Tea garden organic planting system and method with carbon sequestration and green pest control

Abstract

This invention discloses an organic tea garden planting system and method that combines carbon sequestration and green pest control, specifically relating to the fields of organic tea garden planting and green agricultural pest control. The system includes collecting tea row images and operation records, generating a shoot contact table, a control table, a return-to-field table, and a tea garden operation table, and outputting tea garden control results. By placing shoot status, pest and disease locations, residue sources, application time, and application range into the same tea row link through tea row records, and then using the shoot contact table, control table, return-to-field table, and tea garden operation table to sequentially constrain harvesting, control, pruning, residue treatment, and mulching, the system no longer simply releases harvesting batches at pre-harvest intervals, but simultaneously determines whether shoots have contacted the application range, whether pest and disease points are located on harvestable shoots, and whether treated residues are allowed to return to the field. This relatively reduces the risks of shoots being harvested after contact, pest and disease residues returning to locations near harvestable shoots, and conflicts between carbon sequestration and green pest control through mulching.

Description

Technical Field

[0001] This invention relates to the field of organic tea garden cultivation and green pest control technology, and more specifically, to an organic tea garden cultivation system and method that combines carbon sequestration and green pest control. Background Technology

[0002] In the organic tea garden management, the existing system usually manages the tea tree growth environment, monitors pests on the canopy, records the application of inputs, schedules the harvest, pruning and shaping, garden cleaning and treatment, and the use of ground cover materials. After the occurrence of pests and diseases, biological, plant or mineral source control measures are selected according to the pest species and the degree of occurrence, and are combined with trapping, pruning, removal of diseased branches and fallen leaves and canopy ventilation treatment. Before harvesting, the date of application of inputs and the pre-harvest interval are used to determine whether the current tea plantation is ready for harvesting; Pruned branches, fallen leaves, and plant residues between rows are used as ground cover materials and sources of organic matter in tea gardens through methods such as garden cleaning, composting, fermentation, carbonization, or mulching and returning to the field. This type of treatment can form a basic closed loop in general horticultural cultivation and management, but in the context of continuous picking, multi-layered growth of the canopy and inter-row covering in organic tea gardens, it is easy to cause operational conflicts: the commercial part of the tea tree is the tender shoot, and there may be tender leaves that have unfolded before application, tender shoots that may be touched during application, tender shoots that continue to elongate after application, and newly sprouted buds after application in the same tea row. Meanwhile, tea green leafhoppers, tea geometrid moths, mites, leaf-back pests, and diseased leaves are often distributed on different parts of the canopy, such as the surface, back of leaves, lateral branches, base of the clump, and fallen leaf debris. Control, harvesting, pruning, disposal of debris, and mulching back into the field are not independent operations. If the existing system releases harvest batches at fixed pre-harvest intervals, it is difficult to distinguish between tender shoots that have been exposed to the application and newly grown tender shoots after the application, which can easily lead to the exposed tender shoots being mixed into subsequent harvest batches. If we directly determine whether harvesting is possible based on the amount of pesticide metabolism, we need experimental data such as pesticide type, concentration, temperature and humidity, rainfall, light, and shoot growth rate to support it, which is difficult to use as a stable basis for software execution. If the pruned residue is directly regarded as qualified mulch material, the differences in the return location of the residue from the harvesting surface, lateral branches, bush base or between rows will be ignored, and the risk of diseases and pests will be brought close to the harvestable tender shoot area again with the ground cover. The observable result is that although the tasks of picking, pest control, pruning, garden cleaning and mulching within the tea rows are all recorded and carried out, there is a lack of unified constraints on the protection of tea tree canopy, avoidance of tender shoots, location of plant debris mulching and mulching boundaries between rows. This easily leads to situations where tender shoots that have been touched enter the picking batch, pest and disease residues return to unsuitable locations after treatment, and ground cover carbon sequestration and green pest and disease control conflict with each other.

[0003] The technical problem this application aims to solve is: how to enable the organic tea garden planting system to coordinate the actions of harvesting, pest control, pruning, residue treatment, and mulching back into the field based on the contact status of tender shoots, the order of tea row operations, and the source location of pruning residues without relying on the results of pesticide metabolism experiments, so as to reduce the operational conflicts between organic harvesting, green pest and disease control, and carbon sequestration utilization of residues. Summary of the Invention

[0004] To overcome the aforementioned deficiencies of the prior art, embodiments of the present invention provide an organic tea garden planting system and method that combines carbon sequestration and green pest and disease control. The system records the condition of tender shoots, the location of pests and diseases, the source of plant residues, and the application range through tea row records. It uses an unbalanced optimal transport algorithm to distinguish between tender shoots that have been in contact with the plant and those that have not. Furthermore, it uses a control table, a return-to-field table, and a directed hypergraph closure algorithm to link and constrain the actions of harvesting, control, pruning, plant residue treatment, and mulching back to the field, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an organic tea garden planting system that combines carbon sequestration and green pest and disease control, comprising: The hardware module includes a collection end, an application end, a pruning end, a residue treatment end, and a covering end. The collection end collects the tender shoots, diseased and insect-infested parts, and residue sources according to the tea row. The application end applies organic inputs. The pruning end removes diseased and insect-infested branches. The residue treatment end processes the pruned residues. The covering end lays out the treated residues and outputs tea row records. The bud group module obtains the tender shoot status, application time, application range and forbidden contact areas from the tea field records. The tender shoot group is composed of tender shoots before application, continued tender shoots and new buds. The unbalanced optimal transmission algorithm is used to match the tender shoot groups before and after application and output the tender shoot contact table. The control module obtains the contact table of tender shoots, the disease and pest locations and the pre-harvest interval, transfers the disease and pest points that have come into contact with harvestable tender shoots to post-harvest supplementary control, and transfers the disease and pest points of non-harvested leaf layers and lateral branches to targeted application or pruning and stripping, and outputs the control table. The residue module obtains the control table, residue source and residue treatment status, and limits the residue from the picking surface and the residue from the diseased and pest parts to the tea row or the outer edge of the root zone, and generates the return to field table. The sequence graph module obtains the tender shoot contact table, control table, and return-to-field table. It uses picking, control, pruning, residue treatment, and mulching as operation nodes, and prohibits picking tender shoots in contact with the pests, restricts the return of pest and disease residues to the field, and removes pest and disease branches before mulching as prohibited cuttings. It uses a directed hypergraph closure algorithm to generate tea garden operation tables and outputs the tea garden regulation results of non-contact tender shoot picking, restricted return of pest and disease residues to the field, and carbon sequestration of treated residues through mulching.

[0006] In a preferred embodiment, the hardware module comprises: The data acquisition system includes a tea row sign, a barcode reader, a canopy camera, a leaf back camera, a side branch camera, and a debris imaging platform. The tea row sign is located at the end of the tea row, and the barcode reader and each camera are located on the acquisition frame. The barcode reader reads the tea row, uses the tender shoot image from the canopy camera to form the tender shoot status, uses the disease and pest images from the leaf back camera and the side branch camera to form the disease and pest location, and uses the pruning debris image from the debris imaging platform to form the source of the debris, and outputs the tea row record. A tea row refers to a line of tea trees or a continuous strip of tea trees arranged in the direction of planting in a tea garden. The end of each tea row is a convenient location for operation, which is the starting point of the tea row. A tea row sign is a numbered sign, QR code sign, or RFID tag fixed at the end of the tea row to provide a unique tea row number for each tea row. A barcode reader is a barcode scanner or RFID reader installed on a data collection frame. The data collection frame is a carrier that moves along the tea row. It can be a hand-pushed frame, a small tracked frame, or a tea garden inspection vehicle frame. It is used to install barcode readers, canopy cameras, leaf back cameras, and side branch cameras at the same time. Therefore, a camera is not set up for each tea tree. Instead, continuous data collection is completed by moving the data collection frame along the tea row, which can control the number of hardware and deployment costs. In actual operation, the barcode reader reads the tea row sign when the collection rack enters the tea row end, obtains the current tea row, and writes it into the tea row record. The canopy camera faces the upper picking surface of the tea tree to take pictures of tender shoots. The system determines the tender shoot status based on the position and number of one bud and one leaf, one bud and two leaves, unopened buds, or new buds in the image. The leaf back camera takes pictures of the leaf back area inside the tea canopy at an angle of oblique upward or side. The side branch camera faces the side branches of the tea tree and takes pictures of branches and leaves. The system determines the disease and pest location based on the insects, insect spots, disease spots, damaged branches, and the area they are in the pictures. The residue shooting platform is a shooting plane set behind the pruning end or at the entrance of the residue collection box. Diseased and pest branches and pruning residues pass through the residue shooting platform before falling into the residue collection box. The camera on the residue shooting platform takes pictures of the residues. Combined with the disease and pest location just executed at the pruning end, the tea row where the collection rack is located, and the time the residues enter, the source of the residues is determined to be from the picking surface, the disease and pest location, the side branches, or the tea row. The application end includes a storage tank, an infusion pump, an infusion pipe, and a directional nozzle. The storage tank is connected to the directional nozzle via the infusion pump and infusion pipe. The directional nozzle is located on the side of the collection rack and applies organic inputs towards the non-picked leaf layer or diseased and pest points on the side branches. The application time and application range are recorded in the tea shop record. The pruning end includes a branch clamp, an electric pruning shear, and a residue collection frame. The branch clamp and the electric pruning shear are located on the side of the collection frame. The branch clamp is used to fix the branches where the diseased or insect-infested parts are located. The electric pruning shear is used to cut off the fixed branches and form diseased or insect-infested branches. The residue collection frame is located below the electric pruning shear and is used to receive diseased or insect-infested branches and pruning residue. The branch clamp is used to first clamp the branches with diseased or insect-infested parts to prevent the branches from shaking or falling into the tea row during pruning. The electric pruning shear is used to cut off the clamped diseased or insect-infested branches. The residue collection frame is used to catch the cut diseased or insect-infested branches and pruning residue to prevent the diseased or insect-infested residue from scattering and returning to the tea tree area. The residue processing end includes a composting box, a fermentation box, and a carbonization box, while the covering end includes a feeding pipe and a spreading port. The residue processing end receives the pruned residue from the residue collection box and forms processed residue. The composting box, fermentation box, and carbonization box are connected to the spreading port via the feeding pipe. The spreading port is located between tea rows or above the outer edge of the root zone and is used to spread the processed residue. The composting box, fermentation box, and carbonization box are used to pile up, ferment, or carbonize the pruned residue, respectively, transforming it into processed residue. The feeding pipe is used to deliver the processed residue to the covering position, and the spreading port is used to spread the processed residue between tea rows or above the outer edge of the root zone.

[0007] In a preferred embodiment, the execution of the bud group module to obtain the tender shoot state sequence includes: Acquire images of tender shoots, image acquisition time, and tea rows from the tea row records. Divide the tender shoot images into tea tree picking surface blocks according to the intersection lines of adjacent tea tree crowns. Extract bud tip points, tender stem center lines, and leaf closure edges from the tea tree picking surface blocks. Record objects containing bud tip points but not unfolded leaf closure edges as new buds. Record objects containing bud tip points, tender stem center lines, and unfolded leaf closure edges as tender shoot states. Generate a tender shoot state sequence according to the image acquisition time. The segmentation of the tender shoot image includes image grayscale conversion, green area extraction, edge extraction and connected region labeling. First, the outer boundary of the picking surface of each tea tree is extracted from the tender shoot image. Then, the inward concave boundary line between the picking surfaces of adjacent tea trees is used as the crown width intersection line. The tender shoot image of the same tea row is divided into multiple tea tree picking surface blocks according to the crown width intersection line. Image feature extraction for tea tree picking surface blocks includes edge extraction, contour finding, skeleton extraction and endpoint finding. First, the contours of leaves and tender stems can be extracted from the tea tree picking surface blocks. Then, the closed leaf contour is recorded as the closed edge line of the leaf, the central axis inside the tender stem contour is recorded as the center line of the tender stem, and the position at the end of the center line of the tender stem and located at the contour of the pointed bud is recorded as the bud tip point. The start and stop times of the application end, the orientation of the directional nozzle, and the location of the directional nozzle in the tea row record are obtained. The time from the start time of the infusion pump to the stop time of the infusion pump is recorded as the application time. The projection area of ​​the directional nozzle orientation in the tea tree picking surface block is recorded as the application range. The image coordinates that coincide with the state of the tender shoots within the application range are recorded as the forbidden areas. The application time, application range, and forbidden areas are written into the tender shoot state sequence. Among them, application refers to the application of organic inputs to the non-harvested leaf layer or lateral branch disease and pest points through the application end via the liquid storage tank, infusion pump, infusion pipe and directional nozzle. Organic inputs include, but are not limited to, green pest control inputs for tea gardens from biological, plant or mineral sources.

[0008] In a preferred embodiment, the execution of the shoot contact table output by the bud group module includes: The state of the tender shoots before application is taken as the pre-application tender shoots, and the state of the tender shoots after application is taken as the tender shoots to be matched. Each pre-application tender shoot and each tender shoot to be matched is assigned a unit mass. The transmission cost is generated by adding the bud tip displacement, the non-overlapping length of the tender stem centerline, and the non-overlapping length of the leaf closure edge. The non-balanced optimal transmission algorithm is used to find the transmission matrix that minimizes the total transmission cost. The mass of the pre-application tender shoots that is not transmitted to the tender shoots to be matched is recorded as the tender shoot disappearance amount, and the mass of the tender shoots to be matched that is not received from the pre-application tender shoots is recorded as the tender shoot addition amount. For each tender shoot to be matched, the object whose mass source is the pre-application tender shoot is recorded as the continuing tender shoot, and the object whose mass source is the tender shoot addition amount is recorded as the new bud. The pre-application tender shoots and continuing tender shoots that fall into the application range or forbidden areas are recorded as contact tender shoots. The tender shoot contact table is output. The purpose of using the unbalanced optimal transmission algorithm is to establish a "source relationship" between the two groups of tender shoots before and after application, that is, to determine whether each tender shoot after application is formed by the continued growth of the tender shoot before application or by the new sprouting after application. Since the tender shoots of tea trees may be picked, shaded, continue to elongate or grow new shoots, the number of tender shoots before and after application may not be the same. Therefore, a one-to-one fixed matching cannot be used. Instead, it is necessary to allow the disappearance of tender shoots before application and to allow the appearance of new buds after application. The unit mass is a counting source set for each tender shoot. Before application, each tender shoot has an allocable mass, and after application, each tender shoot to be matched has a receiving mass. If a tender shoot before application and a tender shoot to be matched are similar in the position of the bud tip, the direction of the tender stem centerline, and the shape of the closed edge of the leaf, the system tends to allocate one mass of the tender shoot before application to the tender shoot to be matched, indicating that the tender shoot to be matched comes from the continuation of the tender shoot before application. Among them, the transmission cost is a value used to measure the difference between the tender shoots before application and the tender shoots to be paired. Specifically, it is obtained by adding the distance between the bud tips, the length of the non-overlapping center line of the tender stem, and the length of the non-overlapping closed edge line of the leaf. The closer the two are, the lower the transmission cost and the more suitable they are for pairing. The greater the difference between the two, the higher the transmission cost and the less suitable they are for pairing. The transfer matrix is ​​an allocation table from the tender shoot before application to the tender shoot to be paired. Each item in the table represents the mass allocated from a tender shoot before application to a tender shoot to be paired. Finding the transfer matrix that minimizes the total transfer cost means selecting the allocation method with the lowest total cost among all possible pairing relationships, so that the continuity relationship of the same tender shoot before and after application is preferentially preserved. Among them, the amount of disappearing tender shoots is the remaining mass of tender shoots that were not allocated to any tender shoots to be matched before application, which is used to indicate tender shoots that existed before application but were not identified after application; the amount of newly added tender shoots is the mass of tender shoots to be matched that were not received from any tender shoots before application, which is used to indicate that the tender shoots to be matched are not continuations of old tender shoots, but new buds that appeared after application; the amount of received mass is the amount of allocation that tender shoots to be matched receive from tender shoots before application. When the received mass comes from tender shoots before application, the tender shoots to be matched are recorded as continued tender shoots. When the received mass comes from the amount of newly added tender shoots, the tender shoots to be matched are recorded as new buds. This process eliminates the need for the system to calculate the metabolic results of organic inputs. Instead, it determines whether the shoots have experienced application contact based on their origin before and after application. New shoots that originate from shoots before application and fall within the application area or prohibited areas are recorded as contact shoots. New shoots that appear after application and do not fall within the application area or prohibited areas are recorded as non-contact shoots. A shoot contact table is then created based on this.

[0009] In a preferred embodiment, the determination of pest and disease sites by the control module includes: A tender shoot contact chart is obtained, which includes tea row, bud tip point, tender stem center line, leaf closure edge line, contact mark and harvestable mark. Among them, the image area enclosed by the bud tip point, tender stem center line and leaf closure edge line is the area where the tender shoot is located. The contact mark is formed by whether the area where the tender shoot is located falls within the application range or the prohibited area. The harvestable mark is formed by whether the tender shoot or the continued tender shoot before application has entered the picking batch. The diseased and pest parts are obtained, including the tea row, the location of the diseased and pest image and the source of collection. Among them, the image area where the insect body, insect spot, disease spot or the affected branch is located in the diseased and pest image collected by the leaf back camera or the side branch camera is used as the location of the diseased and pest image, and the leaf back camera or the side branch camera that formed the diseased and pest image is used as the source of collection. The locations of pest and disease images in the same tea row are superimposed on the areas where tender shoots are located. The parts of pests and diseases that fall into the area where tender shoots are located and both the contact mark and the harvestable mark are set are recorded as pest and disease points of contactable and harvestable tender shoots. The parts of pests and diseases that are collected from the leaf back camera and do not fall into the area where tender shoots are harvestable are recorded as pest and disease points of non-picked leaf layer. The parts of pests and diseases that are collected from the side branch camera are recorded as pest and disease points of side branch.

[0010] In a preferred embodiment, the generation of prevention and control actions by the prevention and control module includes: For pest and disease sites that come into contact with harvestable tender shoots, the contact control actions should be written into the post-harvest supplementary control measures after the pre-harvest interval has expired; for pest and disease sites in the non-harvested leaf layer, the tea row of the pest and disease site and the image location of the pest and disease should be written into the targeted application; for pest and disease sites on lateral branches, the branches where the pest and disease site is located should be written into the pruning and stripping, and the post-harvest supplementary control, targeted application, and pruning and stripping should be written into the control table according to the tea row; among them, the control actions refer to the post-harvest supplementary control, targeted application, and pruning and stripping. Among them, contact control actions refer to control actions that involve applying organic inputs to the surface of tea leaves, tender shoots, or branches, including the application of biological, plant-based, or mineral-based green control inputs for tea gardens by directional sprayers; the pre-harvest interval refers to the time interval between the application of organic inputs and the permitted harvesting time, which is given by the instructions for use of organic inputs, the requirements for organic planting management in tea gardens, or the application records of tea gardens, and is written into the tea records along with the organic inputs; Among them, post-harvest prevention refers to implementing prevention and control measures after the corresponding tea row has been harvested for the diseased and pest points that have come into contact with the harvestable tender shoots; targeted application refers to applying organic inputs to the diseased and pest points in the non-harvested leaf layer using targeted sprayers according to the tea row and the image location of the diseased and pest points; pruning and stripping refers to clamping and fixing the branches where the diseased and pest points are located on the lateral branches, and then using electric pruning to cut off the fixed branches, so that the diseased and pest points on the lateral branches are separated from the tea tree along with the diseased and pest branches.

[0011] In a preferred embodiment, the determination of the source and processing status of the residue by the residue module includes: Obtain the pruning and stripping and residue sources in the prevention and control table, record the diseased and insect-infested branches produced by pruning and stripping as the residue sourced from the diseased and insect-infested parts, record the pruning residues inside the harvesting surface collected by the canopy camera as the residue sourced from the harvesting surface, and write the residue sourced from the diseased and insect-infested parts and the residue sourced from the harvesting surface into the residue source; The identification of pest- and diseased parts of the debris includes: obtaining the pruning stripping and pest- and diseased parts in the control table, recording the pest- and diseased branches formed by electric pruning after the branches containing the pest- and diseased parts are fixed by the branch clamp, and recording the pest- and diseased branches as the pest- and diseased parts of the debris; the identification of debris from the harvesting surface includes: obtaining the harvesting surface images collected by the canopy camera before and after pruning, performing differential comparison on the images before and after pruning, and recording the outlines of the branches and leaves debris that are newly added after pruning and fall into the harvesting surface block as the harvesting surface debris. Obtain the processing records from the residue processing end. The processing records include the entry time, exit time, and residue number of the trimmed residue into the composting box, fermentation box, or carbonization box. Trimmed residue with entry time, exit time, and residue number is recorded as processed residue, and the residue processing status is defined as composting discharge, fermentation discharge, or carbonization discharge.

[0012] In a preferred embodiment, the residue module defines the location for returning the processed residue to the field, including: Obtain the source of the residue, the treatment status of the residue, and the residue after treatment. Limit the treated residue from the diseased and insect-infested parts and the residue from the picking surface to the tea row or the outer edge of the root zone. Generate a return field table based on the tea row, the source of the residue, the treatment status of the residue, the residue after treatment, the tea row, and the outer edge of the root zone. The restriction on processed residues from diseased and insect-infested parts and from the picking surface to the tea rows or the outer edge of the root zone means that after these two types of residues have been processed through composting, fermentation, or carbonization, they are only allowed to be spread from the material spreading point to the tea rows or the outer edge of the tea tree root zone, and not to the area below the picking surface or near the tender shoots that can be picked; in addition, "restricted to" here specifies the range of locations where they are allowed to be spread. The "Return to Field Table" is a table that records the type of residue in each tea row, the source of the residue, the treatment status of the residue, the treated residue, and whether it is allowed to be laid between tea rows or at the outer edge of the root zone. The Return to Field Table is used to restrict the laying position of the covering end and prevent residues from diseased or pest-infested parts and residues from the picking surface from being laid back to the vicinity of the harvestable tender shoots.

[0013] In a preferred embodiment, the generation of the initial tea row diagram by the sequence diagram module includes: Obtain the tender shoot contact table, control table, and return-to-field table. Establish a node table for the same tea row. Each node in the node table includes node number, tea row, operation type, operation object, and operation location. Operation types include: picking, control, pruning, residue treatment, and mulching. The operation object for picking is taken from the tender shoots in the tender shoot contact table. The operation object for control is taken from the post-harvest supplementary control or targeted application in the control table. The operation object for pruning is taken from the pruning and stripping in the control table. The operation objects for residue treatment and mulching are taken from the treated residue in the return-to-field table. Output the node table. The node number is a unique number assigned by the sequence diagram module to each operation node in the node table, used to distinguish picking, prevention and control, pruning, residue treatment and covering nodes within the same tea row; the operation location refers to the execution location of the operation node in the tea row, including the location of tender shoots, diseased and insect parts, pruning and stripping location, residue treatment location, and the outer edge of the tea row or root zone. Using the node table as the point set of the directed hypergraph, generate a hyperedge table for the same tea row and the same work object. If there is pruning and stripping in the control table, generate a control-to-pruning hyperedge pointing from the control node to the pruning node, a pruning-to-processing hyperedge pointing from the pruning node to the residue processing node, and a residue processing hyperedge pointing from the residue processing node to the covering node. If there is post-harvest reinforcement in the control table, generate a harvesting hyperedge pointing from the harvesting node to the control node corresponding to the post-harvest reinforcement. If there is post-processed residue in the return-to-field table, generate a residue processing node pointing to the covering node's processing-to-covering hyperedge. Output the initial tea row graph containing the node table and the hyperedge table. The initial tea row diagram, containing node tables and hyperedge tables, is used to organize the scattered harvesting, pest control, pruning, residue treatment, and mulching operations within the same tea row into a checkable sequence diagram. The node table records the node number, tea row, operation type, operation object, and operation location of each operation node, so that the system knows what specific operations are being performed in the current tea row. The hyperedge table records the succession relationships between operation nodes, such as pruning after pest control, residue treatment after pruning, mulching only after residue treatment, and post-harvest pest control only after harvesting. This allows the system to check whether the operation sequence violates the prohibition on harvesting tender shoots, the restriction on returning diseased and pest-infested residues to the field, and the principle of removing diseased and pest-infested branches before mulching, and generates a tea garden operation table based on this.

[0014] In a preferred embodiment, the generation of the forbidden cut closure in the sequence graph module includes: A prohibited harvesting table is generated based on the tender shoot contact table, return-to-field table, and node table. Harvesting nodes whose target is tender shoot contact are written as "prohibited harvesting for tender shoot contact". Covering nodes whose target is pest and disease residue and whose location is not between tea rows or outside the root zone are written as "return-to-field restriction for pest and disease residue". Nodes in the same pest and disease branch whose covering node is ranked earlier than the pruning node are written as "remove pest and disease branch first, then cover". The prohibited harvesting table is then output. The prohibited harvesting table is used to record conflict relationships in the tea row operation table that are not allowed to directly enter the tea garden operation table. Among them, the "prohibited harvesting for tender shoot contact" is used to prevent tender shoot contact from entering for harvesting, the "return-to-field restriction for pest and disease residue" is used to prevent pest and disease residue from being laid outside the tea rows or outside the root zone, and the "remove pest and disease branch first, then cover" is used to prevent covering from being executed before the removal of pest and disease branch. This allows the sequence diagram module to identify and rewrite conflicting operations when generating the tea garden operation table. The directed hypergraph closure algorithm is used to read the initial graph of the tea row and the prohibited cutting table: the node in the hyperedge table that has no other node pointing to it is taken as the starting node. The starting node that does not hit the prohibited cutting table is written into the tea garden operation table. The ending node pointed to by the starting node is added to the candidate node along the hyperedge table. If the node number or node pair of the candidate node hits the prohibited cutting table, the hit picking node is not written into it. Instead, it is transferred to the post-harvest supplementary prevention node of the same tea row in the prevention and control table. Alternatively, the operation position of the hit covering node is rewritten according to the tea row or root zone outer edge in the return table. Alternatively, the hit node pair is rewritten in the order of pruning node, residue treatment node and covering node, until all nodes in the node table are written into the tea garden operation table, excluded by the prohibited cutting table, or written into the tea garden operation table after being rewritten by the prohibited cutting table. The tea garden control result is then output.

[0015] The implementation methods for an organic tea garden planting system that combines carbon sequestration and green pest and disease control include: S1. Collect tender shoots, diseased and insect-infested parts, and the source of plant residues at the collection end according to the tea row; apply organic inputs at the application end; remove diseased and insect-infested branches at the pruning end; treat pruned plant residues at the residue treatment end; and lay treated plant residues at the covering end. Output the tea row record. S2. Obtain the status of tender shoots, application time, application range and forbidden contact areas from the tea plantation records. Construct a tender shoot group with tender shoots before application, continued tender shoots and new buds. Use an unbalanced optimal transmission algorithm to match the tender shoot groups before and after application and output the tender shoot contact table. S3. Obtain the contact table of tender shoots, the disease and pest locations and the pre-harvest interval. Transfer the disease and pest points that have come into contact with harvestable tender shoots to post-harvest supplementary control. Transfer the disease and pest points of non-harvested leaf layer and lateral branches to targeted application or pruning and stripping. Output the control table. S4. Obtain the control table, the source of residues and the status of residue treatment, and limit the residues from the picking surface and the residues from the diseased and pest parts to the tea rows or the outer edge of the root zone, and generate the return table. S5. Obtain the tender shoot contact table, control table, and return-to-field table. Use picking, control, pruning, residue treatment, and mulching as operation nodes. Use prohibited picking of tender shoots, restricted return of diseased and insect residues to the field, and removal of diseased and insect branches before mulching as prohibited cutting. Use the directed hypergraph closure algorithm to generate the tea garden operation table and output the tea garden regulation results of non-contact tender shoot picking, restricted return of diseased and insect residues to the field, and carbon sequestration of treated residues through mulching.

[0016] The technical effects and advantages of this invention are as follows: By recording the tea row data, the condition of tender shoots, the location of pests and diseases, the source of plant residues, the application time and the application range are placed in the same tea row link. Then, the tender shoot contact table, the prevention and control table, the return to the field table and the tea garden operation table are used to constrain the picking, prevention and control, pruning, plant residue treatment and covering in sequence. This makes the system no longer just release picking batches according to the pre-harvest interval, but also judge whether the tender shoots have come into contact with the application range, whether the pest and disease points are located on the harvestable tender shoots, and whether the treated plant residues are allowed to return to the field. This relatively reduces the risk of tender shoots being picked after contact, pest and disease residues returning to the vicinity of harvestable tender shoots, and the conflict between covering carbon sequestration and green prevention and control. By using an unbalanced optimal transmission algorithm, tender shoots before and after application are matched according to the bud tip displacement, the non-overlapping length of the tender stem centerline, and the non-overlapping length of the closed edge of the leaf. The tender shoots after application are divided into continued tender shoots and new buds, so that the tender shoot contact judgment is based on the image source relationship and the overlapping relationship of the application range, which relatively reduces the dependence on the experimental data of drug metabolism. By recording the pest and disease points that come into contact with harvestable tender shoots as post-harvest remedial control, recording the pest and disease points in the non-harvested leaf layer as targeted application, and recording the pest and disease points in the lateral branches as pruning and stripping, the control actions are diverted according to the location of the pest and disease images and the contact marks on the tender shoots, thus relatively reducing the situation where contact control actions directly affect harvestable tender shoots. By associating the source of the diseased and pest-infested parts, the source of the harvested parts, and the treated parts with the residue number, the time of entering the box, the time of exiting the box, and the residue number of the discharged residue, the source of the treated residue can be traced before it is returned to the field. The location of the treated residue is limited to the tea rows or the outer edge of the root zone, which relatively reduces the risk of disease and pests returning to the harvested surface when the mulch is returned to the field. An initial graph of the tea row is formed by using a node table and a hyperedge table. Then, a prohibited cutting table is generated by restricting the harvesting of tender shoots, limiting the return of diseased and insect-infested plant debris to the field, and removing and covering diseased and insect-infested branches first. This allows the directed hypergraph closure algorithm to exclude or rewrite conflicting nodes when generating the tea garden operation table, thereby relatively improving the execution order of harvesting, prevention and control, pruning, plant debris treatment, and covering. Attached Figure Description

[0017] Figure 1 This is a diagram showing the system module configuration of the present invention.

[0018] Figure 2 This is a flowchart of the system execution in this invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Refer to the instruction manual appendix Figures 1-2The organic tea garden planting system of the present invention, which combines carbon sequestration and green pest and disease control, includes: The hardware module includes a collection end, an application end, a pruning end, a residue treatment end, and a covering end. The collection end collects the tender shoots, diseased and insect-infested parts, and residue sources according to the tea row. The application end applies organic inputs. The pruning end removes diseased and insect-infested branches. The residue treatment end processes the pruned residues. The covering end lays out the treated residues and outputs tea row records. In this embodiment, the hardware module is used to form tea row records at the tea row dimension, so that the condition of tender shoots, diseased and insect parts, source of residues, application time, application range, prohibited parts, pre-harvest interval, residue number, residue treatment status and post-treatment residues within the same tea row have the same reading basis; the hardware module first determines the tea row and acquires images at the acquisition end, then writes the application action field at the application end, forms diseased and insect branches and pruned residues at the pruning end, forms post-treatment residues at the residue treatment end, and lays the post-treatment residues at the covering end according to the return field location; The data acquisition unit is used to establish the basic fields for tea shop records. A tea shop sign is fixed to the end of the tea shop and carries a tea shop number. After the data acquisition unit enters the tea shop end, the barcode reader reads the tea shop sign and writes the tea shop number into the tea shop record. A canopy-facing camera faces the tea tree's picking surface to acquire images of tender shoots. The tea shop record writes the image acquisition time and the tender shoot image. The system determines the tender shoot status based on the bud tip, the center line of the tender stem, and the closed edge of the leaf in the tender shoot image. A leaf-back camera acquires images of pests and diseases in the underside of the leaves, and a lateral branch camera acquires images of pests and diseases in lateral branches and non-picked leaf layers. The system determines the location of pests and diseases based on the insect body area, insect spot area, lesion area, or affected branch area in the pest and disease images, and records... The location and source of the pest and disease images are written into the tea row record; the residue imaging platform is set behind the pruning end or at the entrance of the residue collection box. Pest and disease branches and pruning residues pass through the residue imaging platform before entering the residue collection box. The residue imaging platform captures images of the pruning residues. The system determines the source of the residues based on the pruning residue images, the pest and disease parts pruned at the pruning end, the tea row where the collection frame is located, and the time the residues enter; if the barcode reader does not read the tea row sign, no new tea row record is created; if the canopy camera, leaf back camera, side branch camera, or residue imaging platform does not form a recognizable image, the tea row record writes a corresponding image missing marker, and does not generate the tender shoot status, pest and disease parts, or residue source based on the missing image; The application end is used to convert the application action of organic inputs into the application time, application range, and prohibited areas read by the bud cluster module; the storage tank holds the organic inputs, and the infusion pump draws the organic inputs from the storage tank and delivers them to the directional nozzles through the infusion tube; after the code reader has written the tea row, the system records the start time and stop time of the infusion pump, records the time from the start time to the stop time as the application time, and writes it into the same tea row record; the system uses the location of the directional nozzle in the tea row as the application starting point and the direction of the directional nozzle as the application direction, generates a spray projection line on the tea tree picking surface map that intersects with the application direction, and records the area of ​​the tea tree picking surface map that the spray projection line passes through. The application area is recorded in the tea row record. The system compares the application area with the area enclosed by the bud tip, the center line of the tender stem, and the closed edge of the leaf corresponding to the tender shoot state. The overlapping area is recorded as the forbidden area and recorded in the tea row record. The pre-harvest interval is recorded in the tea row record along with the organic input. The pre-harvest interval is taken from the interval length in the instructions for use of organic input, the organic planting management requirements of tea garden, or the tea garden application record. When the infusion pump is not started, the application time and application area are not generated. When the orientation of the directional nozzle is missing, the application area and the forbidden area are not recorded. The tea row record is marked with a missing application area. The bud group module reads the mark and skips the application contact judgment. The pruning end is used to convert the stripping action of lateral branch disease and pest points into a source chain of diseased branches and pruning debris; after the control table is written into the pruning stripping, the branch clamping clamp fixes the branch where the diseased part is located according to the tea row, diseased part, and diseased part image position in the pruning stripping; the electric pruning shear cuts the fixed branch and forms a diseased branch; the debris collection frame receives diseased branches and pruning debris, and the system assigns debris numbers to diseased branches and pruning debris entering the debris collection frame, and writes the debris number, tea row, diseased part, pruning stripping, and entry time into the tea row record; the debris imaging platform collects the pruning debris before it enters the debris collection frame. The system records diseased and insect-infested branches resulting from pruning as the source of the diseased and insect-infested parts. It performs differential comparison on the images of the picking surface captured by the canopy camera before and after pruning, and records the outlines of branches and leaves that are newly added after pruning and fall into the tea tree picking surface block as the source of the picking surface. When the branch clamp is not fixed, the electric pruning shears will not perform the cutting action. When the electric pruning shears have cut the branch but the residue imaging platform has not obtained the image of the pruned residue, the system retains the residue number and the source of pruning and stripping, and writes the missing mark of the pruned residue image into the tea row record, but does not write the residue number into the source of the picking surface. The residue processing end and the covering end are used to convert pruned residues into processed residues and restrict the laying position of the processed residues according to the return-to-field table. The residue processing end receives pruned residues with residue numbers from the residue collection box. The composting box, fermentation box, and carbonization box record the residue number, entry time, exit time, and discharge residue number, respectively. The system records pruned residues with entry time, exit time, and discharge residue number as processed residues, and uses composting discharge, fermentation discharge, or carbonization discharge as the residue processing status, and writes the residue processing status and processed residues into the tea shop record. The cover end reads the tea row space or root zone outer edge corresponding to the treated residue in the field return table. The feeding pipe delivers the treated residue to the spreading port, which is located above the tea row space or root zone outer edge. The treated residue is then laid according to the position specified in the field return table. Treated residue from pest-infested parts and from the picking surface is not written below the picking surface or near the harvestable tender shoots. If the residue number does not correspond to the discharge residue number, no treated residue is generated. If the field return table does not specify the tea row space or root zone outer edge, the cover end does not perform the laying action and writes the missing field return position mark into the tea row record. Through the above process, the hardware module converts the actions of collection, application, pruning, residue treatment and covering into a field chain in the tea row record. The bud group module reads the tender shoot status, application time, application range and prohibited contact parts to generate a tender shoot contact table. The control module reads the disease and pest parts and the pre-harvest interval to generate a control table. The residue module reads the source of the residue and the residue treatment status to generate a return to the field table. The sequence diagram module reads the tender shoot contact table, control table and return to the field table to generate a tea garden operation table. In practical applications: For example, a QR code tea shop sign is set at the end of the tea shop numbered T01. After the collection rack enters T01, the code reader reads the tea shop. The canopy camera collects the image of the picking surface and forms the state of a one-bud-one-leaf tender shoot. The leaf back camera identifies insect spots on the back of the leaves and forms the diseased and insect parts. The directional nozzle sprays plant-derived organic inputs onto the non-picked leaf layer and writes the application time and application range. The system writes the area where the application range overlaps with the one-bud-one-leaf tender shoot as the forbidden area. After the side branch camera identifies the diseased and insect points on the side branches, the branch clamp fixes the branch where the diseased and insect points are located. The electric pruning cuts off the branch to form a diseased and insect branch. The residue collection box receives the diseased and insect branch and assigns the residue number R01. The residue processing end processes R01 through the fermentation box to form the discharge residue number R01-F. After the covering end reads the return to the field surface, R01-F is laid on the outer edge of the root zone of the T01 tea shop.

[0021] The bud group module obtains the tender shoot status, application time, application range and forbidden contact areas from the tea field records. The tender shoot group is composed of tender shoots before application, continued tender shoots and new buds. The unbalanced optimal transmission algorithm is used to match the tender shoot groups before and after application and output the tender shoot contact table. In this embodiment, the bud cluster module is used to convert the tender shoot images and application action fields in the tea processing records into a tender shoot contact table. Its function is to identify the tender shoots that already existed before application, the continued growth of tender shoots after application, and the new buds that appeared after application, and to determine whether the tender shoots and the continued growth of tender shoots before application fell within the application range or prohibited areas. The bud cluster module does not calculate the metabolic amount of organic inputs in the tender shoots, but determines the contact status of the tender shoots through "image element extraction - application range positioning - matching the source of tender shoots before and after application". This implementation process includes the following steps: The shoot state sequence is used to convert shoot images into image elements that can participate in subsequent matching; the bud group module reads tea rows, image acquisition time, and shoot images from the tea row records, performs grayscale conversion, green area extraction, edge extraction, and connected region marking on the shoot images to obtain the tea tree branch and leaf region; the outer boundary of each tea tree's picking surface is extracted from the tea tree branch and leaf region, and the inwardly concave boundary line between adjacent tea tree picking surfaces is recorded as the intersection line of adjacent tea tree crowns, and the shoot images of the same tea row are divided into multiple tea tree picking surface blocks according to the intersection line of adjacent tea tree crowns; contour search, skeleton extraction, and endpoint search are performed in the tea tree picking surface blocks, the closed leaf contour is recorded as the leaf closed edge line, the inner central axis of the shoot contour is recorded as the shoot center line, and the end of the shoot center line and the end of the shoot center line are recorded as the leaf closed edge line. The position located at the outline of the pointed bud is recorded as the bud tip point; the tender shoot status includes the new bud status and the tender shoot status with unfolded leaves. An object containing a bud tip point but not the closed edge of unfolded leaves is written as the new bud status, and an object containing a bud tip point, the center line of the tender stem, and the closed edge of unfolded leaves is written as the tender shoot status with unfolded leaves; the bud group module generates a tender shoot status sequence according to the tea row, image acquisition time, tea tree picking surface block, bud tip point, tender stem center line, closed edge of leaves, new bud status, and tender shoot status with unfolded leaves, for application range comparison and tender shoot matching and reading before and after application; when the tender shoot image is missing, the junction line of adjacent tea tree crowns is not extracted, or the bud tip point is not extracted in the tea tree picking surface block, the tender shoot status sequence is written with the corresponding missing marker, and the relevant tea tree picking surface block is not entered into the unbalanced optimal transmission algorithm. The application field contains the temporal and spatial boundaries used to determine the contact between the tender shoots and the application. The bud cluster module reads the start and stop times of the application end, the orientation of the directional nozzle, and the location of the directional nozzle in the tea row from the tea row record. The time from the start to the stop of the infusion pump is recorded as the application time. Using the location of the directional nozzle in the tea row as the application start point and the orientation of the directional nozzle as the application direction, a spraying projection line intersecting with the application direction is generated on the tea tree picking surface map. The area of ​​the tea tree picking surface map passed through by the spraying projection line is recorded as the application range. The application range is then matched with the bud tip corresponding to the tender shoot state. The overlapping area enclosed by the endpoint, the center line of the tender stem, and the closed edge of the leaf is compared, and the image coordinates of the overlapping area are marked as forbidden areas. The bud group module writes the application time, application range, and forbidden areas into the tender shoot status sequence according to the tea row and the image acquisition time, so as to determine whether the tender shoot and the newly growing tender shoot have experienced application contact before application. If the start time or stop time of the infusion pump is missing, the application time is not generated. If the orientation of the directional nozzle or the location of the directional nozzle in the tea row is missing, the application range and forbidden areas are not generated, and an application field missing mark is written into the tender shoot status sequence. The unbalanced optimal transport algorithm is used to solve the source determination problem caused by the difference in the number of tender shoots before and after application. The bud group module uses the tender shoot state at the image acquisition time earlier than the application time and with the shortest time difference as the pre-application tender shoot set, and the tender shoot state at the image acquisition time later than the application time and with the shortest time difference as the candidate tender shoot set. The pre-application tender shoot set is used as the rows of the transport matrix, and the candidate tender shoot set is used as the columns of the transport matrix. Each pre-application tender shoot and each candidate tender shoot is assigned a unit mass. For each matrix item in the transport matrix, the transport cost is obtained by adding the bud tip displacement, the non-overlapping length of the tender stem centerline, and the non-overlapping length of the closed edge of the leaf of the corresponding pre-application tender shoot and candidate tender shoot. The transport matrix allows that not all the unit mass of the pre-application tender shoot is transported, and the untransmitted part is recorded as the tender shoot disappearance amount. It also allows that not all the unit mass of the candidate tender shoot is received from the pre-application tender shoot. For tender shoots, the unreceived portion is recorded as the newly added amount of tender shoots. The bud group module uses the total transmission cost, the amount of tender shoots disappearing, and the amount of tender shoots newly added as the solution object to find the transmission matrix with the lowest value. For each tender shoot to be matched, if the source of the received quality is the tender shoot before application, the tender shoot to be matched is recorded as a continued tender shoot; if the source of the received quality is the newly added amount of tender shoots, the tender shoot to be matched is recorded as a new bud. When the tender shoots before application and the continued tender shoots fall into the application range or the forbidden area, a contact mark is written. When the new buds after application do not fall into the application range or the forbidden area, a no-contact mark is written. The bud group module generates a tender shoot contact table with tea row, application time, application range, forbidden area, tender shoots before application, continued tender shoots, new buds, contact mark, and no-contact mark for the control module to read. When the set of tender shoots before application is empty, the tender shoots to be matched are written as new buds according to the newly added amount of tender shoots. When the set of tender shoots to be matched is empty, the tender shoots before application are written as disappearance records according to the amount of tender shoots disappearing. Through the above process, the bud group module writes the tender shoot image elements, application time, application range, forbidden contact areas and the source relationship of tender shoots before and after application into the tender shoot contact table, so that the control module can identify the disease and pest points of the tender shoots that can be harvested based on the contact marks, and distinguish the new buds after application from the tender shoots that already existed before application. In practical applications: For example, at 9:00 AM, Tea Shop T01 collects tender shoots A1, A2, and A3 that have unfolded leaves. At 9:10 AM, the directional nozzle applies organic inputs. At 9:30 AM, tender shoots B1, B2, B3, and B4 awaiting application are collected. The bud group module records B1, B2, and B3 as the continued tender shoots of A1, A2, and A3, respectively, based on the transmission cost, and records B4 as a new bud after application. If A2 and B2 fall within the application range or prohibited areas, A2 and B2 are marked with a contact mark. If B4 does not fall within the application range or prohibited areas, it is marked with a no-contact mark and written into the tender shoot contact table along with Tea Shop T01.

[0022] The control module obtains the contact table of tender shoots, the disease and pest locations and the pre-harvest interval, transfers the disease and pest points that have come into contact with harvestable tender shoots to post-harvest supplementary control, and transfers the disease and pest points of non-harvested leaf layers and lateral branches to targeted application or pruning and stripping, and outputs the control table. In this embodiment, the control module spatially overlays the tender shoot contact status in the tender shoot contact table with the pest and disease locations in the tea row records, thereby distinguishing between pest and disease points that have contacted harvestable tender shoots, pest and disease points in the non-harvested leaf layer, and pest and disease points on lateral branches, and generating post-harvest remedial control, targeted application, and pruning stripping for each. The purpose of this process is to prevent contact control actions from directly affecting harvestable tender shoots, while allowing pest and disease points in the leaf layer that have not contacted harvestable tender shoots to be targeted for application, and allowing pest and disease points on lateral branches to be pruned and stripped. This implementation process includes the following steps: The shoot contact table is used to determine whether pest and disease points are close to shoots that have been contacted and are ready for harvesting. The control module reads the tea row, bud tip, stem centerline, leaf closure edge, contact mark, and harvestable mark from the shoot contact table. The area enclosed by the bud tip, stem centerline, and leaf closure edge within the same tea row is designated as the shoot location. When the shoot location overlaps with the application area or prohibited contact area, the corresponding shoot is marked with a contact mark. When shoots before application or newly grown shoots enter the harvesting batch, the corresponding shoot is marked with a harvestable mark. The harvesting batch is determined by the bud and leaf morphology of the shoot. Shoots with one bud and one leaf or one bud and two leaves are included in the harvesting batch. Shoots that have not formed a bud tip, stem centerline, or leaf closure edge do not generate a shoot location area, and shoots not included in the harvesting batch do not generate a harvestable mark, which is excluded when pest and disease points overlap later. The disease and pest location is used to determine the image location and source area of ​​the disease and pest point; the control module reads the disease and pest location from the tea row record, which includes the tea row, the image location of the disease and pest, and the source of collection; color difference extraction, edge extraction, and connected region marking are performed on the disease and pest images collected by the leaf back camera or the side branch camera to obtain the insect body area, insect spot area, lesion area, or affected branch area, and the outer contour or center coordinates of these areas are written as the disease and pest image location; the leaf back camera or the side branch camera that formed the disease and pest image is written as the source of collection; if the disease and pest image does not extract the insect body area, insect spot area, lesion area, or affected branch area, the disease and pest image location is not generated; if the source of collection is missing, the disease and pest location is not included in the disease and pest point determination of non-picked leaf layer or side branch disease and pest point; The pest and disease identification system is used to categorize pest and disease locations based on their relationship to the area where tender shoots are located. The control module overlays the images of pests and diseases within the same tea row with the areas where tender shoots are located. When the image of a pest or disease falls within the area where a tender shoot is located, and that area has both a contact marker and a harvestable marker, the pest or disease location is recorded as a pest or disease point on a tender shoot that is in contact with the harvestable tender shoot. When the image of a pest or disease is collected from a leaf-back camera, and the image does not fall within the area of ​​a tender shoot with a harvestable marker, the pest or disease location is recorded as a pest or disease point on a non-harvested leaf layer. When the image of a pest or disease is collected from a lateral branch camera, the pest or disease location is recorded as a pest or disease point on a lateral branch. If the same pest or disease image falls within multiple areas where tender shoots are located, the area where both contact markers and harvestable markers are present is prioritized. If the image of a pest or disease does not fall within any area where tender shoots are located, it is classified as a pest or disease point on a non-harvested leaf layer or a pest or disease point on a lateral branch based on the source of the collected image. The control action generation is used to convert different pest and disease sites into non-conflicting operation records. For pest and disease sites that come into contact with harvestable tender shoots, the control module does not write immediate contact control actions. Instead, it writes the tea row of the pest and disease site, the image location of the pest and disease, and the contact control action into post-harvest remedial control. Post-harvest remedial control is performed after the corresponding tea row has been harvested and the pre-harvest interval has expired. For pest and disease sites in the non-harvested leaf layer, the control module writes the tea row of the pest and disease site, the image location of the pest and disease, and the source of collection into targeted application. Targeted application involves applying organic inputs to the non-harvested leaf layer pest and disease sites using directional nozzles. For pest and disease sites on lateral branches, the control module writes the pest and disease... The location of the diseased branch is recorded in the pruning and stripping section. The pruning and stripping section is formed by using a branch clamp to fix the branch containing the diseased and pest points on the lateral branch, and then using an electric pruning shear to cut and fix the branch. The control module records post-harvest remedial control, targeted application, and pruning and stripping in the control table according to the tea row. The control table must include at least the tea row, the location of the diseased and pest, the image location of the diseased and pest, the source of collection, the diseased and pest points that have come into contact with the harvestable tender shoots, the diseased and pest points in the non-harvested leaf layer, the diseased and pest points on the lateral branches, post-harvest remedial control, targeted application, and pruning and stripping. When the pre-harvest interval is missing, the diseased and pest points that have come into contact with the harvestable tender shoots are not recorded at the time of post-harvest remedial control, and a pre-harvest interval missing mark is written in the control table. Through the above process, the prevention and control module writes "where the pests and diseases are, whether they have come into contact with the harvestable tender shoots, and what prevention and control actions should be taken" into the prevention and control table, so that the residue module can read the residue from the source of pests and diseases formed by pruning and stripping, and the sequence diagram module can read the post-harvest supplementary prevention, targeted application and pruning and stripping to generate the tea garden operation table. In practical applications: For example, in tea shop T01, tender shoot N01 has contact and harvestable markings. The leaf-back camera identifies the location of the pest image P01, and P01 falls within the area where the tender shoot of N01 is located. Then P01 is marked as a pest point on the tender shoot that can be harvested, and post-harvest remedial treatment is initiated. The leaf-back camera identifies the location of the pest image P02, and P02 does not fall within the area where the tender shoot with the harvestable marking is located. Then P02 is marked as a pest point on the non-harvested leaf layer, and targeted application is initiated. The lateral branch camera identifies the location of the pest image P03, and P03 is marked as a pest point on the lateral branch, and pruning and stripping are initiated.

[0023] The residue module obtains the control table, residue source and residue treatment status, and limits the residue from the picking surface and the residue from the diseased and pest parts to the tea row or the outer edge of the root zone, and generates the return to field table. In this embodiment, the residue module is used to connect the pruning and stripping results in the control table, the source of residue in the tea row record, and the treatment record at the residue treatment end to determine the source of residue from diseased and pest-infested parts, the source of residue from the picking surface, the treated residue, and their permitted return location to the field. The purpose of this treatment is to preserve the numbering chain of residue from generation, treatment, to laying, preventing residue from diseased and pest-infested parts and residue from the picking surface from being re-laid below the picking surface or near the harvestable tender shoots after treatment. This implementation process includes the following steps: The residue origin determination function is used to determine whether pruned residue originates from diseased or pest-infested areas or from the harvesting surface. The residue module reads the pruning stripping data from the control table, the residue origin from the tea row records, images of pruned residue captured by the residue imaging platform, and images of the harvesting surface captured by the canopy camera before and after pruning. For diseased or pest-infested branches resulting from pruning stripping, the residue module reads the tea row, diseased or pest-infested area, the location of the diseased or pest-infested image, and the residue number from the pruning stripping data. Branches with diseased or pest-infested areas are clamped and then cut off by an electric pruning shear, and these diseased or pest-infested branches are recorded as residue originating from the diseased or pest-infested area. For pruning residue formed within the harvesting surface, the residue module records the origin before and after pruning. The images of the picking surface are compared differentially. The outlines of the branches and leaves that are newly added after pruning and fall into the tea tree picking surface block are recorded as the picking surface source residues. The picking surface source residues are associated with the pruning residue images and residue numbers collected by the residue imaging platform. The residue module writes the disease and pest part source residues, picking surface source residues, tea rows and residue numbers into the residue source for the residue processing status and return to field table to read. When the pruning stripping is missing, the disease and pest part source residues are not generated. When the picking surface images before and after pruning are missing, the picking surface source residues are not generated. When the residue number is missing, the corresponding pruning residues are not associated with the processed residues. The residue processing status determination is used to confirm that the pruned residue has undergone composting, fermentation, or carbonization, and has formed processed residue that can be returned to the field. The residue module reads the processing record from the residue processing end. The processing record includes the residue number, processing box type, entry time, exit time, and the number of the discharged residue. The processing box type can be a composting box, fermentation box, or carbonization box. When the residue number enters the composting box, fermentation box, or carbonization box, the residue module writes the entry time. When the residue number exits the composting box, fermentation box, or carbonization box, the residue module writes the exit time and the number of the discharged residue. When the same residue number has both an entry time and an exit time, the processing module can determine the processing status. When the time and discharge residue number are specified, the residue module records the trimmed residue corresponding to the residue number as the processed residue and writes the residue processing status according to the processing box type. When the processing box type is a composting box, it writes "composting discharge"; when the processing box type is a fermentation box, it writes "fermentation discharge"; when the processing box type is a carbonization box, it writes "carbonization discharge". If the residue number does not have an entry time, exit time, or discharge residue number, no processed residue is generated. When there are multiple discharge residue numbers for the same residue number, the last discharge record at the residue processing end is used as the processed residue record for that residue number, and the previous discharge record is retained as the processing record. The field return table is used to restrict the permissible placement of treated plant debris to between tea rows or the outer edge of the root zone. The plant debris module reads the source of the debris, the treatment status of the debris, and the treated debris. Records of debris originating from diseased or pest-infested parts or from the harvesting surface that have already been treated are designated as field return objects. For field return objects with restricted placement, the plant debris module does not specify the working location as below the harvesting surface or near the harvestable tender shoots, but instead specifies the permissible placement location as between tea rows or the outer edge of the root zone. The plant debris module uses tea row, debris number, debris source, and debris treatment status as the basis for its designation. After treatment, the residue numbers, tea row spacing, and root zone outer edge are used to generate a return-to-field table for the covering end to read and control the laying position of the feeding pipe and the spreading port. If there is no source of the treated residue, it is not written into the return-to-field table. If the treated residue is from the source of diseased or pest-infested parts or the picking surface but there is no record of tea row spacing or root zone outer edge, the covering end does not perform the laying action and writes a missing return-to-field position mark in the return-to-field table. If the source of the treated residue is from the tea row spacing, it is written into the return-to-field table according to the original source position in the tea row record and does not enter the diseased and pest-infested residue restricted return-to-field. Through the above process, the residue module connects the diseased and insect-infested branches formed by pruning and stripping, the pruned residue formed by the picking surface, the processed residue formed by the residue treatment end, and the return-to-field position executed by the covering end into a return-to-field table, so that the sequence diagram module can read the residue from the diseased and insect-infested parts, the residue from the picking surface, and the allowed laying position, and execute the limited return-to-field of diseased and insect-infested residue accordingly. In practical applications: For example, in tea row T01, diseased branches P03 are formed after pruning and stripping. The residue collection box assigns a residue number R01 to the diseased branches. The residue module writes R01 as the residue from the diseased part. When R01 enters the fermentation box, the entry time is written. When it is discharged, the exit time and the discharged residue number R01-F are written. The residue module records R01-F as the treated residue and writes it as the fermented discharge. Since R01 comes from the residue from the diseased part, the residue module limits the allowed laying position of R01-F in the return-to-field table to the tea row between tea rows or the outer edge of the root zone in T01 tea row, and does not write it below the picking surface.

[0024] The sequence graph module obtains the tender shoot contact table, control table, and return-to-field table. It uses picking, control, pruning, residue treatment, and mulching as operation nodes, and prohibits picking tender shoots in contact with pests, restricts the return of pest and disease residues to the field, and removes pest and disease branches before mulching as prohibited cutting. It uses a directed hypergraph closure algorithm to generate tea garden operation tables and outputs the tea garden regulation results of non-contact tender shoot picking, restricted return of pest and disease residues to the field, and carbon sequestration of treated residues through mulching. In this implementation, the sequence graph module is used to convert the scattered operations in the tender shoot contact table, control table, and return-to-field table into a tea garden operation table with sequential relationships and prohibition rules. The sequence graph module first writes picking, control, pruning, residue treatment, and covering as operation nodes, then, based on the connection relationship between the operation object and the tea row generation node, it writes the prohibition of picking of tender shoots, the restriction of returning diseased and pest residues to the field, and the removal of diseased and pest branches before covering into the prohibition cutting table. Finally, it writes, excludes, or rewrites the operation nodes item by item through the directed hypergraph closure algorithm, and outputs the tea garden control results. This implementation process includes the following steps: The node table is used to convert work objects from different sources into work nodes within the same tea row. The sequence diagram module reads the shoot contact table, control table, and return-to-field table, establishes a node table by tea row, and assigns a node number to each work node. The node number is formed by concatenating the tea row, work type, and work object number, and is used to distinguish different work nodes within the same tea row. The work types are picking, control, pruning, residue treatment, and mulching. The work object for the picking node is taken from the shoots in the shoot contact table, and the work location is the area enclosed by the bud tip, the center line of the shoot, and the closed edge of the leaf. The work object for the control node is taken from the post-harvest supplementary control or targeted application in the control table. The operation location is taken from the location of the disease and pest image; the operation object of the pruning node is taken from the pruning stripping in the control table, and the operation location is taken from the branch where the disease and pest are located; the operation object of the residue treatment node and the covering node is taken from the treated residue in the return to the field table, and the operation location of the residue treatment node is taken from the composting box, fermentation box or carbonization box, and the operation location of the covering node is taken from the tea row or the outer edge of the root zone; the sequence diagram module writes the node number, tea row, operation type, operation object and operation location into the node table for the edge table and the prohibited cutting table to read; when the tender shoot contact table, control table or return to the field table lacks operation objects, the corresponding operation node is not generated, and the object missing record is written into the node table; The hyperedge list is used to express the connection relationships between task nodes within the same tea shop, enabling subsequent closure algorithms to read nodes according to the order of tasks. The sequence graph module uses the node list as the vertex set of the directed hypergraph, generating hyperedge lists based on the same tea shop and the same task object. Hyperedges in the directed hypergraph include the starting node number, ending node number, tea shop, task object, and hyperedge type. A single starting node pointing to a single ending node indicates that one task triggers a subsequent task; a single starting node pointing to multiple ending nodes indicates that one task triggers multiple subsequent tasks. When pruning and stripping exist in the control table, control nodes pointing to pruning nodes are generated as control-to-pruning hyperedges, and pruning nodes pointing to residual processing nodes are generated as pruning hyperedges. The processing of superedges is performed by pruning nodes and processing nodes for remnants pointing to covered nodes. When post-harvest remediation exists in the control table, a harvest node is generated pointing to the corresponding control node for post-harvest remediation, and a harvest node is generated pointing to the control node for harvesting. When post-processed remnants exist in the return-to-field table, a remnant processing node is generated pointing to the covered node, and a processing node is generated pointing to the covered node. When duplicate processing nodes are generated for the same tea row, the same post-processed remnant, and the same starting and ending node numbers, only one processing node is retained in the superedge table. The sequence graph module outputs an initial tea row graph containing the node table and the superedge table for reading by the prohibited cutting table and the directed hypergraph closure algorithm. When the node table lacks a starting node or an ending node, no corresponding superedge is generated. The prohibited harvesting table records nodes or node pairs that are not allowed to directly enter the tea garden operation table, allowing the closure algorithm to identify conflicts before writing operation nodes. The sequence graph module reads the tender shoot contact table, return-to-field table, and node table, and writes the picking nodes whose operation object is contacting tender shoots into the contact tender shoot prohibited harvesting table. The contact tender shoot prohibited harvesting table is used to prevent tender shoots that have been affected by the application range or prohibited contact areas from directly entering the picking node. The sequence graph module writes the covering nodes whose operation object is pest and disease residue and whose operation location is not between tea rows or outside the root zone into pest and disease residue restricted return-to-field table. The pest and disease residue restricted return-to-field table is used to prevent pest and disease residue from being laid below the picking surface or adjacent to the pickable tender shoots. The sequence diagram module writes the node pairs in the same diseased branch whose covering node is sorted earlier than the pruning node into the "diseased branch peeling then covering" rule. The "diseased branch peeling then covering" rule is used to prevent covering from being performed before the diseased branch is peeled. The prohibited cutting table should include at least the prohibited cutting type, the hit node number, the hit node pair, and the rewriting method. The rewriting method for prohibited harvesting of tender shoots is to transfer to post-harvest supplementary prevention. The rewriting method for the restricted return of diseased and pest residues to the field is to rewrite the covering position according to the return to the field table. The rewriting method for diseased and pest branches peeling then covering is to rewrite the node pair in the order of pruning node, residue treatment node, and covering node. If the prohibited cutting table lacks a hit node number or a hit node pair, the corresponding prohibited cutting judgment will not be executed. The directed hypergraph closure algorithm is used to expand the operation nodes according to the initial graph of the tea row, and to perform exclusion or rewriting when the prohibited cutting table is hit. The sequence graph module reads the initial graph of the tea row and the prohibited cutting table, and takes the node in the hyperedge table that has no other node pointing to it as the starting node. No other node pointing to it means that there is no hyperedge in the hyperedge table with that node number as the ending node number. When the starting node does not hit the prohibited cutting table, it is written into the tea garden operation table and marked as a written node. The sequence graph module reads the ending node pointed to by the written node along the hyperedge table and adds the ending node to the candidate node. When the node number of the candidate node is the same as the hit node number in the prohibited cutting table, or when the candidate node and the written node form a hit node pair in the prohibited cutting table, it is determined that the prohibited cutting table is hit. When the prohibited picking of tender shoots is hit, the hit picking node is not written, and the control table is updated. Post-harvest remediation nodes in the same tea row are added to the candidate nodes; when pest and disease residues are returned to the field, the original covering node is not written, and the operation position of the covering node is rewritten according to the tea row or root zone outer edge in the return to the field table, and then the rewritten covering node is written; when pest and disease branches are peeled off and then covered, the covering node whose sorting is earlier than the pruning node is not written, and the nodes are written in the order of pruning node, residue treatment node and covering node; when the candidate node does not hit the prohibited cutting table, it is directly written to the tea garden operation table; when all nodes in the node table are written to the tea garden operation table, excluded by the prohibited cutting table or written to the tea garden operation table after being rewritten by the prohibited cutting table, the sequence graph module stops the closure operation and outputs the tea garden control results; when the candidate node lacks an operation object or operation position, it is not written to the tea garden operation table, and a node missing record is written to the tea garden operation table. Through the above process, the sequence diagram module transforms the scattered records of picking, prevention and control, pruning, residue treatment and covering into a tea garden operation table with operation sequence and prohibition rules, so that contact with tender shoots does not enter the picking, residues from diseased and insect parts do not enter below the picking surface or near the picking tender shoots, and the covering of diseased and insect branches does not precede pruning and stripping and residue treatment. In practical applications: For example, in tea row T01, tender shoot N01 is in contact with tender shoots and enters the picking batch, so the node table generates the picking node corresponding to N01; the prevention and control table has a post-harvest supplementary prevention node corresponding to the pest and disease point P01, and the return-to-field table has a covering node corresponding to the pest and disease source residue R01-F; the sequence diagram module generates the picking to prevention and control super-edge, pruning to treatment super-edge, and treatment to covering super-edge; since the picking node corresponding to N01 hits the prohibited picking of tender shoots, the tea garden operation table does not write this picking node, but writes the post-harvest supplementary prevention node of the same tea row; since R01-F comes from the pest and disease source residue, the operation position of the covering node is written as between tea rows or the outer edge of the root zone according to the return-to-field table; if the covering node of R01-F is sorted earlier than the pruning node, the sequence diagram module is rewritten to write the pruning node first, then the residue treatment node, and finally the covering node.

[0025] Furthermore, the implementation methods for organic tea garden planting systems that combine carbon sequestration and green pest and disease control include: S1. Collect tender shoots, diseased and insect-infested parts, and the source of plant residues at the collection end according to the tea row; apply organic inputs at the application end; remove diseased and insect-infested branches at the pruning end; treat pruned plant residues at the residue treatment end; and lay treated plant residues at the covering end. Output the tea row record. S2. Obtain the status of tender shoots, application time, application range and forbidden contact areas from the tea plantation records. Construct a tender shoot group with tender shoots before application, continued tender shoots and new buds. Use an unbalanced optimal transmission algorithm to match the tender shoot groups before and after application and output the tender shoot contact table. S3. Obtain the contact table of tender shoots, the disease and pest locations and the pre-harvest interval. Transfer the disease and pest points that have come into contact with harvestable tender shoots to post-harvest supplementary control. Transfer the disease and pest points of non-harvested leaf layer and lateral branches to targeted application or pruning and stripping. Output the control table. S4. Obtain the control table, the source of residues and the status of residue treatment, and limit the residues from the picking surface and the residues from the diseased and pest parts to the tea rows or the outer edge of the root zone, and generate the return table. S5. Obtain the tender shoot contact table, control table, and return-to-field table. Use picking, control, pruning, residue treatment, and mulching as operation nodes. Use prohibited picking of tender shoots, restricted return of diseased and insect residues to the field, and removal of diseased and insect branches before mulching as prohibited cutting. Use the directed hypergraph closure algorithm to generate the tea garden operation table and output the tea garden regulation results of non-contact tender shoot picking, restricted return of diseased and insect residues to the field, and carbon sequestration of treated residues through mulching.

[0026] In addition, during the image processing involved in this solution, the images captured by the canopy-side camera, leaf-back camera, side-branch camera, and residual body imaging platform can all be first written into the tea row record according to the tea row and the image acquisition time, and then grayscale conversion, noise reduction, green area extraction, edge extraction, connected region marking, and contour search can be performed. For the tender shoot images captured by the canopy-side camera, the outer boundary of the tea tree picking surface and the intersection line of the adjacent tea tree crown can be extracted first, and the tender shoot image can be divided into tea tree picking surface blocks. Then, the center line of the tender stem and the bud tip point can be obtained through skeleton extraction and endpoint search. The closed edge line of the leaf can be obtained through closed contour search, and the tender shoot state can be formed accordingly. For the disease and pest images captured by the leaf-back camera and side-branch camera, the insect body area, insect spot area, disease spot area, or damaged branch area can be extracted first according to color difference, edge contour, and connected region. Then, the outer contour or center coordinate of the extracted area can be written as the disease and pest image location, and the camera source can be written into the acquisition source. For images of pruned debris collected by the debris imaging platform, the outlines of branches, leaves, and debris stacking are first extracted. Then, the source of the debris is determined by combining the debris entry time, debris number, pruning and stripping records, and the difference results of the picking surface image. If the corresponding outline, endpoint, connected region, or debris outline is not extracted in the image, the corresponding tender shoot status, disease and insect parts, or debris source is not generated, and an image missing mark or image element missing mark is written in the tea row record.

[0027] Working Principle: This solution first converts the actions of harvesting, applying, pruning, handling residues, and covering within the tea row into a single tea row record. Then, it forms a continuous judgment chain based on whether tender shoots have experienced application contact, how to avoid harvestable tender shoots at pest and disease sites, and where pruned residues should be returned. The hardware module first collects the condition of tender shoots, the location of pests and diseases, and the source of residues, and records the application time and application range. The bud group module uses an unbalanced optimal transport algorithm to match tender shoots before and after application, distinguishing between pre-application tender shoots, continuing tender shoots, and new buds, thus forming a tender shoot contact table. The control module then judges based on the tender shoot contact table. The system determines whether pest and disease sites are in contact with harvestable tender shoots, and then categorizes different pest and disease sites into post-harvest remedial control, targeted application, or pruning and stripping. The residue module takes over the pruning and stripping results, limiting the residue from pest and disease sites and the residue from the harvesting surface to the tea rows or the outer edge of the root zone. Finally, the sequence graph module uses a directed hypergraph closure algorithm to connect harvesting, control, pruning, residue treatment, and mulching into a tea garden operation table, so that the identification results of the previous step directly constrain the operation sequence and location of the next step, ultimately forming a tea garden regulation result of non-contact tender shoot harvesting, pest and disease residue limited return to the field, and carbon sequestration through post-treatment residue mulching. In actual tea gardens, after the harvesting rack enters a tea row, it first reads the row sign, then photographs the tender shoots on the picking surface, the diseased and pest-infested areas on the underside of leaves, the diseased and pest-infested areas on lateral branches, and pruning debris. When the directional nozzles apply organic inputs to the non-picked leaf layer or diseased and pest-infested areas on lateral branches, the system determines which tender shoots are contacted and which are newly sprouted buds that have not been contacted, based on the relationship between the application area and the location of the tender shoots, as well as the matching results of the tender shoots before and after application. Subsequently, the diseased and pest-infested areas that fall on the contactable tender shoots will not be sprayed immediately. Instead of applying pesticides, the focus shifts to post-harvest supplementary prevention; targeted application is applied to the diseased and pest-infested areas on the underside of leaves or in the non-harvested leaf layer; pruning and stripping are used to remove diseased and pest-infested areas on lateral branches; after the diseased and pest-infested branches and harvested residues are composted, fermented, or carbonized, they become treated residues. The system then allows the residues to be laid only between tea rows or at the outer edge of the root zone according to the field return surface, and the sequence diagram module adjusts the order of operations to ensure that pruning is done first, then residue treatment is done, and then covering is done, so as to avoid contact with tender shoots entering the harvest batch, and also to prevent the diseased and pest-infested residues from returning to the vicinity of harvestable tender shoots after treatment.

[0028] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An organic tea garden planting system that combines carbon sequestration and green pest and disease control, characterized in that: include: The hardware module includes a collection end, an application end, a pruning end, a residue treatment end, and a covering end. The collection end collects the tender shoots, diseased and insect-infested parts, and residue sources according to the tea row. The application end applies organic inputs. The pruning end removes diseased and insect-infested branches. The residue treatment end processes the pruned residues. The covering end lays out the treated residues and outputs tea row records. The bud group module obtains the tender shoot status, application time, application range and forbidden contact areas from the tea field records. The tender shoot group is composed of tender shoots before application, continued tender shoots and new buds. The unbalanced optimal transmission algorithm is used to match the tender shoot groups before and after application and output the tender shoot contact table. The control module obtains the contact table of tender shoots, the disease and pest locations and the pre-harvest interval, transfers the disease and pest points that have come into contact with harvestable tender shoots to post-harvest supplementary control, and transfers the disease and pest points of non-harvested leaf layers and lateral branches to targeted application or pruning and stripping, and outputs the control table. The residue module obtains the control table, residue source and residue treatment status, and limits the residue from the picking surface and the residue from the diseased and pest parts to the tea row or the outer edge of the root zone, and generates the return to field table. The sequence graph module obtains the tender shoot contact table, control table, and return-to-field table. It uses picking, control, pruning, residue treatment, and mulching as operation nodes, and prohibits picking tender shoots in contact with the pests, restricts the return of pest and disease residues to the field, and removes pest and disease branches before mulching as prohibited cuttings. It uses a directed hypergraph closure algorithm to generate tea garden operation tables and outputs the tea garden regulation results of non-contact tender shoot picking, restricted return of pest and disease residues to the field, and carbon sequestration of treated residues through mulching.

2. The organic tea garden planting system that combines carbon sequestration and green pest and disease control according to claim 1, characterized in that: The hardware module comprises: The data acquisition system includes a tea row sign, a barcode reader, a canopy camera, a leaf back camera, a side branch camera, and a debris imaging platform. The tea row sign is located at the end of the tea row, and the barcode reader and each camera are located on the acquisition frame. The barcode reader reads the tea row, uses the tender shoot image from the canopy camera to form the tender shoot status, uses the disease and pest images from the leaf back camera and the side branch camera to form the disease and pest location, and uses the pruning debris image from the debris imaging platform to form the source of the debris, and outputs the tea row record. The application end includes a storage tank, an infusion pump, an infusion pipe, and a directional nozzle. The storage tank is connected to the directional nozzle via the infusion pump and infusion pipe. The directional nozzle is located on the side of the collection rack and applies organic inputs towards the non-picked leaf layer or diseased and pest points on the side branches. The application time and application range are recorded in the tea shop record. The pruning end includes a branch clamp, an electric pruning shear, and a residue collection frame. The branch clamp and the electric pruning shear are located on the side of the collection frame. The branch clamp is used to fix the branches where the diseased and insect-infested parts are located. The electric pruning shear is used to cut off the fixed branches and form diseased and insect-infested branches. The residue collection frame is located below the electric pruning shear and is used to receive diseased and insect-infested branches and pruning residue. The residue processing end includes a composting box, a fermentation box, and a carbonization box, while the covering end includes a feeding pipe and a material spreading port. The residue processing end receives the trimmed residue from the residue collection box and forms the processed residue. The composting box, fermentation box, and carbonization box are connected to the material spreading port through the feeding pipe. The material spreading port is located between tea rows or above the outer edge of the root zone and is used to spread the processed residue.

3. The organic tea garden planting system with both carbon sequestration and green pest and disease control as described in claim 2, characterized in that: The execution of the bud cluster module to obtain the tender shoot state sequence includes: Acquire images of tender shoots, image acquisition time, and tea rows from the tea row records. Divide the tender shoot images into tea tree picking surface blocks according to the intersection lines of adjacent tea tree crowns. Extract bud tip points, tender stem center lines, and leaf closure edges from the tea tree picking surface blocks. Record objects containing bud tip points but not unfolded leaf closure edges as new buds. Record objects containing bud tip points, tender stem center lines, and unfolded leaf closure edges as tender shoot states. Generate a tender shoot state sequence according to the image acquisition time. The start and stop times of the application end, the orientation of the directional nozzle, and the location of the directional nozzle in the tea row record are obtained. The time from the start time of the infusion pump to the stop time of the infusion pump is recorded as the application time. The projection area of ​​the directional nozzle orientation in the tea tree picking surface block is recorded as the application range. The image coordinates that coincide with the state of the tender shoots within the application range are recorded as the forbidden areas. The application time, application range, and forbidden areas are written into the tender shoot state sequence.

4. The organic tea garden planting system with both carbon sequestration and green pest and disease control as described in claim 3, characterized in that: The execution of the shoot contact table output by the bud group module includes: The state of the tender shoots before application is taken as the pre-application tender shoots, and the state of the tender shoots after application is taken as the tender shoots to be matched. Each pre-application tender shoot and each tender shoot to be matched is assigned a unit mass. The transmission cost is generated by adding the bud tip displacement, the non-overlapping length of the tender stem centerline, and the non-overlapping length of the leaf closure edge. The non-balanced optimal transmission algorithm is used to find the transmission matrix that minimizes the total transmission cost. The mass of the pre-application tender shoots that is not transmitted to the tender shoots to be matched is recorded as the tender shoot disappearance amount, and the mass of the tender shoots to be matched that is not received from the pre-application tender shoots is recorded as the tender shoot addition amount. For each tender shoot to be matched, the object whose mass source is the pre-application tender shoot is recorded as the continuing tender shoot, and the object whose mass source is the tender shoot addition amount is recorded as the new bud. The pre-application tender shoots and continuing tender shoots that fall into the application range or forbidden areas are recorded as contact tender shoots. The tender shoot contact table is output.

5. The organic tea garden planting system with both carbon sequestration and green pest and disease control as described in claim 4, characterized in that: The disease and pest detection module includes the following: A tender shoot contact chart is obtained, which includes tea row, bud tip point, tender stem center line, leaf closure edge line, contact mark and harvestable mark. Among them, the image area enclosed by the bud tip point, tender stem center line and leaf closure edge line is the area where the tender shoot is located. The contact mark is formed by whether the area where the tender shoot is located falls within the application range or the prohibited area. The harvestable mark is formed by whether the tender shoot or the continued tender shoot before application has entered the picking batch. The diseased and pest parts are obtained, including the tea row, the location of the diseased and pest image and the source of collection. Among them, the image area where the insect body, insect spot, disease spot or the affected branch is located in the diseased and pest image collected by the leaf back camera or the side branch camera is used as the location of the diseased and pest image, and the leaf back camera or the side branch camera that formed the diseased and pest image is used as the source of collection. The locations of pest and disease images in the same tea row are superimposed on the areas where tender shoots are located. The parts of pests and diseases that fall into the area where tender shoots are located and both the contact mark and the harvestable mark are set are recorded as pest and disease points of contactable and harvestable tender shoots. The parts of pests and diseases that are collected from the leaf back camera and do not fall into the area where tender shoots are harvestable are recorded as pest and disease points of non-picked leaf layer. The parts of pests and diseases that are collected from the side branch camera are recorded as pest and disease points of side branch.

6. The organic tea garden planting system with both carbon sequestration and green pest and disease control as described in claim 5, characterized in that: The prevention and control module generates prevention and control actions including: For pest and disease sites that come into contact with harvestable tender shoots, the contact control actions should be written into the post-harvest supplementary control measures after the pre-harvest interval has expired; for pest and disease sites in non-harvested leaf layers, the tea row of the pest and disease site and the image location of the pest and disease should be written into the targeted application; for pest and disease sites on lateral branches, the branches where the pest and disease site is located should be written into the pruning and stripping, and the post-harvest supplementary control, targeted application, and pruning and stripping should be written into the control table according to the tea row.

7. The organic tea garden planting system with both carbon sequestration and green pest and disease control as described in claim 6, characterized in that: The determination of the source and processing status of the residue by the residue module includes: Obtain the pruning and stripping and residue sources in the prevention and control table, record the diseased and insect-infested branches produced by pruning and stripping as the residue sourced from the diseased and insect-infested parts, record the pruning residues inside the harvesting surface collected by the canopy camera as the residue sourced from the harvesting surface, and write the residue sourced from the diseased and insect-infested parts and the residue sourced from the harvesting surface into the residue source; Obtain the processing records from the residue processing end. The processing records include the entry time, exit time, and residue number of the trimmed residue into the composting box, fermentation box, or carbonization box. Trimmed residue with entry time, exit time, and residue number is recorded as processed residue, and the residue processing status is defined as composting discharge, fermentation discharge, or carbonization discharge.

8. The organic tea garden planting system with both carbon sequestration and green pest and disease control as described in claim 7, characterized in that: The restrictions on the location of the processed residue for returning to the field by the residue module include: Obtain the source of the plant residue, the treatment status of the plant residue, and the treated plant residue. Limit the treated plant residue from the diseased and insect-infested parts and the harvested surface to the tea row or the outer edge of the root zone. Generate a field return table based on the tea row, the source of the plant residue, the treatment status of the plant residue, the treated plant residue, the tea row, and the outer edge of the root zone.

9. The organic tea garden planting system with both carbon sequestration and green pest and disease control as described in claim 8, characterized in that: The generation of the initial tea arrangement diagram in the sequence diagram module includes: Obtain the tender shoot contact table, control table, and return-to-field table. Establish a node table for the same tea row. Each node in the node table includes node number, tea row, operation type, operation object, and operation location. Operation types include: picking, control, pruning, residue treatment, and mulching. The operation object for picking is taken from the tender shoots in the tender shoot contact table. The operation object for control is taken from the post-harvest supplementary control or targeted application in the control table. The operation object for pruning is taken from the pruning and stripping in the control table. The operation objects for residue treatment and mulching are taken from the treated residue in the return-to-field table. Output the node table. Using the node table as the point set of the directed hypergraph, generate a hyperedge table for the same tea row and the same work object. If there is pruning and stripping in the control table, generate a control-to-pruning hyperedge pointing from the control node to the pruning node, a pruning-to-processing hyperedge pointing from the pruning node to the residue processing node, and a residue processing hyperedge pointing from the residue processing node to the covering node. If there is post-harvest reinforcement in the control table, generate a harvesting hyperedge pointing from the harvesting node to the control node corresponding to the post-harvest reinforcement. If there is post-processed residue in the return-to-field table, generate a residue processing node pointing to the covering node's processing-to-covering hyperedge. Output the initial tea row graph containing the node table and the hyperedge table. The generation of the forbidden cut closure in the sequence graph module includes: A prohibited harvesting table is generated based on the tender shoot contact table, return-to-field table, and node table. Harvesting nodes that are in contact with tender shoots are written into the prohibited harvesting table for tender shoots. Covering nodes that are pest and disease residues and whose operation location is not between tea rows or outside the root zone are written into the pest and disease residues restricted return-to-field table. Nodes in the same pest and disease branch whose covering nodes are sorted earlier than the pruning nodes are written into the pest and disease branch first peeling and then covering table. The prohibited harvesting table is then output. The directed hypergraph closure algorithm is used to read the initial graph of the tea row and the prohibited cutting table: the node in the hyperedge table that has no other node pointing to it is taken as the starting node. The starting node that does not hit the prohibited cutting table is written into the tea garden operation table. The ending node pointed to by the starting node is added to the candidate node along the hyperedge table. If the node number or node pair of the candidate node hits the prohibited cutting table, the hit picking node is not written into it. Instead, it is transferred to the post-harvest supplementary prevention node of the same tea row in the prevention and control table. Alternatively, the operation position of the hit covering node is rewritten according to the tea row or root zone outer edge in the return table. Alternatively, the hit node pair is rewritten in the order of pruning node, residue treatment node and covering node, until all nodes in the node table are written into the tea garden operation table, excluded by the prohibited cutting table, or written into the tea garden operation table after being rewritten by the prohibited cutting table. The tea garden control result is then output.

10. A method for implementing an organic tea garden planting system that combines carbon sequestration and green pest and disease control, characterized in that, include: S1. Collect tender shoots, diseased and insect-infested parts, and the source of plant residues at the collection end according to the tea row; apply organic inputs at the application end; remove diseased and insect-infested branches at the pruning end; treat pruned plant residues at the residue treatment end; and lay treated plant residues at the covering end. Output the tea row record. S2. Obtain the status of tender shoots, application time, application range and forbidden contact areas from the tea plantation records. Construct a tender shoot group with tender shoots before application, continued tender shoots and new buds. Use an unbalanced optimal transmission algorithm to match the tender shoot groups before and after application and output the tender shoot contact table. S3. Obtain the contact table of tender shoots, the disease and pest locations and the pre-harvest interval. Transfer the disease and pest points that have come into contact with harvestable tender shoots to post-harvest supplementary control. Transfer the disease and pest points of non-harvested leaf layer and lateral branches to targeted application or pruning and stripping. Output the control table. S4. Obtain the control table, the source of residues and the status of residue treatment, and limit the residues from the picking surface and the residues from the diseased and pest parts to the tea rows or the outer edge of the root zone, and generate the return table. S5. Obtain the tender shoot contact table, control table, and return-to-field table. Use picking, control, pruning, residue treatment, and mulching as operation nodes. Use prohibited picking of tender shoots, restricted return of diseased and insect residues to the field, and removal of diseased and insect branches before mulching as prohibited cutting. Use the directed hypergraph closure algorithm to generate the tea garden operation table and output the tea garden regulation results of non-contact tender shoot picking, restricted return of diseased and insect residues to the field, and carbon sequestration of treated residues through mulching.

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