AUTOMATED PLANT MONITORING SYSTEM AND METHOD - Patent application

Abstract

A system and method for managing operation of a plant growth section is presented, the management system comprising: a storage device including a database that stores data indicative of plant characteristics for each plant in the plant growth section, the plant characteristics including spatial and environmental characteristics of the plant and the location of the plant in the plant growth section; and a data processing unit including a database manager configured to: create new or update existing database entry records corresponding to plants in the plant growth section in response to receiving, from the sensing system, sensory data that is part of inspection data instructing the sensing system to inspect individual plants; and create data retrieval records in response to input of data requests relating to plants in the plant growth section, the database manager configured to: and a data processing unit configured to create new database entry records or update existing database entry records to store the plant structure data in the database, and to utilize the plant structure data stored in the database to identify each plant in a data request input and to create corresponding data retrieval records, the plant structure data being configured such that the content of the database entry records and / or data retrieval records includes a virtual representation of the positions of the spatial sub-plant features and the structure of the corresponding plant with their dimensions matching the actual structure of the plant.

Description

[Technical field]

[0001] The present invention is in the field of agriculture and concerns the monitoring of plants, such as plants in greenhouses, and the management of data collected during the monitoring. [Background technology]

[0002] Modern industrial agriculture increasingly requires the production of more crops in a limited area with fewer resources, especially labor, and further reduces the use of chemicals aimed at combating pests and diseases. This requires significant monitoring and care of the crops throughout their life cycle. For example, in some greenhouse crops, such monitoring and care can last for 11 months each year.

[0003] Plant monitoring operations include, for example, monitoring of plant growth, fruit development and production, stress, pest and disease detection, abiotic stresses such as under- or over-fertilization and watering, etc. Monitoring can also include monitoring of operations performed by humans or robots, such as pollination and pruning.

[0004] Currently, most crop monitoring is performed manually, or by using electrostatic sensors placed near the plants, or by placing electrostatic sensors adjacent to a limited (small) sample number of plants in the area to be monitored.

[0005] Due to labor shortages in the agricultural sector and in geographic locations, plant monitoring is typically limited to sampling only a small percentage, if at all. For example, when monitoring the condition of tomato seedlings in a greenhouse to determine watering, fertilization, and yield predictions, a maximum of 10-20 plants are monitored per hectare, which may contain 20,000 or more plants. Not only is monitoring these plants expensive, as fully trained professionals are required to perform such work, but it is also expensive to enter the data, analyze this data, and make decisions regarding this data.

[0006] US Patent Application Publication No. 20170030877 describes a multi-sensor device for capturing and transmitting plant sensor data in a crop. The multi-sensor device can be used as a handheld device or attached to a mobile platform for use in an automated crop monitoring system. A control unit in the device is operable to control the sensor, and a communication interface is connected to the control unit to transmit data from the sensor. Plant data is collected in two phases, training and testing, using various sensors and data from human experts.

[0007] US Patent Publication No. 20170032258 describes a system and method for monitoring and evaluating crop health, and the ability to provide rapid sorting of individual plants. The system and method have an automated component and rely primarily on the detection and interpretation of signals by plants to provide information about crop health. Human expert knowledge is incorporated and integrated into the automated crop monitoring system and method. Predictive models are also developed and can be used to predict future crop health in crops. Summary of the Invention

[0008] The present invention provides novel techniques for monitoring plants during the growth and fruiting cycle, including monitoring the condition of the plant, such as, for example, plant health, predicted yield, pollination and post-pollination preparation, and tracking treatments performed on the plant.

[0009] The techniques of the present invention allow for rapid collection and intelligent management of large amounts of plant data, including storing and organizing plant data, down to individual plants at the spatial sub-plant level, and retrieving plant data in a meaningful and efficient manner. The plant management system and method of the present invention facilitates collection of plant data, as well as interpretation and retrieval of plant data, by providing up-to-date structured plant data for each individual plant at the spatial sub-plant level, including by applying required interventions in a timely manner, thereby maintaining optimal plant conditions and health at all stages of the plant's life cycle. Management of structured plant data according to the present invention allows for efficient tracking in location and time, and treating, if necessary, all parts and sub-parts of all individual plants in a larger plant growth area, while saving time, effort and resources, thereby increasing monitoring efficiency and crop yield.

[0010] The terms level, region, portion, element, and section are used interchangeably herein to describe sub-plant related aspects.

[0011] The sub-plant levels described in this invention refer to any combination of the following: a particular branch of a given plant, a particular leaf on a given branch, a particular flower and / or fruit on a given branch, a particular flower branch / inflorescence, a particular flower and / or fruit on a given flower branch / inflorescence / floresent.

[0012] The up-to-date structured plant data for each individual plant may also include data regarding treatments (and the status and success of these) applied to the plant and / or spatial sub-plant levels / regions / parts of the plant, as well as data about the environmental or soil conditions in the immediate vicinity of each plant and sub-plant region.

[0013] The plant management system and method of the present invention is autonomous and does not require human attention or intervention. The system and method is based on a robotic monitoring device that can approach each particular plant at a sub-plant level to monitor each plant at the sub-plant level and provide structured plant data.

[0014] Patrols of as many plants as necessary can be scheduled, or as few as necessary, and are operable to maintain the plants in optimal conditions. The plant management system provides both pre-planned or in situ monitoring paths of plants and sub-portions thereof in the growing area, and can optimize scanning for parts and sub-portions of plants in specific areas that are prone to particular problems, for example, the presence of pests near the entrance to a greenhouse or at the edge of a field.

[0015] To this end, data collection sensors can be installed on a mobile platform that can drive autonomously in a specified area of ​​the field / orchard / greenhouse and cover the required or all plants. The sensors are installed on the mobile platform so that all the required data can be collected, and depending on the location of the sensors, they can obtain data from the required parts and elements of the plants. Image sensors adjacent to other sensors can determine the development of sub-plant elements and associate the readings of other sensors to a particular plant and a particular sub-plant element.

[0016] Therefore, a database containing structured plant data is constructed and associates plants and their sub-plant elements with sensor readings and the timing of the readings. Furthermore, when procedures such as pollination, pruning, and insecticide treatments are performed, the plant management system can record the work performed and the exact location and timing of the sub-plant elements on which the work was performed, and store all of this in the database. The database has a number of database entry records corresponding to each of a number of plants in the plant growth section / area. That said, each plant in the plant growth section has a database entry record that is created the first time data related to the plant is collected, and is updated (adding data and retaining previous data) whenever more data related to the plant is collected.

[0017] Thus, according to a first broad aspect of the invention there is provided a plant management system for managing the operation of one or more plant growing sections, the one or more plant growing sections being subscribers to the management system, the management system comprising: a storage device including a database storing data indicative of plant characteristics for each individual plant in the plant growth interval, the plant characteristics including spatial and environmental characteristics of the plant and a location of the plant in the plant growth interval; a data processing unit comprising a database manager configured and operable to: create new or update existing database entry records corresponding to individual plants in a plant growth space in response to receiving sensory data from one or more sensing systems that is part of inspection data instructing inspection of individual plants by the one or more sensing systems; and create data retrieval records in response to input of data requests relating to one or more individual plants in the plant growth space, The database manager includes a sub-plant feature extraction module configured and operable to identify in the patrol data spatial sub-plant features of each individual plant sensed during the patrol, and a plant structure data generation module configured and operable to generate plant structure data corresponding to the identified spatial sub-plant features; a database manager configured and operable to create new or update existing database entry records to store said plant structure data in the database, identify each of said one or more individual plants in a data request input, and utilize the plant structure data stored in the database to create a corresponding data retrieval record; A plant management system is provided, comprising: a data processing unit configured to receive the above plant structure data such that the content of the database entry records and / or data retrieval records includes virtual representations of the structures of the corresponding individual plants according to the positions of spatial sub-plant features and their dimensions that match the actual structure of the individual plants.

[0018] In some embodiments, the inspection data includes time data indicating the times when said inspections were performed by one or more sensing systems in the plant growth section, thereby enabling a recording of the inspection history for each individual plant in the plant growth section.

[0019] In some embodiments, the inspection data includes location data indicating where in the plant growth section the inspection was performed by one or more sensing systems, thereby enabling recording and / or retrieval of the plant location of each individual plant in the plant growth section.

[0020] In some embodiments, the inspection data includes environmental data indicative of the above-mentioned environmental characteristics of each individual plant, and the above-mentioned database entry records and / or data retrieval records indicative of a temperature of a portion of each individual plant, and / or indicative of the temperature and / or humidity proximate each individual plant in the plant growth section.

[0021] In some embodiments, the inspection data includes soil condition data, and the database entry records and / or data retrieval records indicate nutrient and / or water content associated with each individual plant in the plant growth interval.

[0022] In some embodiments, the spatial sub-plant characteristics of each individual plant include one or more of the following: geometric shape, size, health, number and / or temperature of branches, inflorescence, flowers, leaves, flowers, and / or fruits. Flower health may include the pollination and / or pruning status of the flower.

[0023] In some embodiments, the database manager is further configured and operable to analyze the stored plant structure data associated with each sub-plant feature of each individual plant, and upon identifying a predetermined condition of one or more sub-plant features, generate corresponding action data for applying a patrol to the relevant individual plant. The action data may indicate one or more treatment plans to be applied to the spatial sub-plant features of the relevant individual plant by one or more treatment systems. The treatment plan may include applying pollination, pruning, and / or disinfection to the spatial sub-plant features of the relevant individual plant. The database manager may be configured and operable to create a database entry treatment record in response to the treatment data being received from the one or more treatment systems, the treatment data including data indicating the treatment applied to the spatial sub-plant features of the relevant individual plant by the one or more treatment systems, thereby storing the database entry treatment record and assigning it to the spatial sub-plant features.

[0024] In some embodiments, the system comprises one or more sensing systems configured and operable to provide said sensory data, each sensing system comprising one or more sensors including at least one image sensor, such that said patrol data comprises image data of said spatial sub-plant features. The system may comprise one or more treatment systems configured and operable to apply said one or more treatment regimes.

[0025] In some embodiments, the system comprises a central station comprising said storage device and said database manager, the central station configured as a computer system for data communication with the one or more sensing systems and / or one or more treatment systems via a communication network. The one or more sensing systems and / or treatment systems may be transported by one or more robotic vehicles configured to navigate within the plant growth space and apply said one or more patrols to said one or more individual plants in the plant growth space based on operational data from said database manager.

[0026] According to another broad aspect of the invention, there is provided a method for managing data for plants in one or more plant growth intervals, comprising: receiving patrol data indicative of plant characteristics for one or more individual plants in the plant growth space, the plant characteristics including spatial and environmental characteristics of the plants and locations of the plants in the plant growth space, the patrol data including sensory data obtained from the one or more individual plants in the one or more plant growth spaces; analyzing the sensing data to identify spatial sub-plant features of each individual plant sensed during the patrol and generating plant structure data corresponding to the identified spatial sub-plant features; creating new or updating existing database entry records corresponding to each plant in the plant growth interval for storing said plant structure data; A method is provided in which the above plant structure data is configured such that the content of a database entry record includes a virtual representation of the location of spatial sub-plant features and the structure of the corresponding individual plant according to their dimensions that match the actual structure of the individual plant.

[0027] According to another broad aspect of the invention, there is provided a method for managing data for plants in one or more plant growth sections, the method including, in response to a data request, creating a data retrieval record from stored plant structure data corresponding to one or more individual plants in the one or more plant growth sections and generated from visit data obtained from one or more visits to the one or more individual plants, wherein the content of the stored plant structure data and / or the data retrieval record includes a virtual representation of the one or more individual plants with positions of spatial sub-plant features and their dimensions that match the actual structure of the one or more individual plants. [Brief description of the drawings]

[0028] In order to provide a better understanding of the subject matter disclosed herein, and to illustrate how the same may be carried out in practice, embodiments will now be described, by way of non-limiting example only, with reference to the accompanying drawings, in which:

[0029] [Figure 1] FIG. 1 illustrates, in block diagram form, an exemplary embodiment of a plant monitoring and management system in accordance with the present invention. [Diagram 2] FIG. 2 shows a non-limiting example of a plant database according to the present invention. [Diagram 3] FIG. 3 shows a non-limiting example of plant level and sub-plant level entries in a plant database according to the present invention. [Figure 4] 4A-4C are diagrams illustrating non-limiting examples of obtaining sensory data and storing the sensory data in a database to enable reconstruction of a plant from different angles in accordance with the present invention. [Diagram 5] 5A-5B show non-limiting examples of two database entry records for a particular plant after two visits to the plant in accordance with the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] Reference is made to FIG. 1, which illustrates by way of a block diagram an exemplary embodiment of a plant management system 100 for managing the operation of one or more plant growing zones / areas, e.g., greenhouses, in accordance with the principles of the present invention. The plant management system 100 can be configured as a central station physically located at a predefined location, or as a service located on a cloud or service server. In both cases, the plant management system 100 is accessible via a network connection, either wired or wireless, and one or more greenhouses (all plant growing zones / areas, used interchangeably herein) are subscribers to the management system, such that one or more plant sensing systems and / or treatment systems 200, further exemplified below, are located in the subscribed greenhouses and are configured and operable to collect plant data or apply plant treatments and to exchange plant data related to each plant in each greenhouse with the management system 100. As will be appreciated, the plant sensing systems and / or treatment systems 200 are not necessarily part of the management system 100, although in some exemplary embodiments, one or more of the plant sensing systems and / or treatment systems 200 may be an integral part of the management system 100.

[0031] As shown, the management system 100 includes a storage device 106 including a plant database 108 and a data processing unit 101 including a database manager 102 connected to the plant database 108 in the storage device 106. The plant database 108 is configured to store data indicating plant characteristics 110 for each individual plant in the greenhouse, the plant characteristic data 110 including spatial and environmental characteristic data of the plant, as well as the location of the plant in the greenhouse. The plant characteristics 110 are constructed by data of database entry records generated by the database manager 102.

[0032] The database manager 102 is configured and operable to perform at least two primary functions. The first function is to create or update existing database entry records 124 in response to receiving sensory data 112 of plants 105 from one or more sensing systems and / or treatment systems 200, where the sensory data 112 is included as part of tour data 114 directing tours by one or more sensing systems and / or treatment systems in the greenhouse. The second function is to create data retrieval records 126 in response to data requests 116 for one or more individual plants, such as plants 105, in the plant growing area / greenhouse. Thus, the database manager 102 is primarily software-based and may include dedicated hardware components configured to process and analyze data. The database manager 102 includes a plant feature extraction module 120 and a plant structure data generation module 122. The plant feature extraction module 120 is configured and operable to identify spatial sub-plant features of each individual plant 105 sensed during a corresponding tour in the tour data 114. The plant structure data generation module 122 is configured and operable to generate plant structure data corresponding to the spatial sub-plant features identified by the plant feature extraction module 120. Based on the plant structure data generated by the plant structure data generation module 122, the database manager 102 creates new database entry records 124 or updates existing database entry records 124 to store the structure data of the individual plants, including the sub-plant structure data, generated by the plant structure data generation module 122 as individual plant database entry records 124 in the database 108. The database manager 102 is also configured and operable to extract, from the database request 116, respective identifiers of one or more individual plants, and utilize the stored plant characteristic data 110 in the database 108 to create corresponding data retrieval records 126.In one example, the inspection data includes an image or images of plants and / or sub-plant features and / or elements, and the database manager 102, specifically the plant feature extraction module 120, analyzes the image data to extract spatial sub-plant features. The database manager 102 may utilize machine learning techniques for the analysis of the sensed data.

[0033] Thus, the plant structure data, including sub-plant structure data, stored under plant characteristics 110, includes a virtual representation of the plant structure in terms of the location and dimensions of spatial sub-plant features, where the contents of the database entry records 124 match the actual structure of the corresponding individual plants 105. Each individual plant 105 is represented as a database entry record; i.e., an "entry" in the database is a "plant."

[0034] As described above, each inspection data 114 includes sensory data 112 obtained on each plant 105 by a sensing system or treatment system 200 that inspected the individual plant. Additionally, inspection data 114 may include time data indicating the time of inspection by one or more sensing systems and / or treatment systems in the greenhouse, thereby allowing for a record of inspection history for each individual plant in the greenhouse. This time data may also help manage database entries by keeping them up to date. For example, this allows for overwriting plant structure data associated with any newly collected and / or analyzed sub-plant features and / or elements. The time data may be provided by any known clock / time mechanism integrated in the sensing and / or treatment system that performs the inspection.

[0035] Additionally, the patrol data 114 can include location data indicating where in the greenhouse patrols are performed by one or more sensing and / or treatment systems, thereby enabling recording of the plant location of each individual plant and / or sub-plant feature and / or element in the greenhouse, and enabling storage and retrieval of the individual plant and / or sub-plant feature and / or element in a manner that reflects the actual structure of the plants, as described in further detail below. The location data can be provided by any known location determining device or service, such as a GPS, that is integrated into the sensing and / or treatment systems that perform the patrols.

[0036] Additionally, the inspection data 114 may include environmental data indicative of environmental characteristics of each individual plant, the environmental data including one or more of the following: temperature, relative humidity, carbon dioxide concentration, and lighting conditions. The environmental data may be generated at a sub-plant level. The inspection data 114 may also include soil condition data for the soil in which the plants are planted, the soil condition data may include nutrients and / or moisture content of the individual plants. Suitable sensors for providing the temperature, humidity, light, and / or soil conditions may be integrated in the sensing and / or treatment system that performs the inspection.

[0037] Thus, the database manager 102 is configured and operable to recognize or extract time, location, environmental, and / or soil data from the inspection data 114 and generate one or more database entry records 124 indicating at least one or more of the temperature of an individual plant or subplant part thereof, the temperature and / or humidity and / or light near an individual plant, the nutrients and / or moisture content associated with an individual plant, during a particular inspection following the inspection. The time, location, temperature, humidity, light, nutrients, and moisture content data can be recorded, registered, and / or assigned to the particular plant and / or subplant part that was the subject of the relevant inspection.

[0038] The data processing unit 101 is generally an automatic and autonomous system that is self-operating and manages its inputs: sensory data 112 and inspection data 114 including data requests 116, and its outputs: database entry records 124 and data retrieval records 126 autonomously and without human intervention. In some exemplary embodiments, the data request inputs 116 can be entered by a person supervising the greenhouse in either text or graphical representations of individual plants or sub-plant parts, thus enabling the supervising person to observe the data of the individual plants or sub-plant parts of the individual plants and / or to apply monitoring and / or treatment inspections to the individual plants or sub-plant parts of the individual plants. In some exemplary embodiments, the management system is configured and operable to create, as a result of the data requests entered by the user, a three-dimensional graphical representation of the plant of the plant parts, with the sub-plant features shown together with their values. For example, a user can query the management system through a data request input to display, in either textual or graphical format, the pollination status of one or more flowers on one or more flower branches of a particular plant in an agricultural area, and the management system generates a data retrieval record based on the plant characteristics 110 as stored in the database 108 and displays the requested information to the user.

[0039] In some exemplary embodiments, the data request 116 is generated by the database manager module 102 based on an analysis performed according to an embedded algorithm on the plant characteristics 110 stored in the database 108 or based on an embedded algorithm related to periodic monitoring and / or treatment of the plants. Thus, the database manager module 102 is configured and operable to analyze the stored plant structure data related to each sub-plant part / feature of each individual plant, and upon identifying a predetermined condition of one or more plants and / or sub-plant features, generate corresponding action data to apply a patrol to the relevant individual plant. The action data indicates one or more treatment regimes to be applied to the spatial sub-plant features of the relevant individual plant by one or more treatment systems. In some exemplary embodiments, the treatment regime includes applying pollination and / or pruning and / or disinfection to the plants and / or spatial sub-plant features of the relevant individual plant.

[0040] The plant characteristics 110 stored in the database 108 may also be analyzed in a macro-form based on aggregate sub-plant characteristics, without reference to specific individual plants, such as the number and status of flowers in a plant growth interval.

[0041] As described above, the database manager 102 is configured and operable to analyze each received tour data. The plant feature extraction module 120 identifies spatial sub-plant features of each individual plant sensed during the corresponding tour. The plant structure data generation module 122 is configured and operable to generate plant structure data used to create new or update existing database entry records 124 of individual plant structure data, including the sub-plant structure data. The identified spatial sub-plant features include, among others, one or more of the following: geometric shape, dimensions, health status, number and / or temperature of branches, inflorescence, inflorescence, leaves, flowers, and / or fruits. The flower health status may refer to the pollination and / or pruning status of the flower. By updating the database entry records 124 after each tour, a plant's condition and evolution history at the sub-plant feature level is generated in each database entry record for a given plant.

[0042] As described above, the management system 100 can communicate with one or more sensing systems and / or treatment systems to receive sensory data from and send operational data to these systems, for example in the form of data retrieval records, based on analysis of received sensory data or based on request data provided by a human supervisor or an automated or computer request. To this end, the data retrieval records provided by the management system 100 can be in the form of operational data for the sensing systems and / or treatment systems to operate these systems for inspection and / or application of treatments to individual plants as a whole or at a sub-plant level. The sensing systems and / or treatment systems can be, for example, the sensing systems and / or treatment systems described in WO 18203337, assigned to the assignee of the present invention. In some exemplary embodiments, as further described below, the management system 100 includes one or more sensing systems and / or treatment systems adapted to sense and / or apply treatments to plants, specifically to sub-plant elements.

[0043] The present invention also provides a method for managing plant data in one or more plant growth sections. The method can be performed by the system described herein or by other systems capable of performing the steps described below. In one method, the steps include receiving patrol data indicating plant characteristics for one or more individual plants in the plant growth section, the plant characteristics including spatial and environmental characteristics of the plants and the location of the plants in the plant growth section. The patrol data includes sensory data obtained from one or more individual plants in the one or more plant growth sections, analyzing the sensory data to identify spatial sub-plant features of each individual plant sensed during the patrol and generating plant structure data corresponding to the identified spatial sub-plant features, and creating new or updating existing database entry records corresponding to the individual plants in the plant growth section to store the plant structure data.

[0044] In a second method, the steps include creating a data retrieval record from stored plant structure data corresponding to one or more individual plants in one or more plant growth intervals and generated from visit data obtained from one or more visits to the one or more individual plants.

[0045] As described above, the stored plant structure data and / or the contents of the data entry records and / or data retrieval records include a virtual representation of one or more individual plants with the location of spatial sub-plant features and their dimensions that match the actual structure of the one or more individual plants. In this way, a plant database, such as database 108, having plants as entries therein is created, which virtually reflects the actual structure of the plants in relation to their spatial features and / or sub-features, allowing data recording, retrieval and analysis in an effective and efficient manner.

[0046] Please refer to FIG. 2, which shows a non-limiting example of a general structure of the database 108 built and included in the management system 100 based on the patrol and received sensory data. As shown, the general structure of the illustrated database is suitable for being stored in a central station or server and can be used to manage plant data acquired from one or more plant growing plots / greenhouses belonging to one or more farmers (individuals / companies, etc.) in one or more countries and transferred to the database. For each plot, the collected plant data refers to the plant characteristics of each plant in the plot. Thus, each plot can be represented, for example, by a number of plant rows, where each row is identified (numbered or, for example, using the coordinates or start of the row), and the specific coordinates of the row can also be indicated either by number (e.g., 5th from the south in row 11) or physical coordinates. Also, for each row, the type and variety of plant / crop, and also the general characteristics of the plants in the row, such as the location of each plant as physical coordinates or plant order (number) in the row, planting date of each plant, etc., can be included in the database. Obstacles in the path of the rows can also be identified by suitable sensors and indicated in the database for the relevant rows. It should be noted that information about rows, e.g., obstacles, may be dynamically updated based on input received, e.g., from a vehicle traveling within the greenhouse and carrying one or more sensing systems.

[0047] The database includes data acquired for each plant in a row in the greenhouse. The individual plant data may be associated with a particular visit of the sensing system and / or treatment system, as described above, where each visit to each individual plant is identifiable by the date, time, and duration of each visit. At each particular visit, the sensing data of the individual plants is recorded and stored in the database, as described above. The database stores data indicating plant characteristics of each individual plant in the row / greenhouse. The sensing data is analyzed and processed by the database manager, sub-plant characteristics are determined, and characteristics of each plant that reflect plant structure data are represented as database entry records. Plant structure data may include plant characteristics such as overall plant characteristics, sub-plant spatial characteristics, plant (and sub-plant) environmental characteristics, and the location of the plant in the greenhouse. When a plant treatment system is used and analysis by the management system regarding the plant characteristics indicates that it is appropriate to utilize a plant treatment system, the individual plant data in the database may also be updated by visits of the plant treatment system to the individual plants. Treatment round data can include what treatment / procedure was administered, the nature of the treatment / procedure, time, and duration. Data and treatment data can include the identification / serial number of the sensing / treatment system that collects / performs such data collection / procedure.

[0048] Reference is now made to FIG. 3, which illustrates a non-limiting example of plant structure and characteristic data of individual plants as stored in a database as a database entry record, including sub-plant features / elements. As shown in the figure, the plant structure is configured such that the content of the database entry record includes a virtual representation of the location of spatial sub-plant features and the plant structure according to these dimensions that fit the actual structure of the plant. Non-limiting details about the data that can be collected about each individual plant as a whole plant and the data about the sub-plant features / characteristics are shown in the figure. The general plant data / characteristics recorded for each plant, for example plant X, can be plant variety, planting date, soil type, cultivation method (e.g., greenhouse shading, tree protection in an orchard, etc.), watering method, fertilization method, and other agricultural parameters. At least some of these general plant data / characteristics can be provided by a human user / monitor. Environmental conditions in the vicinity of the plant or sub-plant elements can also be recorded, including temperature, relative humidity, lighting conditions, and carbon dioxide content in the air, which are important in greenhouse crops, among others. Soil conditions in the immediate vicinity of the plant can be recorded by certain sensors of the sensing system. As described above, the plant data may include a visit entry that includes the type and date of the visit, the visit of the sensing / treatment system, and the action taken in the visit and the result of this. Actions may be taken on sub-plant features / elements such as specific branches, flowers, or stems / trunks, or on the entire plant. The results of such actions may then be recorded for each plant or for each sub-plant feature / element, if applicable. As will be appreciated, the database structure mimics the plant structure, and a replica of the plant is constructed in the database to record all relevant data and actions for each plant and part of this sub-plant feature / element. The database entry records and data retrieval records for each plant are unique, since each plant will have a unique virtual representation of this physical structure. The database includes all sub-plant features, and each sub-plant feature can have its sub-elements.For example, as shown in the figure, the main stem has three branches, each of which may be of a different type and have different characteristics including, for example, when it first appeared and was recorded by the system, its location on the main stem, the number of sub-elements it has at a particular time, and whether a treatment procedure has been applied to this sub-plant portion. The illustrated main stem has three branches, two of which are leaf branches and the third is a flower branch. The flower branch at a particular time has two flowers with these conditions recorded as recorded at a particular patrol.

[0049] In one example, a database entry for a particular plant may include the following: Level I: trunks / stem. Example of tags for each trunk / stem: physical characteristics such as dimensions (length, thickness), coloration, growth rate, etc. (obtained through successive inspections); Level II: Main Branches. Examples of tags for each main branch are: distance along the object in level I, creation date, data update date, physical properties such as dimensions (length, thickness), Level III: Derived branches, with examples of tags for each derived branch: location along the Level II object, creation date, data update date, physical characteristics such as dimensions (length, thickness), Level IV: Flower branches / inflorescences / floral parts. Example tags for each flower branch: distance along a level I object or location relative to a level II object, birth date, data update date, physical properties such as dimensions (length, thickness), number of flowers (estimated from collected data of individual flowers and their connections to their branches), Level V(a): Individual flowers. Examples of tags for each flower are: location, birth date, data update date, physical characteristics such as diameter, status (e.g., bud, flowering, fruit set, fruit size, shape, color, fruit maturity stage) for Level IV objects. Level V(b): Individual leaves. Examples of tags for each leaf: location for Level I, II, III, or V(a) objects, birth date, data update date, physical characteristics such as area, stress (e.g., presence of pests and / or disease), The level of the saturation can be described as:

[0050] It should be noted that the division into levels is not a strict structure, i.e., not necessarily in this order, but can take various forms, e.g., a leaf at level V(b) can be connected to a floral branch at level IV, or to a derived branch at level III, or perhaps even to a main branch at level II.

[0051] As mentioned above, plant data from a particular tour can be updated in a database record, including, for example, environmental and soil conditions. Furthermore, sub-plant environmental characteristics can be registered, including temperature, relative humidity, carbon dioxide concentration, and daylighting, which may differ near different sub-plant elements. For example, lower and more inner plant parts may have less daylighting, while higher plant parts may have quite different temperature and daylighting conditions. The different above parameters can be measured using sensors installed at different heights of the sensing system, as further exemplified below, or installed on a robotic arm that is mobile and can reach different sub-plant parts.

[0052] Sub-plant characteristics may evolve and the database entry records associated with each sub-plant characteristic may be updated, for example, a monitored flower may evolve step-by-step starting from a bud to a mature flower, after which the flower may be pollinated (whether by a dedicated pollination system or naturally), and further, once the flower has become a fruit, the management system monitors the fruit development until maturity and harvest.

[0053] Thus, the database includes all parts of the plant as they appear (adding character to the plant) or disappear, for example, when fruits are harvested or flowers and / or branches are pruned. Thus, database entries can be added to or removed from the current plant situation in the database. Furthermore, a history of entries can be kept for future reference and analysis, allowing for the generation of data retrieval records that reflect the plant structure at a particular point in time, present or past.

[0054] As described above, the management system 100 may be in communication with or include one or more sensing and / or treatment systems configured and operable to inspect individual plants or sub-plant features / elements and provide sensory data for the inspection based on operational data from the management system. The sensing and / or treatment systems may be configured as vehicles that navigate the plant growing area / greenhouse to apply inspection to the appropriate plants or sub-plant parts / elements. As such, the sensing and / or treatment systems may be transported by one or more robotic vehicles configured to navigate the greenhouse. Various non-limiting examples of such sensing and / or treatment systems are described hereinafter.

[0055] The sensing system is configured and operable to monitor the plant during all growth stages including flowering, pollination, and fruiting stages, stress such as pests and diseases, and when a predetermined condition of the plant related to one or more of the plant growth stages is identified, the management system can generate operational data for the plant treatment system to apply a corresponding treatment. As described above, the treatment may be applied based on an instruction / schedule determined by analysis of a database or by user input. In some embodiments, as described in further detail below, the management system 100 can monitor the health of the plant by suitable sensors of the sensing system, and when identifying that the plant is suffering from a particular problem (disease / condition / pest, etc.), the management system operates at least one treatment system to apply a corresponding treatment to the plant or a part thereof or its surroundings, such as by applying a suitable chemical / drug / insecticide / beneficial insects / lighting / hot air, or any other treatment that can be applied to address the problem.

[0056] It should be noted that in some embodiments, additional control systems may be available to communicate with the sensing and / or treatment systems and management system 100, such that the control systems may be configured to, for example, perform at least a portion of the analysis of the sensed data or control the navigation and / or data collection of the sensing systems. In some embodiments, the control systems and management systems are used interchangeably herein with respect to receiving and analyzing the sensed data and with respect to generating operational data to one or more sensing and / or treatment systems. In some embodiments, each or at least some of the sensing and / or treatment systems have their own control systems that communicate with the management system 100.

[0057] The sensing system monitors the condition of the plants by one or more sensors, generates corresponding sensory data, and sends the sensory data to the management system 100, for example to a database manager, or to a control system connected therebetween. Furthermore, a feedback system may be included in the management system 100, the control system, or the treatment system, which allows obtaining feedback data regarding the plant condition during the treatment process, for example by an image sensor. The management / control system receives the sensory data and / or feedback data and processes the sensory / feedback signals to determine the condition of at least a portion of the plants. If it is determined that a treatment should be performed, the control system operates at least one plant treatment system by generating and sending operational data to apply a corresponding treatment to at least a portion of the plants.

[0058] The control system can be configured as a separate element or in other ways. For example, the control system can be an integral part of either the sensing system or the treatment system or the management system, or can be distributed among them. It is further noted that the control system or parts thereof can run on an external server that communicates with the other elements via a network, whether a wired or wireless network. The control system can also optionally be connected to a remote processing and analysis system that performs some or all of the analysis required to manage the monitoring of the plant growing area. When forming part of the sensing system and / or the treatment system, the control system can keep a snapshot of the database 108 to allow processing and analysis to be performed in real time, without the need for constant communication with the management system via a network.

[0059] In some embodiments, when there is no treatment system available for the required treatment or in general, the control system can suggest treatments to the grower / farmer / user. Once the treatment is performed by a suitable treatment system or human, the control system can allow the user to input treatment data (when the treatment was performed, what treatment was performed by whom, on which plant or sub-plant element, and the results of such treatment).

[0060] In some embodiments, the treatment system is configured and operable to apply treatment to at least one part of the plant by controllably inducing a vibration pattern / profile in at least one part of the plant. The vibration pattern is defined to a desired type of treatment to be applied by controlling parameters of the vibration pattern profile, for example, via a control system. The treatment system is configurable to achieve the required treatment with minimal energy and / or minimal time by applying the vibration pattern to one or more areas in at least one part of the plant. The vibration pattern / profile induced in one or more areas in at least one part of the plant can be applied in a contact or non-contact manner.

[0061] A treatment system may include one or more treatment pathways, with at least one treatment device associated with one or more of these treatment pathways. The one or more treatment pathways include pathways that the plant treatment device uses / requires to apply treatment to the plant. The treatment pathways may form an internal part of the plant treatment apparatus or system, or in some cases may be external to the system. The treatment pathways may be inlet, intermediate, or outlet to one or more plant treatment devices. It should be noted that in some embodiments, multiple plant treatment devices may be associated with a single common treatment pathway. In some embodiments, a single plant treatment device may be associated with multiple treatment pathways. For example, a treatment pathway may include a fluid flow path configured and operable to provide a flow of fluid in either a gas, liquid, or aerosol phase that the plant treatment device utilizes to apply treatment. In one particular example, the fluid flow path is utilized by the plant treatment device to generate airflow or blow air toward one or more areas of at least a portion of the plant. Treatment routes can include pruning of unnecessary flowers, applying an insecticide or any other disease treatment to a portion of the plant, or providing air with a certain relative humidity to modify the environmental conditions near the portion of the plant being treated, or providing fertilization directed to the portion of the plant.

[0062] The sensing system may include one or more sensors capable of sensing signals indicative of characteristics and / or conditions of a portion of a plant under inspection. The sensor may include at least one optical sensor configured and operable to provide a sensing signal indicative of image data of at least a portion of the plant. The optical sensor may be a camera that points directly toward the portion of the plant under inspection, or may have or be associated with an aperture that points toward the portion of the plant (e.g., by utilizing optical fiber while the sensor itself does not have a direct line of sight to the portion of the plant), or may have a field of view that includes the portion of the plant, etc. The image data may indicate various conditions of the lower plant portion, the identification of which will result in a corresponding treatment by a suitable treatment system. For example, the image data may inform about disease of the plant, readiness of one or more flowers for pollination, the presence of already pollinated flowers, the distance between the treatment device and at least one portion of the plant, vibration patterns occurring during treatment on the flower, etc.

[0063] Several types of sensing and / or treatment systems can be used to provide the sensory data or apply the required treatment.

[0064] Non-limiting examples of sensing devices for providing sensory data to enable structuring of database entry records include: - The sensing devices / systems described in WO 18203337 and PCT Application No. PCT / IL2018 / 051201, assigned to the assignee of the present invention. - an optical sensor providing an image of the plant at a sub-plant level, which can be configured to provide plant images from different angles to enable a three-dimensional reconstruction of the plant and sub-plant features / elements / sub-elements. This can be achieved, for example, by using a controllable arm / rod on which at least one optical sensor is mounted at one or more heights that can bring the optical sensor to each required position in the vicinity of the plant. The optical sensor can provide images indicative of plant structure, dimensions and condition, as further described below. - Distance sensors, such as ultrasonic sensors, can be used to provide data indicating the relative dimensions of multiple sub-plant features / elements. The distance sensor can be a depth sensor, e.g. a pair of fixed, spatially separated cameras where the distance of objects can be identified by the difference in their appearance between the two cameras. The depth sensor can be based on laser radar (LIDAR). - a location sensor providing location data indicating the location of the plant or sub-plant feature / element. The location can be based on GPS or other spatial sensors based on global or local beacons, or by optical sensors detecting specially installed location indicators such as a symbol / number / barcode per plant or a symbol per row or group of plants, while detection of individual plants can be done by detecting the location of the plants within a group / row, for example by counting the plants from the beginning of the row. Sub-plant features can be located by detecting this height above the ground or their distance from another plant feature by optical and / or depth sensors as described above. - Environmental sensors capable of providing data indicative of temperature, daylighting, carbon dioxide concentration, and / or humidity near the plant or sub-plant features / elements, or the temperature of a particular sub-plant feature / element. The temperature of a particular sub-plant element can be detected, for example, by use of an IR detector.

[0065] Non-limiting examples of treatment devices for applying treatment based on operational data from a management system include: - a treatment device / system as described in commonly assigned WO 18203337 and WO 2020 / 095290; - a device for pollinating or pruning flowers by vibration; - a device for pruning flowers or branches by heat or laser; - a device for spraying pollen or insecticides; - a device for spraying plant hormones; - a device for scattering beneficial insects; Includes.

[0066] A full or partial snapshot / copy of the database 108 may be downloaded to an autonomous sensing and / or processing system to enable processing and analysis related to a particular disposition of the system. This is done to either allow the system to operate when a connection to the database is inaccessible, or to enable local analysis of the data, which may be more energy and time efficient.

[0067] A non-limiting example of utilizing algorithms in a database manager or local control system located in the sensing system to obtain sensing data and restoration of a plant in a database is given in Figures 4A-4C. In Figure 4A, an example of a plant 900 is shown having a sub-plant main stem feature 902 and a branch 904. On the branch 904, there are four sub-elements: two leaves 906 and 908, and two flowers 912 and 914. This plant was inspected by unit X1 on date Y1 as seen in Figure 4A and recorded in the manner described. In a further later inspection by the same unit X1 or another unit X2 on date Y2, the plant had changed (see Figure 4B). Because the leaves 908 are no longer present, the data entry is marked as "removed", and because the flower 914 has been pollinated and has fruit and fruit 918 visible, the flower entry 914 may be removed and replaced with a fruit entry 918, or the flower entry 914 may be updated to indicate that it has changed to a fruit entry 918. Additionally, because the branch 904 has grown longer, the length entry is updated and a further flower entry 916 is added as a subelement to the branch 904.

[0068] Due to the three-dimensional structure of any plant or tree, identification and monitoring of sub-plant features is not trivial. Image analysis can detect different parts of a plant, for example by training an image analysis algorithm to detect and understand the connections between them, e.g., which flower belongs to which branch, but some elements may be blocked from view. In these cases, imaging, LIDAR, and / or depth imaging (two offset cameras and algorithms that detect the depth of an object in view) may not be sufficient. Additional sensing elements such as ultrasonic reflection analysis can be used. Ultrasound can partially penetrate the exterior of the plant and reach the interior, and reflections from these parts can also be analyzed and the complete three-dimensional structure of the plant can be recovered.

[0069] When imaging a plant, the main problem in recovering all the sub-plant features are obstacles and elements that are at angles to the image sensor such that the sensor cannot classify them. To this end, the sensing system may utilize multiple image sensors at different heights and locations, and the system is mobile to move at least along the row of plants so that the plant can be viewed from various angles. This allows the sensing system to view and find the sub-plant features at various angles. When moving near a plant, the sensing system can continually image the plant until it finds a feature that was not visible before the particular system location. As new features are discovered or existing registered features are first seen on a new round, the features can be imaged and updated. The same movement also allows the selection of the best angle to view and characterize the sub-plant features. For example, a horizontal branch with several sub-elements such as leaves, flowers, and sub-branches is difficult to evaluate when viewed from the front. When a branch is detected by this sub-element, it can be tracked along with the system movement, in particular its size / length, the spatial separation of this sub-element, and when these parameters reach certain pre-defined thresholds, or relative thresholds (with respect to the system movement / location or relative to each other, i.e. the ratio of two such parameters), this means that this is the exact position to measure and the characteristic properties can be updated in the database.

[0070] In the described example of Figures 4B and 4C, the same plant 900 is depicted at two different angles, where the branch 904 is seen from the side in Figure 9B and from the front in Figure 4C. When seen, as seen in Figure 4C, it is difficult to measure the length of the branch, and some sub-elements, such as the fruit 918, are blocked. When the system moves along the neighboring row of the plant 900, it will see the sub-element from different angles. When detecting the branch 904 and its sub-elements, the length of the branch in both the vertical axis (920) and the horizontal axis (922) can be measured, and the place to fully evaluate the branch is the maximum in at least one of the axes, in this case the horizontal axis (922). The same can be done separately or in combination with the maximum value of the distance between the sub-elements, for example the horizontal distance between the flowers 912 and 916, or the average horizontal distance between all the sub-elements of the branch. In case of multiple cameras at different angles or different heights, when a branch forms a plant seen by two different cameras mounted at the same height but at two different angles, the same can be done by comparing the horizontal distance at one point of the system as described. If the two cameras looking at the branch are separated vertically, then the vertical distance / length is probably the more critical parameter to be optimized before measuring branch parameters and updating the database.

[0071] Furthermore, another problem is that while moving, the distance between the sensing system and the camera from the plant and its sub-elements is constantly changing. Thus, the angle to the branch may be approaching a side view with maximum horizontal length, but the total distance may increase, thus reducing all the parameters measured. In this case, the ratio of two parameters, such as horizontal length to vertical length, should be maximized.

[0072] Reconstruction of plant structure may be as follows: Besides detecting all plant sub-features using sensors (as explained above), in order to reconstruct a plant, it is necessary to make connections between each element and its sub-elements. For example, once a branch and its sub-branches are detected (by an image sensor, LIDAR, or other trained to detect such elements), a set of images is captured at different angles while the sensing system is moving along the plant row adjacent to the particular plant to be imaged / detected, and while the system is moving and the different cameras / sensors are at different locations / angles, the physical proximity of the sub-element to its parent element should be observed in all images, or at least should not be contradictory at any angle of imaging. See, for example, the physical connection between branch 904 and main stem 902. At both angles as seen in FIG. 4B and FIG. 4C, branch 904 is in contact with stem 902. However, leaf 906 appears to be in contact with the main stem in FIG. 4C, but not in FIG. 4B. Therefore, it can be concluded that branch 904 is a subelement of stem 902 and leaf 906 is a subelement of branch 904 .

[0073] Due to the complex nature of the structure, scheduled daily inspections may be necessary to detect and track small changes in the plant and its sub-plant characteristics to ensure plant restoration.

[0074] In some cases, due to feature crowding and obstructed visibility, especially for large plants / trees, it may be difficult to build a complete 3D structure including all sub-plant features. In this case, another option is to map the feature crowding per unit volume or area. For example, by detecting flowers and their distances from a sensing image device, a 3D reconstruction of the flower structure and their position relative to the plant can be made, even if each flower cannot be directly connected to a specific branch or sub-branch. The same can be done for branches, fruits, etc.

[0075] Therefore, the database structure for each plant will have the plant, sub-plant characteristics, and properties of these sub-elements.

[0076] Plant inspections, treatments, and database updates may be performed as follows: 1. Reaching a particular plant - Identification of the plant is based on the plant's location data or sub-plant characteristics of the plant, for example as stored in a database from the last patrol. 2. Add a new patrol entry to the database, including the autonomous unit performing the patrol and the date of the patrol. 3. Updating plant characteristics and sub-plant features such as environmental and soil conditions, geometric parameters (branch length, number of leaves / flowers, etc.), and / or condition (fruit ripeness / color). 4. Addition of sub-plant entries in the plant database, such as new stems / branches / flowers / fruits etc. and their characteristics. 5. Add / update plant and sub-plant stress conditions such as pest / disease presence. 6. Add a new treatment entry, such as a treatment in response to detection of stress, e.g., spraying an insecticide on a plant or part of a plant where a pest has been recognized and treated, or a planned treatment such as pollination, pruning, or other treatment defined by a user or an automated plan. 7. Update data entries or previous treatment entries, such as checking pest / disease status after a previous round where stress was detected and treated.

[0077] In some cases, the database can have a slightly different structure. For example, in a field crop, where there are many plants per unit area and it is sometimes difficult to collect individual data on each and every plant, the main data entry may be for the unit area in this field rather than a specific plant. The sub-entries may be similar to plant entries, e.g. planting date, type / variety, soil and environmental information as well as other treatment data, and the sub-plant characteristics are replaced with unit area characteristics, e.g. average height of plants in the area, and other characteristics such as plant color, number of leaves, fruits / flowers, stress status, and inspection entries.

[0078] For each plant database entry record, the database stores information about each location of the plant in the greenhouse / orchard / field, which is needed to (1) provide plant treatment information to the autonomous system and / or human so that they can return to the specific plant and monitor its development or perform the required treatment after stress detection or required treatment such as pollination and pruning, whether by the autonomous system or human, and (2) provide coordinates when the patrol is performed so that the plant characteristics are updated to the exact plant to keep a record of the development of the plant and sub-plant features, and after constructing the entire structure of the plant, it can help to see and track this feature when patrolling the same periodically.

[0079] The location of the plants is not trivial. In cases such as tomatoes in a greenhouse, the active parts of the plants (with leaves and fruit inflorescences) may be moved from time to time such that the active parts are separated from the planting site by intervals, sometimes by tens of meters. In such cases, it may be useful to mark the plants individually with symbols such as bar codes or RFID. Only one plant in a row may be marked and a sensor such as a camera may be used to count the different plants relative to the marked plants. When the plants are inspected periodically, for example every day or every other day, the changes between inspections are small and may help the system to recognize the plants by comparing images or other sensor data between inspections and an algorithm can ensure that the same plants have been inspected. These methods ensure that the data entries removed or added as well as updated for the plants are accurate.

[0080] Thus, in an orchard or greenhouse, plants / trees can have absolute coordinates (i.e., using GPS coordinates) or coordinates relative to the area being monitored, e.g., with row number and even plant number in the row. These methods can cover most cases, as long as plants are not moved around (as in a tomato greenhouse) or plants are not added / removed. One robust method can include a single row labeling (e.g., row number where all rows are numbered sequentially), and in each row, one plant is marked. In this case, even if plants are moved, such as in the case of tomatoes in a greenhouse, all plants can be precisely identified by their row number for the first row, and their number in the row for the single plant to be marked.

[0081] 5A-5B show database entry records for a particular plant after two inspections. FIG. 5A shows a database entry record for plant Z, planted on March 1, 2019, as plant number 23 in row number 19 of the growing area / field / greenhouse. In the inspection conducted on June 1, 2019, the environmental conditions (temperature and humidity) near the plant, the dimensions and condition of the stem, leaf branch LB1, and flower branch FB1 are detailed as shown. The flower branch FB1 has two flowers, one ready for pollination (flower F1) and one in bud (flower F2). In that inspection, the management system generates operation data for pollinating flower F1, as shown under action m. In some embodiments, the pollination system is integrated in the sensing system conducting the inspection and pollinates flower F1 immediately, and this fact is also recorded in the menu of action m. As seen in FIG. 5B, in a subsequent inspection carried out on June 3, 2019, changes in the dimensions and condition of the stem, leaf branch LB1, and flower branch FB1 are detected and recorded, and the environmental conditions (temperature and humidity) in the vicinity of the plant are updated. Flower F1 is inspected and its status is updated to "pollinated" upon detection of successful pollination, taking into account the pollination actions carried out in the previous inspection. A second flower F2 is inspected and its status is updated to "ready for pollination", so that the management system generates operation data for pollinating flower F2 as indicated under action n. Furthermore, the pollination system, whether integrated with a sensing system or not, is required to pollinate flower F2, which then inspects the status of flower F2 at the end of pollination or during a subsequent inspection, and updates its status to "pollinated" if successful pollination is detected, or to "needs further pollination".

Claims

1. A plant management system for managing the operation of one or more plant growth intervals, wherein the one or more plant growth intervals are subscribers of the management system, and the management system comprises: A storage device including a database for storing data indicating plant characteristics for each individual plant in the plant growth interval, wherein the plant characteristics include spatial and environmental characteristics of the plant and the position of the plant in the plant growth interval; A data processing unit comprising a database manager configured and operable to create a new database entry record corresponding to the individual plant in the plant growth interval or update an existing database entry record in response to receiving sensing data that is part of the patrol data instructing a patrol of the individual plant by the one or more sensing systems, and to create a data search record in response to a data request input regarding one or more individual plants in the plant growth interval; The database manager is configured to enable rapid collection and management of a large amount of plant data for individual plants at the spatial sub-plant level, and the collection and management include storing and compiling plant data and searching for plant data, and the spatial sub-plant level includes: a specific branch of a given plant; a specific leaf on a given branch of a given plant; a specific flower and / or fruit on a given branch of a given plant; a specific flower branch and inflorescence of a given plant; a specific flower and / or fruit on a given flower of a given plant; including one or more of the above characteristics; The database manager A sub-plant feature extraction module configured and operable to identify in the patrol data the spatial sub-plant features of each individual plant sensed during the patrol of the features at the spatial sub-plant level, wherein the spatial sub-plant features include one or more of geometric shape, dimensions, health state, number, temperature, etc. for one or more of branches, inflorescences, flower parts, leaves, flowers, fruits; A plant structure data generation module configured and operable to generate plant structure data corresponding to the identified spatial sub-plant features; The database manager is configured and operable to create the new database entry record or update the existing database entry record for storing the plant structure data in the database, identify each of the one or more individual plants in the data request input, and utilize the plant structure data stored in the database to create the corresponding data search record. The plant structure data is configured such that the virtual representation of the structure of the corresponding individual plant corresponds to these dimensions where the content of the database entry record and / or the data search record conforms to the position of the spatial sub-plant characteristics and the actual structure of the individual plant. The database manager is configured and operable to analyze the stored plant structure data related to the sub-plant characteristics of each individual plant, and generate corresponding operation data for applying a proper patrol to the corresponding individual plant when identifying a predetermined condition of one or more sub-plant characteristics.

2. The patrol data includes time data indicating the execution time of the patrol by the one or more sensing systems during the plant growth period, enabling the recording of the patrol history for each individual plant during the plant growth period. The system according to claim 1.

3. The patrol data includes position data indicating the location of the one or more sensing systems in the plant growth period during the execution of the patrol of one or more individual plants in the plant growth period, enabling the recording and / or search of characteristics related to the position of the plant for one or more of the individual plants in the plant growth period. The system according to claim 1 or 2.

4. The patrol data includes environmental data indicating the environmental characteristics of each individual plant, and the database entry record and / or the data search record indicate the temperature of a part of the individual plant and / or the temperature and / or humidity near each individual plant during the plant growth period. The system according to any one of claims 1 to 3.

5. The inspection data includes soil condition data, and the database entry record and / or data search record indicates the nutrients and / or moisture content associated with each individual plant in the plant growth period, for the system according to any one of claims 1 to 4.

6. The health state of the flower includes the pollination and / or pruning state of the flower, for the system according to any one of claims 1 to 5.

7. The operation data indicates one or more treatment plans applied to the spatial sub-plant characteristics of the respective valid individual plants by one or more treatment systems, for the system according to any one of claims 1 to 6.

8. The treatment plan includes applying pollination, pruning, and / or disinfection to the spatial sub-plant characteristics of the respective valid individual plants, for the system according to claim 7.

9. The database manager is configured and operable to create a database entry treatment record in response to treatment data being received from the one or more treatment systems, and the treatment data includes data indicating treatments applied to the spatial sub-plant characteristics of the respective valid individual plants by the one or more treatment systems, thereby storing the database entry treatment record and assigning it to the spatial sub-plant characteristics, for the system according to claim 7 or 8.

10. Comprising one or more sensing systems configured and operable to provide the sensing data, and each sensing system comprises one or more sensors including at least one image sensor such that the inspection data includes image data of the spatial sub-plant characteristics, for the system according to any one of claims 1 to 9.

11. Comprising one or more treatment systems configured and operable to apply the one or more treatment plans, for the system according to any one of claims 7 to 9.

12. The central station comprises the storage device and the database manager, and the central station is configured as a computer system for data communication with the one or more sensing systems and / or the one or more treatment systems via a communication network, for the system according to any one of claims 7 to 9.

13. The one or more sensing systems and / or treatment systems are transported by one or more robotic vehicles configured to advance within the plant growth interval and apply the one or more inspections to the one or more individual plants in the plant growth interval based on the operation data from the database manager, according to the system of claim 12.

14. A method for managing data of plants in one or more plant growth intervals, comprising: Receiving inspection data indicating plant characteristics for one or more individual plants in the plant growth interval, the plant characteristics including spatial and environmental characteristics of the plants and the positions of the plants in the plant growth interval, the inspection data including sensed data obtained from the one or more individual plants in the one or more plant growth intervals, the sensed data including spatial sub-level characteristics including one or more of: a specific branch of a given plant; a specific leaf on a given branch of a given plant; a specific flower and / or fruit on a given branch of a given plant; a branch and inflorescence of a specific flower of a given plant; a specific flower and / or fruit on a given flower of a given plant; receiving the inspection data; Analyzing the sensed data to identify the spatial sub-plant characteristics of each individual plant sensed during the inspection and generating plant structure data corresponding to the identified spatial sub-plant characteristics, the spatial sub-plant characteristics including one or more of: geometric shape, dimensions, health state, number, temperature, for one or more of branches, inflorescences, flower parts, leaves, flowers, fruits; generating the plant structure data; Creating a new database entry record corresponding to an individual plant in the plant growth interval or updating an existing database entry record to store the plant structure data; The plant structure data is configured such that the content of the database entry record includes a virtual representation of the structure of the corresponding individual plant according to these dimensions in which the position of the spatial sub-plant characteristics and the actual structure of the individual plant are adapted; Furthermore, when analyzing the stored plant structure data related to the respective lower plant characteristics of each individual plant and identifying predetermined conditions for one or more lower plant characteristics, generating corresponding operation data for applying a proper inspection to the respective individual plants. A method comprising this.

15. The method according to claim 14, further comprising creating a data search record from the stored plant structure data, which corresponds to one or more individual plants in the one or more plant growth periods and is generated from one or more inspection data obtained from one or more inspections of the one or more individual plants, in response to a data request. A method comprising this.

16. The inspection data includes time data indicating the execution time of the inspection, enabling recording and / or searching of the inspection history regarding each individual plant in the plant growth period. The method according to claim 14 or 15.

17. The inspection data includes position data indicating the execution location of the inspection, enabling recording and / or searching of the plant positions of each individual plant in the plant growth period. The method according to any one of claims 14 to 16.

18. The inspection data includes environmental data indicating the environmental characteristics of each individual plant, enabling recording and / or searching of the temperature of a part of the individual plant and / or the temperature and / or humidity near each individual plant in the plant growth period. The method according to any one of claims 14 to 17.

19. The inspection data includes soil condition data, enabling recording and / or searching of the nutrients and / or moisture content associated with each individual plant in the plant growth period. The method according to any one of claims 14 to 18.

20. The spatial lower plant characteristics of each individual plant include the health state of the flower. The method according to any one of claims 14 to 19.

21. The health state of the flower includes the pollination and / or pruning state of the flower. The method according to claim 20.

22. The operation data indicates one or more treatment plans applied to the spatial lower plant characteristics of the respective individual plants that are appropriate. The method according to claim 21.

23. The method according to claim 22, wherein the treatment plan comprises applying pollination, pruning, and / or disinfection to the spatial sub-plant characteristics of the appropriate individual plants.

24. The method according to any one of claims 14 to 23, wherein the sensed data comprises image data.

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