajectory, a third trajectory and a fourth trajectory, wherein the third trajectory is a three-dimensional equiangular conic spiral curve formed by spirally ascending around the yew; The first trajectory starts from the landing platform and rises vertically along the z-axis at a speed of υ1 to a height h1 to reach point A. The second trajectory starts from point A and flies horizontally at a speed of υ2 to a distance s1 in the direction close to the yew to be monitored to reach point O. The third trajectory starts from point O and rises along a three-dimensional equiangular conic spiral curve around the yew to be monitored to the cone vertex point P, and point P is directly above the tree top point D of the yew. The fourth trajectory starts from point P, returns to point A along the straight line formed by point P and point A, and finally lands on the landing platform.

2. The information collection and monitoring system according to claim 1, characterized in that: In the rectangular coordinate system, the point formation equation of the third trajectory is: Assume T is the flight time, ω is the angular velocity of the information collection drone around the z-axis, the linear velocity υ3 rises in the positive direction parallel to the z-axis, the vertical distance from point O to the midline of the yew tree trunk is R m; the vertical height from point D at the top of the yew tree to point O is hm, the focal length of the camera lens is bm, the pitch of the three-dimensional equiangular conic spiral curve is M m, and the value of M is equal to the pixel width of the camera; At time T=0, the coordinates of point O are (0, 0, 0). The coordinates of the information collection drone at time T are (x(T), y(T), z(T)). Then: x(T) = (R-υ3* T) * cos(ωT) Formula (1), y(T) = (R-υ3* T) * sin(ωT) Formula (2), z(T) =υ3T Formula (3); Among them, ω and υ3 satisfy the relationship (4): ω Formula (4), In the formula (4), angle θ is the semi-cone angle of the cone formed by the three-dimensional equiangular conic spiral curve, n is the number of spiral turns of the three-dimensional equiangular conic spiral curve, and it satisfies the formula (5): Formula (5), And θ satisfies the relationship (6): R*cosθ - H*sinθ = b Formula (6); In the above formulas (5) and (6), the vertical height of the cone formed by the three-dimensional equiangular conic spiral curve is H m, and H= .

3. The information collection and monitoring system according to claim 2, characterized in that: The information collection drone is a small four-rotor drone, and the linear speed υ3 ranges from 3m / s to 10m / s.

4. The information collection and monitoring system according to claim 3, characterized in that: The focal length b of the camera lens is 85 mm to 135 mm, the viewing angle of the camera is 50° to 70°, and the pixel width of the camera is 202 mm to 330 mm.

5. The information collection and monitoring system according to claim 4, characterized in that: The soil information collection unit includes at least four soil moisture collection units, each of which includes an information sensing mechanism and a retractable carrying rod for carrying the information sensing mechanism; The information sensing mechanism of the soil moisture collection unit includes a soil moisture sensing part, a soil pH value sensing part, a soil temperature sensing part and a soil volume water content sensing part.

6. The information collection and monitoring system according to claim 5, characterized in that: A second camera is installed on the inner side of the box top to monitor whether the information collection drone is damaged. The images taken by the second camera are stored in the memory module of the control center and eventually transmitted to the monitoring switchboard of the plant protection station.

7. The information collection and monitoring system according to claim 6, characterized in that: The adjustment cycle of the parameters in the second track, the third track and the fourth track is 2 to 4 years.

8. The information collection and monitoring system according to claim 7, characterized in that: The attendance allocation module sets the patrol attendance frequency according to the season, specifically: The patrol attendance frequency of the information collection drone is set to 1-2 times / 7 days from June to August each year, the patrol attendance frequency is set to 1 time / 15 days from September to October each year, the patrol attendance frequency is set to 1 time / 20 days from November to March each year, and the patrol attendance frequency is set to 1 time / 15 days from April to May each year.

9. The information collection and monitoring system according to claim 8, characterized in that: The directional sonic bird repellent device is set to a bird repelling ultrasonic wave of 12kHz to 25kHz.

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