Branch regulation and light-temperature coupling cultivation system and method for improving quality and yield of juicy peach

Abstract

The application discloses a branch regulation and light-temperature coupling cultivation system and method for improving quality and yield of juicy peach, and belongs to the technical field of fruit tree cultivation. The method comprises the following steps: adopting a double-main-branch Y-shaped shaping; acquiring three-dimensional point cloud data of branches and trunks by using a laser radar, and constructing a digital model of a branch and trunk topology directed graph; comprehensively judging by radius similarity and direction vector similarity based on the directed graph model, automatically identifying the type of branches and trunks, and calculating the proportion of the results of branches and the proportion of the results of long branches; matching a light-temperature regulation strategy library according to the identification results, and controlling the temperature and light in the facility; repeatedly perceiving and regulating at key nodes of the phenophase, realizing closed-loop feedback iteration; and quantitatively regulating flowers and fruits according to the number of branches. The system comprises a branch function structure dynamic perception unit and a light-temperature coupling regulation unit. The application realizes the transformation from manual judgment to machine quantitative identification of the state of branches and trunks, enables the light-temperature regulation to be dynamically adapted according to the actual growth state of the tree body, and improves the quality and yield stability of juicy peach.

Description

Technical Field

[0001] This invention belongs to the field of fruit tree cultivation technology, specifically relating to a branch and shoot regulation and light-temperature coupled cultivation system and method for improving the quality and yield of peaches, which is suitable for high-quality, high-efficiency and intelligent cultivation of greenhouse peaches. Background Technology

[0002] Traditional peach cultivation typically employs a three-main-branch open-center tree shape, with the main branches extending in three directions. Branches growing northward receive insufficient sunlight, leading to a decline in the quality of some fruits. Under greenhouse cultivation conditions, the light intensity inside the greenhouse is usually only 60%–70% of that in open fields. This insufficient light further exacerbates the problems of excessive vegetative growth and reduced fruit quality. Furthermore, traditional cultivation relies heavily on the experience of growers for manual judgment and operation, resulting in extensive and untimely management. This often leads to missed opportunities for intervention due to failure to detect changes in tree vigor, resulting in an imbalance between vegetative and reproductive growth, and prominent issues such as inconsistent fruit size and bland flavor.

[0003] Existing technologies have reported methods for cultivating peaches. For example, patent application number CN201810643261.3 discloses a high-yield peach cultivation method, mainly achieving increased yield through fertilization management and routine pruning; patent application number CN201710325913.4 discloses another high-yield peach cultivation method, focusing on organic fertilizer application and routine management. However, these technologies have not solved the problem of real-time perception and accurate identification of the functional structure of branches and shoots. Light and temperature regulation is based on fixed phenological standards and does not consider the differences in the actual growth status of individual trees. Branch and shoot regulation and light and temperature regulation are still two independent technical routes, lacking a linkage feedback mechanism, resulting in limited effects on improving quality and increasing yield.

[0004] In recent years, three-dimensional lidar scanning technology has been applied to forest resource surveys and fruit tree canopy structure analysis, but its use has mainly remained at the level of scientific research evaluation and has not yet been introduced as a real-time dynamic control tool in the process of greenhouse fruit tree cultivation. Graph theory-based branch topology identification methods have been reported in some plant morphology studies, but a technical solution that directly links it to the light and temperature regulation of the greenhouse environment to form a closed-loop control system has not yet been publicly disclosed.

[0005] Therefore, developing a peach cultivation system and method that integrates dynamic perception of branch and shoot functional structure with photothermal coupling regulation is of great practical significance for achieving synergistic improvement in peach quality and yield. Summary of the Invention

[0006] This invention addresses the technical problems in existing peach cultivation, such as the reliance on manual experience for shoot management leading to poor timeliness, the lack of individual adaptability in light and temperature regulation based on fixed phenological standards, and the lack of a linkage mechanism between shoot regulation and light and temperature regulation being independent of each other. It provides a cultivation system and method for improving the quality and yield of peaches by coupling shoot regulation with light and temperature.

[0007] To achieve the above objectives, the present invention employs the following technical solution: In a first aspect, the present invention provides a method for improving the quality and yield of peaches by regulating shoot growth and coupling light and temperature in cultivation, comprising the following steps: (1) Tree shaping: Under facility cultivation conditions, the trunk height of the peach tree is set at 40-50cm. The double main branches "Y" shape is adopted, with the two main branches extending to the east and west respectively. The angle between the main branches is 90°-100°. Fruiting branches grow directly on the main branches without lateral branches. (2) Digital modeling of branch and branch functional structure: The three-dimensional point cloud data of peach tree branches and trunks are obtained by LiDAR and a digital model of branch and trunk topology directed graph G=(V,E) is constructed. The model uses the branch and trunk cylinder as nodes V and the connection relationship between branches and trunks as edges E. The attributes of each node include the branch and trunk radius, length, direction vector and parent node information. (3) Automatic identification of branch and trunk functional types: Based on the directed graph digital model, the branch and trunk types are automatically identified by comprehensively judging the similarity of radius and direction vector, and the branch ratio R is calculated. FR and the proportion of vigorous shoots R VB ; (4) Photothermal coupling regulation based on the functional structure state of branches: According to the R FR and R VB Match the preset light and temperature control strategy library to generate zone-specific control instructions to control the temperature and light intensity within the facility; (5) Closed-loop feedback iteration: Repeat steps (2) to (4) at key nodes in the phenological period, and calculate the rate of change of the branch proportion Δ FR and the rate of change of the proportion of vigorous shoots Δ VB When Δ FR The value is negative and the change exceeds the first preset threshold or Δ. VB When the value is positive and the change exceeds the second preset threshold, the target light intensity is increased and the daytime temperature is decreased to achieve closed-loop feedback iteration; (6) Quantitative regulation of flowers and fruits: Quantitative regulation of flowers and fruits is carried out based on the number of result branches identified in step (3).

[0008] Furthermore, in step (3), the specific method for automatically identifying branch types is as follows: Taking the node with an in-degree of 0 in the directed graph as the starting point of the backbone, calculate the radius similarity S for any parent-child node pair (P, C).radius =min(r P ,r C ) / max(r P ,r C ) and the directional vector cosine similarity S direction = |v P ·v C | / (||v P ||×||v C ||), calculate the comprehensive similarity S=0.6×S radius +0.4×S′ direction , where S′ direction is a value obtained by linearly converting S direction to the interval [0, 1]; when S≥0.75, the parent and child nodes belong to the continuation of the same branch type, otherwise they are branches; A branch with a diameter ≥ 30% of the main trunk diameter and a direction angle with the main trunk ≥ 30° is marked as a main branch; a terminal branch with a length ≤ 80 cm and a diameter ≤ 40% of the parent branch diameter is marked as a fruiting branch; an upright branch with a current-year growth length ≥ 80 cm, an internode length ≥ 3 cm, a diameter ≥ 50% of the parent branch diameter, and a direction angle with the parent branch ≤ 30° is marked as a watershoot.

[0009] Further, in step (4), the light and temperature regulation strategy library comprises: When R FR ≥60% and R VB ≤10%, execute the fruit development promotion mode, with a daytime temperature of 24 to 28°C, a nighttime temperature of 12 to 15°C, and a light intensity ≥ 35% of the outdoor natural light intensity; When R VB ≥20% or R FR ≤40%, execute the vegetative growth inhibition mode, with a daytime temperature of 22 to 25°C, a nighttime temperature of 10 to 12°C, a diurnal temperature difference of 10 to 12°C, and an artificial light supplement duration of 14 to 16 hours per day; When 40%<R FR <60% and 10%<R_VB<20%, execute the balanced regulation mode, with a daytime temperature of 23 to 26°C, a nighttime temperature of 11 to 14°C, and a light intensity ≥ 30% of the outdoor natural light intensity.

[0010] Further, in step (5), the key phenological period nodes include the germination period, the new shoot growth period, the fruit setting period, the fruit expansion period, and the post-harvest period; the sensing period interval is once every 7 days from the new shoot growth period to the fruit setting period, and once every 10 days during the fruit expansion period.

[0011] Further, in step (5), the first preset threshold is 5% / 7 days, and the second preset threshold is 3% / 7 days; the target for increasing the light intensity is an increase of 10% to 15%, and the daytime temperature reduction is a decrease of 1 to 2°C.

[0012] Further, in step (6), the quantitative control of flowers and fruits is as follows: the target yield is determined by multiplying the number of fruits left on each fruiting branch by the total number of fruiting branches. 3 to 4 fruits are left on long fruiting branches, 2 to 3 fruits on medium fruiting branches, and 1 to 2 fruits on short fruiting branches. The yield per mu is controlled within 1500 kg.

[0013] Furthermore, step (4) also includes a step of triggering the phenological period switching with effective accumulated temperature, specifically recording the daily average air temperature and calculating the effective accumulated temperature GDD=Σ(T daily -T base ), where T daily T represents the daily average temperature. base The biological zero temperature for peaches, only when T daily >T base The accumulated temperature is recorded over time, and when the GDD reaches the effective accumulated temperature threshold required for the corresponding phenological stage of the variety, it will automatically switch to the temperature and light target of the next phenological stage.

[0014] Secondly, the present invention also provides a branch regulation and light-temperature coupled cultivation system for improving the quality and yield of peaches by implementing the above method, comprising: The branch functional structure dynamic sensing unit comprises a 3D structure acquisition module, a branch topology model construction module, and a branch functional type automatic identification module. The 3D structure acquisition module acquires 3D point cloud data of tree branches and transmits it to the branch topology model construction module. The branch topology model construction module constructs a directed graph digital model G=(V,E) based on the received point cloud data and inputs this model into the branch functional type automatic identification module. The branch functional type automatic identification module, based on the directed graph digital model and through a comprehensive judgment of radius and direction vector similarity, automatically identifies the functional type of each branch and outputs the branch proportion R. FR and the proportion of vigorous shoots R VB ; The light-temperature coupling control unit comprises a multi-point, multi-parameter environmental sensing subunit, a decision-making subunit, and an execution subunit. The multi-point, multi-parameter environmental sensing subunit includes temperature and light sensors distributed at different spatial locations within the facility, used to monitor environmental parameters within the facility in real time and transmit them to the decision-making subunit. The decision-making subunit has a built-in light-temperature control strategy library, which, based on the R output from the branch functional structure dynamic sensing unit, determines the control strategy. FR and R VB The system calls the light and temperature control strategy library to match the corresponding temperature and light strategy, and generates control instructions by combining the environmental parameters transmitted by the multi-point multi-parameter environmental sensing subunit; the execution subunit includes an adjustable ventilation opening, a heat insulation blanket roll-up device, a sunshade device, a zoned supplementary lighting device, and a misting cooling device, and the execution subunit performs corresponding operations in response to the control instructions of the decision subunit; The dynamic sensing unit of the branch functional structure is connected to the light-temperature coupling control unit through a data interface. The dynamic sensing unit of the branch functional structure periodically acquires the branch structure status data and inputs it into the decision subunit. The decision subunit dynamically adjusts the temperature and light target values ​​according to the current branch structure status. After the execution subunit responds, the dynamic sensing unit of the branch functional structure re-acquires data in the next cycle to verify the control effect, thus forming a closed-loop feedback control loop.

[0015] Furthermore, the three-dimensional structure acquisition module is a drone equipped with a lidar or a ground-based fixed laser scanner.

[0016] Furthermore, the light-temperature coupling control unit also includes an effective accumulated temperature triggering phenological period switching module. The input end of the effective accumulated temperature triggering phenological period switching module is connected to the multi-point multi-parameter environmental sensing subunit, and the output end is connected to the decision subunit. The effective accumulated temperature triggering phenological period switching module receives the daily average air temperature transmitted by the multi-point multi-parameter environmental sensing subunit, calculates the effective accumulated temperature (GDD), and when the GDD reaches the effective accumulated temperature threshold required for the phenological period corresponding to the variety, the effective accumulated temperature triggering phenological period switching module sends a phenological period switching signal to the decision subunit. The decision subunit calls the light-temperature control strategy library to match the corresponding temperature and light target according to the switched phenological period.

[0017] Furthermore, it also includes an abnormal state early warning module, which is connected to the decision subunit. The decision subunit will use the percentage R of the results obtained from three consecutive perception data identifications. FR The data is transmitted to the abnormal state early warning module. When the rate of decline in the percentage of resulting branches exceeds 5% / day, the abnormal state early warning module issues an "unbalanced tree growth" warning signal.

[0018] Compared with the prior art, the beneficial technical effects of the present invention are as follows: This invention introduces lidar 3D modeling and graph theory-based automatic branch type identification into the real-time management of greenhouse peach cultivation. It transforms the judgment of branch status from manual experience to automated quantitative identification, improving consistency and timeliness while reducing reliance on manual experience. By establishing a light-temperature regulation strategy matching mechanism based on the functional structure of branches, this invention overcomes the limitation of existing technologies that rely on fixed phenological standards for light-temperature regulation. This allows the regulation target to be dynamically adapted to the actual growth state of individual trees, improving the targeted nature of environmental regulation. A complete technology chain of perception-decision-execution-verification is constructed. Through regular verification of the regulation effect and strategy correction, a self-optimizing cultivation management system is formed, providing technical support for the refined management of greenhouse fruit cultivation. Using the method of this invention to dynamically regulate the peach cultivation process can improve fruit quality to a certain extent. In the examples, the soluble solids content of the fruit increased by 20%~30%, coloring became more uniform, and flavor was enhanced; at the same time, yield remained stable, which helps to reduce the occurrence of alternate bearing. The present invention has a high degree of system integration and a higher degree of automation than traditional cultivation and management models. It has good replicability in large-scale facility peach orchards and is easy to promote and apply in large-scale facility peach orchards. Attached Figure Description

[0019] Figure 1 This is a structural block diagram of the peach shoot regulation and light-temperature coupled cultivation system for improving quality and increasing yield in this invention.

[0020] Figure 2 This is a schematic diagram of the "Y"-shaped double-main-branch tree structure of the present invention.

[0021] Figure 3 This is a flowchart of the automatic identification algorithm for branch function types in this invention.

[0022] Figure 4 This is a schematic diagram of the closed-loop feedback loop of the perception-decision-execution-verification method of the present invention.

[0023] Attached diagram labels: 1-main trunk, 2-western main branch, 3-eastern main branch, 4-fruiting branch. Detailed Implementation

[0024] The technical solution of the present invention will be described in detail below with reference to the embodiments.

[0025] Please see Figure 1 As shown, the present invention provides a branch and shoot regulation and light-temperature coupled cultivation system for improving the quality and yield of peaches. The system is suitable for greenhouses and specifically includes a branch and shoot functional structure dynamic sensing unit, a light-temperature coupled regulation unit, and an abnormal state early warning module.

[0026] Specifically, the dynamic perception unit for branch functional structure includes a three-dimensional structure acquisition module, a branch topology model construction module, and an automatic identification module for branch functional types.

[0027] Specifically, the 3D structure acquisition module is used to acquire 3D point cloud data of the peach tree's branches and trunk surface using a LiDAR scanner. The LiDAR scanner can be mounted on a drone, scanning within the greenhouse to acquire 3D structural data of the fruit tree; or a ground-based fixed laser scanner can be used to scan around the tree from multiple angles for easy fusion modeling. The 3D structure acquisition module transmits the acquired 3D point cloud data of the tree branches and trunk to the branch topology model construction module. This module constructs a directed graph digital model representing the branch topology, using a set of branch cylinders as directed graph nodes and adjacency relationships between branches as directed graph edges. This model is then input into the automatic branch function type identification module. The automatic branch function type identification module uses graph theory algorithms to automatically identify and label the types of trunk, main branches, fruiting branches, and vigorous shoots based on a comprehensive judgment of radius similarity and direction vector similarity, and calculates the proportion R of fruiting branches. FR and the proportion of vigorous shoots R VB .

[0028] Specifically, the light-temperature coupling control unit includes a multi-point, multi-parameter environmental perception subunit, a decision-making subunit, and an execution subunit.

[0029] Specifically, the multi-point, multi-parameter environmental sensing subunit includes temperature sensors and light sensors distributed at different spatial locations within the facility, used to monitor environmental parameters within the facility in real time and transmit them to the decision-making subunit; the decision-making subunit has a built-in light and temperature control strategy library, and adjusts the parameters based on the R output by the branch functional structure dynamic sensing unit. FR and R VB The system calls upon the light and temperature control strategy library to match the corresponding light and temperature strategy, and combines the environmental parameters transmitted by the multi-point, multi-parameter environmental sensing subunit to generate zone-specific control instructions. The specific method of zone-specific control is as follows: based on the identified differences in branch type composition within each spatial zone, different supplemental lighting intensities and ventilation strategies are set for the upper, middle, and lower layers of the canopy, ensuring that the light intensity between trees in each layer reaches more than 80% of the target for the corresponding phenological stage. The execution subunit includes adjustable ventilation openings, a heat insulation blanket roll-up device, a shading device, a zone-specific supplemental lighting device, and a misting cooling device, and performs corresponding operations in response to the control instructions from the decision-making subunit.

[0030] The dynamic sensing unit of the branch functional structure is connected to the light-temperature coupling control unit through a data interface. The dynamic sensing unit of the branch functional structure periodically acquires the branch structure status data and inputs it into the decision subunit. The decision subunit dynamically adjusts the temperature and light target values ​​according to the current branch structure status. After the execution subunit responds, the dynamic sensing unit of the branch functional structure re-acquires data in the next cycle to verify the control effect, thus forming a closed-loop feedback control loop.

[0031] Specifically, supplemental lighting can be achieved using LED supplemental lights, suspended 60-70cm above the tree canopy. More preferably, the LED supplemental lights should have a red-blue light ratio of 3:1, with red light wavelengths ranging from 610-720nm and blue light wavelengths from 400-520nm. The red-blue light ratio is achieved by arranging individual red and blue LED beads at a 3:1 ratio. Supplemental lighting should be activated on cloudy or rainy days or when natural light is insufficient. The preferred times for supplemental lighting are 06:00-09:00 in the morning and 17:00-19:00 in the evening, avoiding activation during the midday heat from 11:00-15:00. The insulation blanket rolling device uses a self-propelled electric rolling shutter machine on the canopy surface. The shading device consists of a black shading net installed above the canopy film, with the shading rate selected according to the phenological requirements. The atomizing cooling device can employ a high-pressure atomizing cooling system with a working pressure of 60–100 kg / cm², nozzles spaced 1 m apart, arranged in a staggered left-right side spray pattern, and nozzles installed at an elevation angle of 5–10°. When the temperature inside the facility exceeds a set threshold (e.g., 28°C), the spray cooling is activated. The adjustable ventilation openings are opened and closed by an electric film roller that drives the film up and down. The supplementary lighting device, insulation blanket rolling device, shading device, atomizing cooling device, and adjustable ventilation openings are all electrically controlled actuators, each equipped with an independent drive mechanism and control interface. Each control interface is connected to the decision-making subunit, receiving control commands output by the decision-making subunit to drive the corresponding operation. The ground reflective film is equipped with an electric angle adjustment mechanism, the control end of which is connected to the execution subunit. The decision subunit calculates the optimal working angle of the reflective film based on the illumination angle and illumination intensity data transmitted by the multi-point multi-parameter environmental perception subunit, and sends an angle adjustment command to the execution subunit. The execution subunit drives the electric angle adjustment mechanism to change the tilt angle of the reflective film so that the reflected light can illuminate the lower and middle parts of the tree canopy and the inner area at different times.

[0032] Specifically, the light-temperature coupling control unit also includes an effective accumulated temperature triggering phenological period switching module. The input end of the effective accumulated temperature triggering phenological period switching module is connected to the multi-point multi-parameter environmental sensing subunit, and the output end is connected to the decision subunit. The effective accumulated temperature triggering phenological period switching module receives the daily average air temperature transmitted by the multi-point multi-parameter environmental sensing subunit, calculates the effective accumulated temperature (GDD), and when the GDD reaches the effective accumulated temperature threshold required for the phenological period corresponding to the variety, the effective accumulated temperature triggering phenological period switching module sends a phenological period switching signal to the decision subunit. The decision subunit calls the light-temperature control strategy library to match the corresponding temperature and light target according to the switched phenological period.

[0033] Specifically, the abnormal state early warning module is an optional additional module of the system of the present invention. The abnormal state early warning module is connected to the decision subunit. The decision subunit transmits the result branch ratio R_FR obtained by three consecutive perception data identifications to the abnormal state early warning module. When the rate of decrease of the result branch ratio exceeds 5% / day, the abnormal state early warning module issues an "imbalanced tree" warning signal.

[0034] This embodiment also provides a method for improving the quality and yield of peaches through shoot regulation and light-temperature coupling cultivation based on the above system, including the following steps: (1) Tree shaping: Under facility cultivation conditions, the trunk height of the peach tree is set at 40-50cm. The double main branches "Y" shape is adopted, with the two main branches extending to the east and west respectively. The angle between the main branches is 90°-100°. Fruiting branches grow directly on the main branches without lateral branches.

[0035] Specifically, trunk pruning is carried out in the spring of the same year the seedlings are planted, before bud break. The cultivation of the "Y"-shaped main branches can be completed in the same year after trunk pruning, by selecting two suitable new shoots in appropriate directions as main branches and removing the rest. During the cultivation of the "Y"-shaped main branches, when the new shoots of the main branches reach 40-50cm in length, the angle of the main branches is fixed with bamboo poles or branch pullers, keeping the angle between the two main branches at 90°-100°. The branch pulling of the fruiting branches is carried out after fruit set and during the fruit hardening period, so that the fruiting branches grow horizontally. This tree shape spreads out in a flat "V" shape, allowing each fruit to receive good sunlight, and also facilitating the acquisition of complete branch and trunk structure data by lidar scanning. Compared with the traditional three-main-branch open-center shape, the "Y"-shaped tree shape allows the fruit to set fruit and be marketed one year earlier, with larger and sweeter fruit, and is also easier for mechanized operations.

[0036] For the specific structure of this tree, please refer to the appendix. Figure 2The peach tree consists of a main trunk (1), a western main branch (2), and an eastern main branch (3). The main trunk has a fixed height H of 40-50 cm. The two main branches extend eastward and westward respectively, with an angle α between them of 90°-100°. Fruiting branches (4) grow directly on the main branches. The fruiting branches are distributed alternately on both sides of the main branches and have no lateral branch structure. After the fruiting branches are trained, they grow horizontally, with an angle β between the fruiting branches and the main branches of 80°-90°.

[0037] (2) Digital modeling of branch and twig functional structure: Three-dimensional point cloud data of peach tree branches and trunks were acquired using LiDAR. When scanning from the ground, the distance between the scanner and the trunk was generally 2-3m, the scanning resolution was set to medium-high precision, and the point spacing was 2-5mm. Each tree was scanned from at least 3 different directions to ensure that no blind spots were generated on the back of the branches and trunks. The scanning time was selected on a cloudy day with no wind or a light breeze or in the evening to reduce the impact of branch and leaf swaying on the point cloud quality.

[0038] Cylindrical fitting is performed on the point cloud data to extract the radius, central axis, and length parameters of each branch segment. Specifically, the Iterative Closest Point (ICP) algorithm is used to register and fuse multi-site point cloud data. The least squares method is used for cylindrical fitting, and the fitting error should be controlled within 5% of the radius. The adjacency relationship (i.e., parent-child relationship) between branches is determined based on the spatial connection relationship of the central axis. A directed graph digital model G=(V,E) representing the branch topology is constructed, with the set of branch cylinders as directed graph nodes V and the adjacency connection relationship between branches as directed graph edges E. The attributes of each node include the branch radius, length, starting position, direction vector, and parent node information. Through this model, each branch of the tree is quantitatively represented as a node in the graph, and the growth relationship between branches is accurately recorded.

[0039] (3) Automatic identification of branch and trunk function types: Based on the directed graph digital model, an automatic identification algorithm for branch and trunk function types was established. For details, please refer to the appendix. Figure 3 .

[0040] Starting from the node with an in-degree of 0 in the directed graph, we traverse each branch node along the edges of the directed graph. For any parent-child node pair (parent node P, child node C), we calculate the radius similarity S. radius cosine similarity S with direction vector direction : S radius =min(r P , r C ) / max(r P , r C ) S direction =|v P ·v C | / (||v P||×||v C ||) After linearly transforming the cosine similarity of the direction vectors to the [0,1] interval, the comprehensive similarity S is calculated as S = 0.6 × S radius + 0.4×S′ direction , where S′ direction This represents the directional similarity after linear transformation. When S≥0.75, the parent and child nodes are determined to be continuations of the same branch type, and the tracing continues along that direction. When the same parent node has multiple child nodes and the comprehensive similarity of multiple nodes is greater than the threshold, the child node with the highest comprehensive similarity is selected as the continuation direction of the main branch or main trunk, and the remaining child nodes are marked as branches.

[0041] The identification criteria for various types of branches are as follows: Main trunk: The set of nodes continuously traced along the direction with the highest overall similarity; Main branch: A branch that originates from the branching point of the main trunk, has a diameter ≥ 30% of the diameter of the main trunk, and whose direction forms an angle ≥ 30° with the main trunk; Resulting branch: A branch that traces back from any endpoint node (out-degree 0) to the nearest branching point, with a diameter ≤ 40% of the parent branch's diameter and a length ≤ 80cm; Vigorous shoots: current-year shoots, with a length ≥80cm, internode length ≥3cm, diameter ≥50% of the parent branch diameter, and an angle ≤30° with the parent branch direction, growing upright.

[0042] After identification is completed, the branch ratio R is calculated. FR =N FR / N total ×100% and percentage of vigorous shoots R VB = NVB / N total ×100%, where N FR N represents the number of fruiting branches, NVB represents the number of vigorous shoots, and N... total The total number of branches and trunks. These two quantitative indicators reflect the current balance between reproductive and vegetative growth in the tree, and serve as the basis for dynamic decision-making regarding subsequent light and temperature regulation.

[0043] (4) Photothermal coupling regulation based on the functional structure state of branches: According to the R FR and R VB Match the preset light and temperature control strategy library to generate zone-specific control instructions to control the temperature and light intensity within the facility; The built-in light-temperature control strategy library of this invention includes the following mapping relationships: Fruit development promotion mode: when R FR ≥60% and R VBWhen it is ≤10%, the tree is determined to be in the "reproductive growth dominant state", with sufficient fruiting branches, few vigorous vegetative shoots, and photosynthates mainly used for fruit development. The fruit development promotion mode is executed, with the target temperature set at 24 to 28°C during the day and 12 to 15°C at night, and the target light intensity between plants ≥35% of the outdoor natural light intensity.

[0044] Vegetative growth inhibition mode: When R VB ≥20% or R FR ≤40%, the tree is determined to be in the "excessive vegetative growth state", with too many vigorous vegetative shoots or insufficient fruiting branches, and excessive consumption for vegetative growth. The vegetative growth inhibition mode is executed, with the daytime temperature lowered to 22 to 25°C, the nighttime temperature to 10 to 12°C, and the temperature difference between day and night increased to 10 to 12°C to inhibit excessive vegetative growth through low temperature; meanwhile, the supplementary lighting device is activated to extend the light duration to 14 to 16 hours per day, so as to ensure sufficient photosynthates while inhibiting longitudinal elongation growth.

[0045] Balanced regulation mode: When 40%<R_FR<60% and 10%<R_VB<20%, the tree is determined to be in the "intermediate transition state", and the balanced regulation mode is executed, with the temperature set at 23 to 26°C during the day and 11 to 14°C at night, and the target light intensity between plants ≥30% of the outdoor natural light intensity.

[0046] In addition, the present invention further provides an effective accumulated temperature triggering phenological period switching mechanism: record the daily average temperature, and calculate the growing degree days GDD=Σ(T daily -T base ), where T daily is the daily average temperature, T base is the biological zero temperature of honey peach, which is generally 7.2 to 10°C, and the accumulation is only counted when T daily >T base . When the GDD reaches the effective accumulated temperature threshold required for the corresponding phenological period of the variety, the temperature and light targets for the next phenological period are automatically switched to.

[0047] (5) Closed-loop feedback iteration: A single identification and regulation is not sufficient. The present invention establishes a perception-decision-execution-verification closed loop, and the specific process can be referred to the attached Figure 4 .

[0048] Steps (2) to (4) are repeated at key nodes of the phenological period, and the key nodes of the phenological period include: budding period (early March), new shoot growth period (late April), fruit setting period (late May), fruit expansion period (late June) and post-harvest period (early August). The perception cycle interval is: data is collected once every 7 days from the new shoot growth period to the fruit setting period, once every 10 days during the fruit expansion period, and once when pruning is completed after harvest. After the collected data is processed by the automatic branch type identification module, the light and temperature regulation strategy update is completed within 24 hours.

[0049] The calculated change rate Δ of the branch proportion FR and the rate of change of the proportion of vigorous shoots Δ VB When Δ FR The value is negative and the change exceeds the first preset threshold or Δ. VB When the value is positive and the change exceeds the second preset threshold, the target light intensity is increased and the daytime temperature is decreased to achieve closed-loop feedback iteration.

[0050] Specifically, if Δ FR A negative value with a change exceeding 5% / 7 days, meaning the percentage of fruiting branches decreases by more than 5 percentage points within 7 days, or Δ VB If the value is positive and the change exceeds 3% / 7 days (meaning the proportion of vigorous shoots increases by more than 3 percentage points within 7 days), it is determined that the current light and temperature strategy is unfavorable to reproductive growth. The decision-making subunit automatically increases the target light intensity for the next period by 10%–15% and simultaneously decreases the daytime temperature by 1–2°C to inhibit vegetative growth and promote flower bud differentiation. If Δ FR It is positive and Δ VB A negative value indicates that the current strategy is effective and should be maintained.

[0051] After executing the subunit response control command, data is collected again in the next sensing cycle to verify the effect. Through this closed-loop iterative approach, the system can track the tree's response to the light and temperature strategy in real time and automatically correct the control parameters, achieving precise dynamic management.

[0052] (6) Quantitative regulation of flowers and fruits: Based on the number and spatial distribution of fruiting branches identified in step (3), determine the flower and fruit carrying capacity. Calculate the target yield using the formula: "Number of fruits per fruiting branch × Total number of fruiting branches × Estimated weight of a single fruit". The specific fruit retention standards are: 3-4 fruits on long fruiting branches, 2-3 fruits on medium fruiting branches, and 1-2 fruits on short fruiting branches. The yield per mu should be stably controlled within 1500 kg to ensure fruit quality. Fruit thinning should be completed 2-3 weeks after flowering until the pit hardening stage. The thinning targets include fruits growing together, deformed fruits, small fruits, yellow-wilted fruits, upward-facing fruits, and fruits affected by diseases and insects.

[0053] Experimental Example 1 The method of this invention was used to cultivate peaches at a peach facility cultivation base in Jiangsu Province.

[0054] The greenhouse is a single-span, north-south oriented galvanized steel pipe plastic greenhouse, with a span of 8m, a ridge height of 3m, and a length of 50m. It is covered with PO film with a light transmittance of 92%, and the ground is covered with a silver reflective film. Strong one-year-old peach seedlings of the Chunxue variety are selected, with a trunk height of 45cm. Two main branches are cultivated in the east and west directions, with an angle of approximately 95°, forming a "Y" shape. The planting density is 1m × 3m, approximately 222 seedlings per acre.

[0055] In early March, during the budding stage, a ground-based fixed laser scanner (FARO Focus S350) was used, with three scanning stations spaced 120° apart around the tree to acquire complete 3D point cloud data of the tree. A directed graph digital model was constructed after cylindrical fitting, containing 187 branch nodes. A type recognition algorithm automatically identified 1 main trunk, 2 main branches, 89 fruiting branches, 12 vigorous shoots, and the remainder as developing branches. The percentage R of fruiting branches was calculated. FR =47.6%, the proportion of vigorous shoots R VB =6.4%, which is determined to be an "intermediate transition state", and a balance control mode is implemented.

[0056] From mid-March to mid-April, the first round of light and temperature regulation was carried out. The decision-making subunit matched the temperature and light targets according to the "intermediate transition state": 24-26℃ during the day and 12-13℃ at night; the light intensity target was ≥30% of the outdoor natural light intensity between plants. The execution subunit controlled the opening and closing of the heat insulation blanket during the day and the closing of the ventilation openings according to the temperature. The LED supplemental lighting device was turned on on cloudy or rainy days.

[0057] In late April, during the new shoot growth period, the first closed-loop feedback was conducted, followed by a second scan and modeling, resulting in an increase in the number of identified branches to 124 (accounting for R). FR =56.3%), the number of vigorous shoots increased to 18 (R%) VB =8.2%). Comparison with data from the budding stage: Δ FR =+8.7% / 40 days (daily average +0.22%), Δ VB =+1.8% / 40 days (daily average +0.045%), Δ FR For positive values, Δ VB The value is positive, but the change does not exceed the threshold, so the current control strategy will remain unchanged.

[0058] During the fruit-setting period in late May, a second closed-loop feedback and strategy adjustment was conducted, followed by another scan and identification, and the percentage of fruiting branches R was determined. FR =52.1% (a decrease of 4.2% from the previous round, equivalent to Δ FR =-4.2% / 30 days≈-1.4% / 10 days), percentage of vigorous shoots R VB =14.6% (an increase of 6.4% compared to the previous round, equivalent to Δ VB =+6.4% / 30 days ≈+2.1% / 10 days). Δ VB It did not exceed the 3% / 7-day threshold, but Δ FR The light intensity target is declining, and the decision-making subunit determines that early intervention is needed: the light intensity target is increased by 15%, and the daytime temperature is reduced from 25℃ to 23℃ to suppress the excessive growth trend.

[0059] In mid-June, the effective accumulated temperature GDD = Σ(T) dailyWhen the cumulative temperature reaches 680℃·d (-10), the threshold for the hardening stage is reached, and the system automatically switches to the temperature and light target for the fruit enlargement stage: 25~27℃ during the day and 14~15℃ at night, while maintaining the light intensity target at the adjusted level.

[0060] In late June, based on the identification of 146 fruiting branches during the fruit-setting period, and following the standard of retaining 3 fruits on long fruiting branches, 2 fruits on medium fruiting branches, and 1 fruit on short fruiting branches, combined with the proportion of each type of fruiting branch, the total number of fruits to be retained in the orchard is approximately 8,500 per mu, with an estimated yield of 1,550 kg.

[0061] In early August, post-harvest scanning and evaluation were conducted. The percentage of fruiting branches peaked before harvest (62.3%) and then declined after harvest and pruning. Fruit quality testing showed a soluble solids content of 13.8%–15.2%, an average single fruit weight of 165g, a maximum single fruit weight of 225g, and a marketable fruit rate of 96%.

[0062] Comparative Example A control area was set up at the same base, using the traditional three-main-branch open-center tree shape. Branch management relied on manual experience and judgment, and light and temperature control was carried out according to the fixed phenological period standard.

[0063] Tests showed that the soluble solids content of mature fruits in the control area was 11.2%–12.5%, the average weight of a single fruit was 138g, and the biennial bearing phenomenon was obvious, with the yield decreasing by about 25% the following year.

[0064] Experiment Example 2 To further investigate the adaptability of the system and method of the present invention to different varieties of peaches, the variety "Hujing Honey Dew" was selected and cultivated at a peach facility cultivation base in Zhejiang Province, using the same facility conditions and method of the present invention as in Experimental Example 1.

[0065] Initial identification results of the budding stage: branch ratio R FR =42.3%, the proportion of vigorous shoots R VB =18.7%, which is judged as "excessive vegetative growth state", and the vegetative growth inhibition mode is implemented.

[0066] After three rounds of closed-loop feedback iteration, the proportion of fruiting branches during the fruit-setting period increased to 58.6%, while the proportion of vigorous shoots decreased to 11.2%, effectively regulating tree vigor. The soluble solids content of mature fruits ranged from 14.1% to 15.8%, with an average single fruit weight of 172g. The results indicate that the method of this invention has good adaptability to different peach varieties.

[0067] The above description is a preferred embodiment of the present invention, used to explain the technical solution of the present invention, and is not intended to limit the present invention. Those skilled in the art can make conventional modifications, equivalent substitutions and improvements within the spirit and principles of the present invention, all of which are still included within the protection scope of the present invention.

Claims

1. A method for improving the quality and yield of peaches through shoot regulation and light-temperature coupling cultivation, characterized in that, Includes the following steps: (1) Tree shaping: Under facility cultivation conditions, the trunk height of the peach tree is set at 40-50cm. The double main branches "Y" shape is adopted, with the two main branches extending to the east and west respectively. The angle between the main branches is 90°-100°. Fruiting branches grow directly on the main branches without lateral branches. (2) Digital modeling of branch and branch functional structure: The three-dimensional point cloud data of peach tree branches and trunks are obtained by LiDAR and a digital model of branch and trunk topology directed graph G=(V,E) is constructed. The model uses the branch and trunk cylinder as nodes V and the connection relationship between branches and trunks as edges E. The attributes of each node include the branch and trunk radius, length, direction vector and parent node information. (3) Automatic identification of branch and trunk functional types: Based on the directed graph digital model, the branch and trunk types are automatically identified by comprehensively judging the similarity of radius and direction vector, and the branch ratio R is calculated. FR and the proportion of vigorous shoots R VB ; (4) Photothermal coupling regulation based on the functional structure state of branches: According to the R FR and R VB Match the preset light and temperature control strategy library to generate zone-specific control instructions to control the temperature and light intensity within the facility; (5) Closed-loop feedback iteration: Repeat steps (2) to (4) at key nodes in the phenological period, and calculate the rate of change of the branch proportion Δ FR and the rate of change of the proportion of vigorous shoots Δ VB When Δ FR The value is negative and the change exceeds the first preset threshold or Δ. VB When the value is positive and the change exceeds the second preset threshold, the target light intensity is increased and the daytime temperature is decreased to achieve closed-loop feedback iteration; (6) Quantitative regulation of flowers and fruits: Quantitative regulation of flowers and fruits is carried out based on the number of result branches identified in step (3).

2. The method for improving the quality and yield of peaches by regulating shoot growth and coupling light and temperature, as described in claim 1, is characterized in that... In step (3), the specific method for automatically identifying branch types is as follows: Taking the node with an in-degree of 0 in the directed graph as the starting point of the backbone, calculate the radius similarity S for any parent-child node pair (P, C). radius =min(r P ,r C ) / max(r P ,r C ) and the cosine similarity S of the direction vector direction = |v P ·v C | / (||v P ||×||v C ||), calculate the comprehensive similarity S=0.6×S radius +0.4×S′ direction , where S′ direction To make S direction Linear transformation to the value in the interval [0,1]; when S≥0.75, the parent and child nodes are continuations of the same branch type, otherwise they are branches; Branches with a diameter ≥ 30% of the trunk diameter and an angle ≥ 30° with the trunk are marked as main branches; terminal branches with a length ≤ 80cm and a diameter ≤ 40% of the parent branch diameter are marked as fruiting branches; upright branches with a current year growth ≥ 80cm, internode length ≥ 3cm, diameter ≥ 50% of the parent branch diameter, and an angle ≤ 30° with the parent branch are marked as vigorous shoots.

3. The method for improving the quality and yield of peaches by regulating shoot growth and coupling light and temperature in cultivation, as described in claim 1, is characterized in that... In step (4), the light-temperature regulation strategy library includes: When R FR ≥60% and R VB When the percentage is ≤10%, implement the fruit development promotion mode, with daytime temperature of 24–28℃, nighttime temperature of 12–15℃, and light intensity ≥35% of outdoor natural light intensity; When R VB ≥20% or R FR When the nutrient content is ≤40%, implement the vegetative growth inhibition mode, with a daytime temperature of 22-25℃, a nighttime temperature of 10-12℃, a day-night temperature difference of 10-12℃, and a supplemental light duration of 14-16 hours / day; When 40% < R FR < 60% and 10% < R_VB < 20%, the balanced regulation mode is executed, with a daytime temperature of 23 to 26°C, a nighttime temperature of 11 to 14°C, and an illumination intensity ≥ 30% of the outdoor natural light intensity.

4. The method for improving the quality and yield of peaches by regulating shoot growth and coupling light and temperature, as described in claim 1, is characterized in that: In step (5), the key phenological nodes include the budding period, the new shoot growth period, the fruit setting period, the fruit enlargement period, and the post-harvest period; the sensing cycle interval is once every 7 days from the new shoot growth period to the fruit setting period, and once every 10 days during the fruit enlargement period.

5. The method for improving the quality and yield of peaches by regulating shoot growth and coupling light and temperature, as described in claim 1, is characterized in that: In step (5), the first preset threshold is 5% / 7 days, the second preset threshold is 3% / 7 days; the target for increasing the light intensity is to increase it by 10% to 15%, and the target for decreasing the daytime temperature is to decrease it by 1 to 2℃.

6. The method for improving the quality and yield of peaches by regulating shoot growth and coupling light and temperature, as described in claim 1, is characterized in that... In step (6), the quantitative control of flowers and fruits is as follows: the target yield is determined by multiplying the number of fruits left on each fruiting branch by the total number of fruiting branches. 3 to 4 fruits are left on long fruiting branches, 2 to 3 fruits on medium fruiting branches, and 1 to 2 fruits on short fruiting branches. The yield per mu is controlled within 1500 kg.

7. The method for improving the quality and yield of peaches by regulating shoot growth and coupling light and temperature, as described in claim 1, is characterized in that... Step (4) also includes the step of triggering the phenological period switching with effective accumulated temperature, specifically recording the daily average air temperature and calculating the effective accumulated temperature GDD=Σ(T daily -T base ), where T daily T represents the daily average temperature. base The biological zero temperature for peaches, only when T daily >T base The accumulated temperature is recorded over time, and when the GDD reaches the effective accumulated temperature threshold required for the corresponding phenological stage of the variety, it will automatically switch to the temperature and light target of the next phenological stage.

8. A cultivation system for improving the quality and yield of peaches by regulating shoot growth and coupling light and temperature, characterized in that, include: The branch functional structure dynamic sensing unit comprises a 3D structure acquisition module, a branch topology model construction module, and a branch functional type automatic identification module. The 3D structure acquisition module acquires 3D point cloud data of tree branches and transmits it to the branch topology model construction module. The branch topology model construction module constructs a directed graph digital model G=(V,E) based on the received point cloud data and inputs this model into the branch functional type automatic identification module. The branch functional type automatic identification module, based on the directed graph digital model and through a comprehensive judgment of radius and direction vector similarity, automatically identifies the functional type of each branch and outputs the branch proportion R. FR and the proportion of overly vigorous shoots R VB ; The light-temperature coupling control unit comprises a multi-point, multi-parameter environmental sensing subunit, a decision-making subunit, and an execution subunit. The multi-point, multi-parameter environmental sensing subunit includes temperature and light sensors distributed at different spatial locations within the facility, used to monitor environmental parameters within the facility in real time and transmit them to the decision-making subunit. The decision-making subunit has a built-in light-temperature control strategy library, which, based on the R output from the branch functional structure dynamic sensing unit, determines the control strategy. FR and R VB The system calls the light and temperature control strategy library to match the corresponding temperature and light strategy, and generates control instructions by combining the environmental parameters transmitted by the multi-point multi-parameter environmental sensing subunit; the execution subunit includes an adjustable ventilation opening, a heat insulation blanket roll-up device, a sunshade device, a zoned supplementary lighting device, and a misting cooling device, and the execution subunit performs corresponding operations in response to the control instructions of the decision subunit; The dynamic sensing unit of the branch functional structure is connected to the light-temperature coupling control unit through a data interface. The dynamic sensing unit of the branch functional structure periodically acquires the branch structure status data and inputs it into the decision subunit. The decision subunit dynamically adjusts the temperature and light target values ​​according to the current branch structure status. After the execution subunit responds, the dynamic sensing unit of the branch functional structure re-acquires data in the next cycle to verify the control effect, thus forming a closed-loop feedback control loop.

9. The peach cultivation system for improving quality and increasing yield according to claim 8, characterized in that, The light-temperature coupling control unit further includes an effective accumulated temperature triggering phenological period switching module. The input end of the effective accumulated temperature triggering phenological period switching module is connected to the multi-point multi-parameter environmental sensing subunit, and the output end is connected to the decision subunit. The effective accumulated temperature triggering phenological period switching module receives the daily average air temperature transmitted by the multi-point multi-parameter environmental sensing subunit, calculates the effective accumulated temperature (GDD), and when the GDD reaches the effective accumulated temperature threshold required for the phenological period corresponding to the variety, the effective accumulated temperature triggering phenological period switching module sends a phenological period switching signal to the decision subunit. The decision subunit calls the light-temperature control strategy library to match the corresponding temperature and light target according to the switched phenological period.

10. The peach cultivation system for improving quality and increasing yield by regulating shoot growth and coupling light and temperature, as described in claim 8, is characterized in that... It also includes an abnormal state early warning module, which is connected to the decision subunit. The decision subunit transmits the result branch ratio R_FR obtained from three consecutive perception data identifications to the abnormal state early warning module. When the rate of decrease of the result branch ratio exceeds 5% / day, the abnormal state early warning module issues an "tree imbalance" early warning signal.

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