CN107682456A - A kind of intelligent gardens nursing system based on image and root detection - Google Patents
A kind of intelligent gardens nursing system based on image and root detection Download PDFInfo
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- CN107682456A CN107682456A CN201711086514.3A CN201711086514A CN107682456A CN 107682456 A CN107682456 A CN 107682456A CN 201711086514 A CN201711086514 A CN 201711086514A CN 107682456 A CN107682456 A CN 107682456A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The present invention relates to a kind of intelligent gardens nursing system based on image and root detection, including：Control processor, detection module, identification module, locating module, walking module；The walking module is connected with the control processor；The detection module includes GPR unit, and the GPR unit is connected with the control processor, and the control processor draws underground distribution map according to electronic signal；The locating module is used to position current location, and location information is exported to the control processor, and the control processor also includes memory module, and pre-stored map is prestored in the memory module, and the control processor confirms current location according to location information；The identification module includes image capturing unit, and the image capturing unit is connected with the control processor, and the image capturing unit is used to absorb environmental images and exported to the control processor；The memory module is also stored with the profile and root relativity table of normal plants.
Description
Technical field
The present invention relates to gardens nursing field, more particularly to a kind of intelligent gardens department of nursing based on image and root detection
System.
Background technology
In recent years, gardens, the area in greenery patches and quantity are original more, and gardens, the distribution in greenery patches are also more and more scattered, for
Gardens, also more and more higher, afforestation maintenance management action include overall looks and safeguard, plant the manual maintenance cost in greenery patches
Thing protection, colligation trimming, watering, fertilizing, the content such as flower planting in flower bed flower border, action is complicated, due to number of plant with
Huge number, artificial is difficult to observe complete vegetative state completely, including the root state of plant is also that naked eyes are difficult to observe
, the health control for a large amount of plants is difficult to be fully achieved by manpower.And the dispenser of plant is also required to manually carry out, need
Want attendant to carry out dispenser at regular time and quantity, increase the workload of attendant, be unfavorable for improving operating efficiency.
The content of the invention
Goal of the invention：The problem of for being mentioned in background technology, the present invention provide a kind of based on image and root detection
Intelligent gardens nursing system.
Technical scheme：A kind of intelligent gardens nursing system based on image and root detection, including：Control processor, inspection
Survey module, identification module, locating module, walking module；
The walking module is connected with the control processor, and the control processor exports walking letter to the walking module
Number, start the walking module and walked to appointed place；
The detection module includes GPR unit, and the GPR unit is connected with the control processor, and it is to ground
Lower transmitting high-frequency electrical pulses magnetic wave simultaneously receives the high-frequency impulse electromagnetic wave of reflection, and the GPR receives the electromagnetic wave of reflection simultaneously
It is converted into electronic signal to export to the control processor, the control processor is drawn underground according to electronic signal and is distributed
Figure；
The locating module is used to position current location, and location information is exported to the control processor, at the control
Reason device also includes memory module, pre-stored map is prestored in the memory module, the control processor is true according to location information
Recognize current location；The identification module includes image capturing unit, and the image capturing unit is connected with the control processor,
The image capturing unit is used to absorb environmental images and exported to the control processor；
The memory module is also stored with the profile and root relativity table of normal plants；
The control processor is according to extracting plant image in environmental images, and according to the actual plant in the plant image of extraction
Profile obtains plant profile and corresponding root data under the form plant normal condition from root relativity table；
If the plant resemblance under actual plant profile and normal condition is inconsistent, the control processor judges the plant
Unsoundness problem,
Distribution map intercepts the root image of current plant with location information under the control processor base area, and analyzes and work as planting in advance
The root data of thing, if when the root data of the plant and the inconsistent root data of corresponding normal plants, the control
Processor judges the plant unsoundness problem.
As a kind of preferred embodiment of the present invention, the memory module is also stored with pathological changes of plant symptom table, including
Performance characteristic in the case of various plant different lesions.
As a kind of preferred embodiment of the present invention, the control processor extracts plant shadow according to pathological changes of plant symptom table
The plant real-time characteristic as in, if there is feature to be coincide with symptom in pathological changes of plant symptom table, judge that plant suffers from relevant disease.
As a kind of preferred embodiment of the present invention, in addition to wireless communication module, the wireless communication module takes with high in the clouds
Business device connection, the control processor are communicated by wireless communication module and the cloud server；The control process
Device will judge that information and current location information collection are combined into diagnostic message by the wireless communication module to the cloud server
Output.
As a kind of preferred embodiment of the present invention, in addition to treatment module, the treatment module includes medicament storage unit
With herbal sprinkling unit；The medicament storage unit stores Common drugs；The herbal sprinkling unit is used to spray medicine to plant
Thing.
As a kind of preferred embodiment of the present invention, the memory module is also stored with pathological changes of plant and uses table with medicine, its
Include medicament categories and method that pathological changes of plant correspondingly uses；The memory module, which is also stored with medicament storage unit, to be present
Medicine name.
As a kind of preferred embodiment of the present invention, the control processor will be in medicament storage unit without corresponding treatment
The judgement information of medicine is exported by the wireless communication module to the cloud server.
As a kind of preferred embodiment of the present invention, the treatment module also includes treatment recording unit, the treatment record
Location information, the dispenser information of the treated plant of unit record；If the medicine needs multiple dispenser, the treatment record
Member will record spraying time and/or spraying times, and timing dispenser is exported to the control processor when to specified spraying time
Signal, the control processor export insoluble drug release signal and to described according to timing dispenser signal to the medicament storage unit
Herbal sprinkling unit exports herbal sprinkling signal.
The present invention realizes following beneficial effect：
1. being combined by GPR with image capturing, the current state of plant is obtained, judges the health status of plant；
2. by the pathological changes of plant feature to prestore, the lesion species of plant is judged；
3. pair lesion specific aim, rule dispenser.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and be used in specification to explain the principle of the disclosure together.
Fig. 1 is a kind of system block diagram of intelligent gardens nursing system based on image and root detection provided by the invention；
Fig. 2 is the system block diagram of the second provided by the invention intelligent gardens nursing system based on image and root detection；
Fig. 3 is the system block diagram of the third intelligent gardens nursing system based on image and root detection provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Embodiment one
With reference to figure 1, Fig. 1 is a kind of system frame of intelligent gardens nursing system based on image and root detection provided by the invention
Figure.
A kind of intelligent gardens nursing system based on image and root detection, including：Control processor 1, detection module 2,
Identification module 3, locating module 4, walking module 5.
The walking module 5 is connected with the control processor 1, and the control processor 1 exports to the walking module 5
Walk signal, start the walking module 5 and walked to appointed place.
The walking module 5 may include the running gears such as crawler belt, export-oriented wheel, and it is connected with the control processor 1, according to
The walk signal that the control processor 1 exports, which is advanced, retreated, turned to etc., to be operated, and the walk signal may include to walk
The information such as distance, direction, angle.
The detection module 2 includes GPR unit 210, the GPR unit 210 and the control processor 1
Connection, it is launched high-frequency impulse electromagnetic wave to underground and receives the high-frequency impulse electromagnetic wave of reflection, and the GPR receives anti-
The electromagnetic wave penetrated simultaneously is converted into electronic signal and exported to the control processor 1, and the control processor 1 is according to e-mail
Number draw underground distribution map.
The GPR unit 210 is used to detect subsurface picture, and the GPR unit 210 uses antenna to detection
Objective emission high-frequency impulse electromagnetic wave is detected, and has barrier to have reflection of electromagnetic wave in case of under, according to reflection
Electromagnetic wave can determine that the particular location and form of barrier, and the barrier of underground may include the stone in the root system of plant, soil
Deng object, in the present embodiment, the GPR unit 210 is used to detect beneath root system of plant.The GPR connects
Receive the electromagnetic wave of reflection and be converted into electronic signal and exported to the control processor 1, the control processor 1 is by described in
Electronic signal process, and underground distribution map is drawn according to it.By the root system of plant including underground in the underground distribution map.
The locating module 4 is used to position current location, and location information is exported to the control processor 1, described
Control processor 1 also includes memory module 110, and pre-stored map, the control processor 1 are prestored in the memory module 110
Current location is confirmed according to location information.
The locating module 4 positions current location in real time, and to be accurately positioned plant position, it will be to be accurately positioned, described
The location information of locating module 4 exports to the control processor 1 in real time, and the control processor 1 confirms according to location information
It is presently in position.The pre-stored map can be used as location information to supplement.As a kind of mode, the pre-stored map may include to need
The regional extent to be safeguarded, safeguard that the region of end is identified by, or need to travel through maintenance area.Alternatively, institute
State the information such as position, the quantity of the plant that maintenance can be marked on pre-stored map.
The identification module 3 includes image capturing unit 310, the image capturing unit 310 and the control processor 1
Connection, the image capturing unit 310 are used to absorb environmental images and export to the control processor 1.
The image capturing unit 310 may include high-definition camera, Night Shot video camera, dynamic camera, macro-camera
Deng it is connected with the control processor 1, and the environmental images of intake are exported to the control processor 1, the environmental images
Including plant image.
The memory module 110 is also stored with the profile and root relativity table of normal plants.The normal plants
Profile and root relativity table, the profile of the normal plants include the leaf morphology of plant, limb form etc., normal plants
Profile also include the feature of plant different year（Limb thickness）, the root includes the range size of root distribution, root
Thickness etc..The profile of the normal plants and classification of the root relativity table also including plant and title, according to normal plants
Profile can determine whether classification and the title of this kind of plant.
The control processor 1 is according to extracting plant image in environmental images, and according to the reality in the plant image of extraction
Border plant profile obtains plant profile and corresponding root data under the form plant normal condition from root relativity table.
Plant image is extracted in the environmental images that the control processor 1 absorbs from image capturing unit 310, and is extracted
The characteristic point of plant image, the characteristic point include leaf morphology, limb form, characteristic point are deposited in the memory module 110
The profile of the normal plants of storage obtains classification and the title of the plant, and obtain the plant with being retrieved in the relativity table of root
Normal condition plant profile and Root Morphology.
If the plant resemblance under actual plant profile and normal condition is inconsistent, the control processor 1 judges
The plant unsoundness problem.When the characteristic point for the plant extracted and the inconsistent normal plant profile of the plant, the plant is judged
Thing unsoundness problem.
Distribution map intercepts the root image of current plant with location information under the base area of control processor 1, and analyzes
The root data of current plant.The control processor 1 is by distribution map under base area and location information, under confirmation in distribution map
Root system of plant corresponding to plant, while the control processor 1 extracts the plant root image in the distribution map of underground, and analyzes
The root data of current plant, including the distribution size of root, thickness of root etc., and by its profile with normal plants
Contrasted with root relativity table.
If when the root data of the plant and the inconsistent root data of corresponding normal plants, the control processor
1 judges the plant unsoundness problem.I.e. the distribution size of root, the profile of the thickness of root and normal plants and root contrast
When data in relation table are inconsistent, the plant unsoundness problem is judged.
It is noted that the root data are a value range, it is distributed according to the root of the time difference plant of plant
Range size and the thickness of root differ, and when plant has sick phenomenon, the root of plant is likely to occur atrophy, rotten etc.
Situation, influence the distribution of plant root and the thickness of root.
Embodiment two
With reference to figure 2, Fig. 2 is the system of the second provided by the invention intelligent gardens nursing system based on image and root detection
Block diagram.
The present embodiment and above-described embodiment one are essentially identical, and difference is, it is preferred that the memory module 110 is also
Pathological changes of plant symptom table is stored with, including the performance characteristic in the case of various plant different lesions.The performance characteristic bag
Include spot, withered, crimping, small holes caused by worms of blade lesion etc. to characterize, also the sign such as the withered, discoloration including limb, crackle, small holes caused by worms,
The performance characteristic will correspond to related disease；If certain disease has a variety of performance characteristics, its performance characteristic also will after identified
It is judged as same disease；If the performance characteristic that plant occurs is the shared performance characteristic of a variety of diseases, it will judge that the plant has
Corresponding a variety of diseases.
Preferably, the control processor 1 extracts plant real-time characteristic in plant image according to pathological changes of plant symptom table,
If there is feature to be coincide with symptom in pathological changes of plant symptom table, judge that plant suffers from relevant disease.The plant of the extraction is real-time
Feature includes blade and the limb of plant, and the control processor 1 is by the implementation feature of plant with being deposited in the memory module 110
The pathological changes of plant table of storage is contrasted and retrieved, if there is feature to coincide, will judge that the plant has relevant disease.
Preferably, in addition to wireless communication module 6, the wireless communication module 6 are connected with cloud server 7, the control
Processor 1 processed is communicated by wireless communication module 6 and the cloud server 7.The cloud server 7 can be with municipal portion
The system connection of door, the data of cloud server 7 can be obtained by municipal systems.The wireless communication module 6 includes common
Wireless communication means, because gardens nursing may be in that signal is bad or signal is the position blocked, to avoid radio communication
It is obstructed, it can use at least two wireless communication means simultaneously, and avoiding can not upload information after one of which failure.It is described wireless
Communication module 6 is connected with the control processor 1, the control processor 1 by data to be uploaded be converted to electronic signal to
The wireless communication module 6 exports, and is that electronic signal is converted to corresponding signal to cloud server 7 by wireless communication module 6
Output.In addition, the control processor 1, which includes two kinds of information, uploads mode, one is uploads in real time, secondly being uploaded to integrate.
It is described in real time upload for control processor 1 judge terminate after, at once by judge information uploaded.Described integrate is uploaded as institute
Stating control processor 1 will judge that information integration uploads after end-of-job.
The control processor 1 will judge that information is combined into diagnostic message with current location information collection and passes through the radio communication
Module 6 exports to the cloud server 7.The judgement for judging information and including the judgement and kinds of Diseases of plant disease,
The current location information is the more specific location information of sick plant, is easy to follow-up work.The control processor 1 will judge to believe
Breath is integrated into diagnostic message with current location information and exported to the wireless communication module 6, and the wireless communication module 6 will diagnose
Information exports to the cloud server 7, and the diagnostic message will be helpful to subsequent artefacts staff and check and manual working.
Embodiment three
With reference to figure 3, Fig. 3 is the system of the third intelligent gardens nursing system based on image and root detection provided by the invention
Block diagram.
The present embodiment and above-described embodiment one and embodiment two are essentially identical, and difference is, it is preferred that also include controlling
Module 8 is treated, the treatment module 8 includes medicament storage unit 810 and herbal sprinkling unit 820.
The medicament storage unit 810 stores Common drugs.The medicament storage unit 810 and the control processor 1
Connection, the medicament storage unit 810 can store several medicine, and medicine is deposited respectively, the medicament storage unit 810 and institute
State control processor 1 to connect, the control processor 1 exports insoluble drug release signal, the medicine to the medicament storage unit 810
Thing memory cell 810 discharges medicine according to insoluble drug release signal.Also include medicament categories information, institute in the insoluble drug release signal
State control processor 1 will according to the kinds of Diseases of plant obtain corresponding to medicine information, if the medicament storage is deposited with medicine
In storage unit 810, the control processor 1 will export the medicine for including corresponding medicine name to the medicament storage unit 810
Signal.
The herbal sprinkling unit 820 is used to spray medicine to plant.At the herbal sprinkling unit 820 and the control
Reason device 1 connects, and the medicine that the herbal sprinkling unit 820 will deposit memory cell release sprays to plant.The control process
Device 1 will export medicine spray after insoluble drug release information is exported to the medicament storage unit 810 to the herbal sprinkling unit 820
Signal is spilt, the herbal sprinkling unit 820 sprays medicine according to herbal sprinkling signal.
Preferably, the memory module 110 is also stored with pathological changes of plant and uses table with medicine, including pathological changes of plant pair
The medicament categories and method that should be used.The control processor 1 is deposited according to the plant disease of judgement from the memory module 110
The pathological changes of plant of storage and medicine using the corresponding drug information used of acquisition in table, the drug information include the species of medicine with
Application method, the application method is including the use of amount, usage time, frequency of use etc..
The memory module 110 is also stored with medicine name present in medicament storage unit 810.The memory module
110 separately store the title of the medicine of storage, and the control processor 1 will obtain the medicine from the memory module 110
The medicine name stored in thing memory cell 810.The control processor 1 will be obtained according to pathological changes of plant with medicine using table to be sentenced
The medicine name that should be used corresponding to fixed plant disease, and in the medicament storage unit 810 according to the storage mould storage
Existing medicine name, which is retrieved to whether there is in the medicament storage unit 810, corresponding medicine.
Preferably, the control processor 1 will not have the judgement information of corresponding medicine in medicament storage unit 810
Exported by the wireless communication module 6 to the cloud server 7.If the control processor 1 is according to the storage mould
Medicine name present in the medicament storage unit 810 of storage, which is retrieved, is not present corresponding medicine in the medicament storage unit 810
Thing, the control processor 1 take the judgement information for not having corresponding medicine in medicament storage unit 810 to the high in the clouds
Business device 7 exports, and municipal systems will can send artificial employee to handle the information from being that cloud server 7 obtains the information.
Preferably, the treatment module 8 also includes treatment recording unit 830, and the treatment recording unit 830, which records, to be controlled
Location information, the dispenser information of the plant for the treatment of.The dispenser information includes the information such as the medicament categories of dispenser.
If the medicine needs multiple dispenser, the treatment recording unit 830 will record spraying time and/or dispenser time
Number, timing dispenser signal is exported to the control processor 1 when to specified spraying time, the control processor 1 is according to fixed
When dispenser signal to the medicament storage unit 810 export insoluble drug release signal and to the herbal sprinkling unit 820 export medicine
Thing sprays signal.If the medicine is needs the medicine of multiple dispenser, the dispenser information will include spraying time and/or dispenser time
Number, the spraying time are the standard spraying time of medicine, and the spraying times are that medicine treats spraying times, described to treat dispenser time
Number subtracts spraying times for the total spraying times of medicine.If reaching described in specified spraying time, treatment recording unit 830 will be to institute
State control processor 1 and export timing dispenser signal, the control processor 1 will export walk signal to the walking module 5, institute
The position that walking module 5 will be moved to corresponding plant is stated, walking module 5 described in the control processor 1, which reaches, specifies ground
The backward medicament storage unit 810 of point exports to the medicament storage unit 810 and exports insoluble drug release signal and to the medicine
Thing spray unit 820 exports herbal sprinkling signal.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, it should all be included within the scope of the present invention.
Claims (8)
- A kind of 1. intelligent gardens nursing system based on image and root detection, it is characterised in that including：Control processor, inspection Survey module, identification module, locating module, walking module；The walking module is connected with the control processor, and the control processor exports walking letter to the walking module Number, start the walking module and walked to appointed place；The detection module includes GPR unit, and the GPR unit is connected with the control processor, and it is to ground Lower transmitting high-frequency electrical pulses magnetic wave simultaneously receives the high-frequency impulse electromagnetic wave of reflection, and the GPR receives the electromagnetic wave of reflection simultaneously It is converted into electronic signal to export to the control processor, the control processor is drawn underground according to electronic signal and is distributed Figure；The locating module is used to position current location, and location information is exported to the control processor, at the control Reason device also includes memory module, pre-stored map is prestored in the memory module, the control processor is true according to location information Recognize current location；The identification module includes image capturing unit, and the image capturing unit is connected with the control processor, The image capturing unit is used to absorb environmental images and exported to the control processor；The memory module is also stored with the profile and root relativity table of normal plants；The control processor is according to extracting plant image in environmental images, and according to the actual plant in the plant image of extraction Profile obtains plant profile and corresponding root data under the form plant normal condition from root relativity table；If the plant resemblance under actual plant profile and normal condition is inconsistent, the control processor judges the plant Unsoundness problem,Distribution map intercepts the root image of current plant with location information under the control processor base area, and analyzes and work as planting in advance The root data of thing, if when the root data of the plant and the inconsistent root data of corresponding normal plants, the control Processor judges the plant unsoundness problem.
- A kind of 2. intelligent gardens nursing system based on image and root detection according to claim 1, it is characterised in that The memory module is also stored with pathological changes of plant symptom table, including the performance characteristic in the case of various plant different lesions.
- A kind of 3. intelligent gardens nursing system based on image and root detection according to claim 2, it is characterised in that The control processor extracts plant real-time characteristic in plant image, if having feature and phytopathy according to pathological changes of plant symptom table Become symptom in symptom table to coincide, then judge that plant suffers from relevant disease.
- A kind of 4. intelligent gardens nursing system based on image and root detection according to claim 1, it is characterised in that Also include wireless communication module, the wireless communication module is connected with cloud server, and the control processor passes through channel radio Letter module communicates with the cloud server；The control processor will judge that information is combined into current location information collection and examine Disconnected information is exported by the wireless communication module to the cloud server.
- A kind of 5. intelligent gardens nursing system based on image and root detection according to claim 1, it is characterised in that Also include treatment module, the treatment module includes medicament storage unit and herbal sprinkling unit；The medicament storage unit is deposited Store up Common drugs；The herbal sprinkling unit is used to spray medicine to plant.
- A kind of 6. intelligent gardens nursing system based on image and root detection according to claim 5, it is characterised in that The memory module is also stored with pathological changes of plant and medicine and use table, the medicament categories that are correspondingly used including pathological changes of plant and Method；The memory module is also stored with medicine name present in medicament storage unit.
- A kind of 7. intelligent gardens nursing system based on image and root detection according to claim 6, it is characterised in that The judgement information for not having corresponding medicine in medicament storage unit is passed through the radio communication mold by the control processor Block exports to the cloud server.
- A kind of 8. intelligent gardens nursing system based on image and root detection according to claim 6, it is characterised in that The treatment module also includes treatment recording unit, the location information of the treated plant of the treatment recording unit records, applies Medicine information；If the medicine needs multiple dispenser, the treatment recording unit will record spraying time and/or spraying times, when Timing dispenser signal is exported to the control processor to during specified spraying time, the control processor is believed according to timing dispenser Number to the medicament storage unit export insoluble drug release signal and to the herbal sprinkling unit export herbal sprinkling signal.
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Cited By (6)
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| CN108770446A (en) * | 2018-06-13 | 2018-11-09 | 苏州创存数字科技有限公司 | A kind of materials allocating system based on plant growth state |
| CN108934345A (en) * | 2018-06-13 | 2018-12-07 | 苏州创存数字科技有限公司 | A kind of device automating release material according to the plant scale of construction |
| CN109709277A (en) * | 2019-01-08 | 2019-05-03 | 珠海格力电器股份有限公司 | Plant state detection method and device and intelligent flowerpot |
| CN111220978A (en) * | 2020-01-10 | 2020-06-02 | 陕西师范大学 | Cordyceps sinensis detection vehicle |
| CN114141326A (en) * | 2021-12-02 | 2022-03-04 | 杭州睿胜软件有限公司 | Method, apparatus and storage medium for tracking rehabilitation of plants |
| WO2024199130A1 (en) * | 2023-03-30 | 2024-10-03 | 格力博(江苏)股份有限公司 | Garden equipment management system and management method |
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