CN109168724A - A kind of seedling system and method - Google Patents
A kind of seedling system and method Download PDFInfo
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- CN109168724A CN109168724A CN201811196005.0A CN201811196005A CN109168724A CN 109168724 A CN109168724 A CN 109168724A CN 201811196005 A CN201811196005 A CN 201811196005A CN 109168724 A CN109168724 A CN 109168724A
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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
Abstract
It includes: image acquisition units, light source detection unit and information process unit that the embodiment of the present invention, which provides a kind of seedling system and method, seedling system,；Image acquisition units communicate to connect with information process unit, are sent to information process unit for acquiring the target image of target sapling, and by target image collected；Light source detection unit communicates to connect with information process unit, is sent to information process unit for detecting the target light source direction of target light source, and by target light source direction；Information process unit, for receiving light source direction transmitted by target image transmitted by image acquisition units and light source detection unit, and the limb to be corrected of target sapling is determined according to target image and target light source direction, to carry out the limb correction of target sapling according to identified limb to be corrected.When carrying out nursery using the scheme that this seedling system provides, it is able to solve the problem of sapling leads to growth curvature because of phototropism, improves the economic benefit of forest seedling nursing.
Description
Technical field
The present invention relates to seedling-raising technique, technical field of image processing, in particular to a kind of seedling system and method.
Background technique
In general, plant can show the characteristics of phototropism during the growth process, phototropism belongs to one kind of tropism, refers to plant
The phenomenon that growth organ of object causes growth curvature because of being irradiated by single directional light.For potted plant, it can pass through
A rotary flower pot is come the phenomenon that improving growth curvature caused by phototropism.However, sapling is usually for forest seedling nursing application
Directly plantation is planted in flowerpot on soil, thus can not be caused by way of A rotary flower pot to solve phototropism
Sapling growth curvature the problem of.But for forest seedling nursing application, the economic value for being bent sapling will drop significantly
It is low, therefore a kind of nursery scheme is needed to solve the problems, such as that sapling leads to growth curvature because of phototropism, it is educated to improve forestry
The economic benefit of seedling.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of seedling system and method, is caused with solving sapling because of phototropism
The problem of growth curvature, to improve the economic benefit of forest seedling nursing.
In order to achieve the above objectives, the embodiment of the invention discloses a kind of seedling system, the seedling system includes: that image is adopted
Collect unit, light source detection unit and information process unit；Wherein,
Described image acquisition unit is communicated to connect with the information process unit, for acquiring the target figure of target sapling
Picture, and target image collected is sent to the information process unit；
The light source detection unit is communicated to connect with the information process unit, for detecting the target light of target light source
Source direction, and the target light source direction is sent to the information process unit；
The information process unit, for receiving target image transmitted by described image acquisition unit and the light
Light source direction transmitted by the detection unit of source, and target sapling is determined according to the target image and the target light source direction
Limb to be corrected, to carry out the limb correction of the target sapling according to identified limb to be corrected.
Preferably, the information process unit, is specifically used for:
The target image is divided into light area and non-light area based on the contrast of image；
Each limb image-region in the non-light area is extracted using edge detection and extraction algorithm；
The corresponding limb of each limb image-region in non-light area is determined as limb to be corrected.
Preferably, the information process unit, is specifically used for:
The target image is pre-processed, the gray level image of the target image is obtained, utilizes algorithm for image enhancement
Image enhancement processing is carried out to the gray level image, will enhance that treated that gray level image is divided into light using Threshold Segmentation Algorithm
According to region and non-light area.
Preferably, the seedling system further includes multiple mechanical arms, and each mechanical arm is for clamping the target sapling
One default limb；
The information process unit is also used to send limb to the target mechanical arm for clamping identified limb to be corrected and rectify
Positive order, so that the mechanical arm moves clamped limb after receiving the limb corrective instruction.
Preferably, the information process unit, is specifically used for:
Calculate the correction angle for mutually blocking limb Yu the target light source direction；
Limb corrective instruction is sent to the smallest target mechanical arm of clamping correction angle, so that the mechanical arm is receiving
It is moved after the limb corrective instruction according to the correction angle.
In order to achieve the above objectives, the embodiment of the invention discloses a kind of method for culturing seedlings, are applied to nursery system as described above
System, the method for culturing seedlings include:
Image acquisition units acquire the target image of target sapling, and target image collected is sent to the information
Processing unit；
Light source detection unit detects the target light source direction of target light source, and the target light source direction is sent to described
Information process unit；
Information process unit receives target image and the light source detection unit transmitted by described image acquisition unit
Transmitted light source direction, and determine according to the target image and the target light source direction branch to be corrected of target sapling
It is dry, to carry out the limb correction of the target sapling according to identified limb to be corrected.
Preferably, the information process unit determines the limb to be corrected of target sapling in the following way:
The target image is divided into light area and non-light area based on the contrast of image；
Each limb image-region in the non-light area is extracted using edge detection and extraction algorithm；
The corresponding limb of each limb image-region in non-light area is determined as limb to be corrected.
Preferably, the information process unit divides light area and non-light area in the following way:
The target image is pre-processed, the gray level image of the target image is obtained, utilizes algorithm for image enhancement
Image enhancement processing is carried out to the gray level image, will enhance that treated that gray level image is divided into light using Threshold Segmentation Algorithm
According to region and non-light area.
Preferably, the seedling system further includes multiple mechanical arms, and each mechanical arm is for clamping the target sapling
One default limb, in the limb to be corrected for determining target sapling according to the target image and the target light source direction
The step of after, the method for culturing seedlings further include:
The information process unit sends limb corrective instruction to the target mechanical arm for clamping identified limb to be corrected,
So that the mechanical arm moves clamped limb after receiving the limb corrective instruction.
Preferably, the information process unit sends limb to the target mechanical arm for clamping identified limb to be corrected and rectifys
Positive order, the step of so as to mechanical arm limb mobile clamped after receiving the limb corrective instruction, comprising:
The information process unit calculates the correction angle for mutually blocking limb Yu the target light source direction；Xiang Jia
It holds the smallest target mechanical arm of correction angle and sends limb corrective instruction, so that the mechanical arm is receiving the limb correction
It is moved after instruction according to the correction angle.
A kind of seedling system provided in an embodiment of the present invention and method can use image and adopt during forest seedling nursing
The target image for collecting unit acquisition target sapling, using the target light source direction of light source detection unit detection target light source, then
Target image collected and target light source direction are sent to information process unit；Then as information process unit according to
Target image and the target light source direction determine the limb to be corrected of target sapling, so as to according to identified limb to be corrected
Carry out the limb correction of the target sapling.As can be seen that passing through the limb to be corrected to sapling in sapling growth course
Constantly correction, is able to solve the problem of sapling leads to growth curvature because of phototropism, improves the economic benefit of forest seedling nursing.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of configuration diagram of seedling system provided in an embodiment of the present invention；
Fig. 2 is the configuration diagram of another seedling system provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram of method for culturing seedlings provided in an embodiment of the present invention；
Fig. 4 is the flow diagram of another method for culturing seedlings provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
To solve the problems, such as that sapling leads to growth curvature, and the economic benefit of raising forest seedling nursing because of phototropism, this
Inventive embodiments provide following seedling system and method, are situated between first below to seedling system provided in an embodiment of the present invention
It continues.
As shown in Figure 1, being a kind of configuration diagram of seedling system provided in an embodiment of the present invention, the seedling system packet
It includes: image acquisition units 10, light source detection unit 20 and information process unit 30.
Wherein, described image acquisition unit 10 is communicated to connect with the information process unit 30, for acquiring target sapling
Target image, and target image collected is sent to the information process unit 30.
Specifically, image acquisition units described herein can be with camera, it should be noted that Image Acquisition list here
Member can carry out Image Acquisition according to predeterminated frequency, and target image collected is sent to information process unit.
The light source detection unit 20 is communicated to connect with the information process unit 30, for detecting the mesh of target light source
Light source direction is marked, and the target light source direction is sent to the information process unit 30.
Specifically, light source detection unit described herein can be the light source detection electricity built using photo resistance
Road, those skilled in the art can be reasonably arranged according to the concrete condition in practical application.
The information process unit 30, for receiving target image transmitted by described image acquisition unit 10, Yi Jisuo
Light source direction transmitted by light source detection unit 20 is stated, and target is determined according to the target image and the target light source direction
The limb to be corrected of sapling, to carry out the limb correction of the target sapling according to identified limb to be corrected.
In a kind of implementation, the information process unit 30 is specifically used for:
The target image is divided into light area and non-light area based on the contrast of image；
Each limb image-region in the non-light area is extracted using edge detection and extraction algorithm；
The corresponding limb of each limb image-region in non-light area is determined as limb to be corrected.
It is understood that due to unilateral illumination, image holds for the target image for target sapling
Easily there are two kinds of different regions of light and shade, and the limb in non-light area be due to cannot sufficiently expose to sunlight, because
This is easy to appear the phenomenon that slow growth, to influence the cultivation quality of target sapling.In view of this, passing through above-mentioned image procossing
Target image can be divided into light area and non-light area by mode, recycle edge detection algorithm then to extract
Each limb image-region, it is hereby achieved that limb to be corrected, in order to it is subsequent according to the limb to be corrected determined into
The corresponding limb correction process of row.
In a kind of implementation, Roberts operator, Prewitt operator, Sobel operator and Log can use
(Laplacian of Gaussian) operator etc. carries out edge detection and extracts.It should be noted that public in the prior art
The relevant calculation formula for having opened above-mentioned edge detection and extraction, no longer repeats one by one herein, and it is public to be referred to institute in the prior art
The calculation formula opened obtains the edge of each limb image-region in non-light area.
In a kind of implementation, the information process unit 30 is specifically used for:
The target image is pre-processed, the gray level image of the target image is obtained, utilizes algorithm for image enhancement
Image enhancement processing is carried out to the gray level image, will enhance that treated that gray level image is divided into light using Threshold Segmentation Algorithm
According to region and non-light area.
It should be noted that the pretreatment carried out to target image may include the rotation, correction, gray processing of image,
The embodiment of the present invention is without being defined pretreated specific algorithm.
A kind of seedling system provided in an embodiment of the present invention can use image acquisition units during forest seedling nursing
Then the target image for acquiring target sapling will be adopted using the target light source direction of light source detection unit detection target light source
The target image of collection and target light source direction are sent to information process unit；Then by information process unit according to the target figure
Picture and the target light source direction determine the limb to be corrected of target sapling, to carry out institute according to identified limb to be corrected
State the limb correction of target sapling.As can be seen that in sapling growth course, continuous by the limb to be corrected to sapling is rectified
Just, it is able to solve the problem of sapling leads to growth curvature because of phototropism, improves the economic benefit of forest seedling nursing.
Further, as shown in Fig. 2, being the configuration diagram of another seedling system provided in an embodiment of the present invention,
On the basis of system shown in Figure 1 embodiment, the seedling system can also include multiple mechanical arms 40, and each mechanical arm 40 is used
In a default limb for clamping the target sapling.
Correspondingly, the information process unit 30 is also used to the target mechanical arm for clamping identified limb to be corrected
40 send limb corrective instructions, so that the mechanical arm 40 moves clamped branch after receiving the limb corrective instruction
It is dry.
It should be noted that can be determined according to the plant size of target sapling for the quantity of mechanical arm, for example, right
3~5 mechanical arms can be set in 1 meter of plant below, 5~8 mechanical arms can be set for 1 meter or more of plant, when
So, it is merely illustrative here, cited specific number should not be construed as the restriction to the embodiment of the present invention, in the art
Technical staff need reasonably be arranged according to the concrete condition in practical application.
In a kind of implementation, the information process unit 30 is specifically used for:
(1) the correction angle for mutually blocking limb Yu the target light source direction is calculated；
(2) limb corrective instruction is sent to the smallest target mechanical arm 40 of clamping correction angle, so as to the mechanical arm 40
It is moved after receiving the limb corrective instruction according to the correction angle.
It should be noted that system embodiment shown in Fig. 2 is beneficial in addition to the whole for having system embodiment shown in FIG. 1
On the basis of effect, the correction angle for mutually blocking limb Yu target light source direction can also be further determined that, and make
The clamping correction the smallest target mechanical arm of angle can be moved according to corresponding limb of the correction angle to target sapling,
The correction of the automation to the limb to be corrected of target sapling is realized, guarantees that each limb of target sapling can fully absorb
Light source ensure that the Quality of Seedlings of forest seedling nursing, improve the economic benefit of forest seedling nursing.
Method for culturing seedlings provided in an embodiment of the present invention is introduced again below.
As shown in figure 3, being a kind of flow diagram of method for culturing seedlings provided in an embodiment of the present invention, it should be noted that
Method for culturing seedlings provided in an embodiment of the present invention can be applied in each seedling system as described above, and the method for culturing seedlings can be with
The following steps are included:
S101: image acquisition units acquire the target image of target sapling, and target image collected is sent to institute
State information process unit.
Specifically, image acquisition units described herein can be with camera, it should be noted that Image Acquisition list here
Member can carry out Image Acquisition according to predeterminated frequency, and target image collected is sent to information process unit.
S102: light source detection unit detects the target light source direction of target light source, and the target light source direction is sent
To the information process unit.
Specifically, light source detection unit described herein can be the light source detection electricity built using photo resistance
Road, those skilled in the art can be reasonably arranged according to the concrete condition in practical application.
S103: information process unit receives target image transmitted by described image acquisition unit and light source inspection
Survey unit transmitted by light source direction, and according to the target image and the target light source direction determine target sapling wait rectify
Positive limb, to carry out the limb correction of the target sapling according to identified limb to be corrected.
In a kind of implementation, the information process unit determines the limb to be corrected of target sapling in the following way:
A. the target image is divided by light area and non-light area based on the contrast of image；
B. each limb image-region in the non-light area is extracted using edge detection and extraction algorithm；
C. the corresponding limb of each limb image-region in non-light area is determined as limb to be corrected.
It is understood that due to unilateral illumination, image holds for the target image for target sapling
Easily there are two kinds of different regions of light and shade, and the limb in non-light area be due to cannot sufficiently expose to sunlight, because
This is easy to appear the phenomenon that slow growth, to influence the cultivation quality of target sapling.In view of this, passing through above-mentioned image procossing
Target image can be divided into light area and non-light area by mode, recycle edge detection algorithm then to extract
Each limb image-region, it is hereby achieved that limb to be corrected, in order to it is subsequent according to the limb to be corrected determined into
The corresponding limb correction process of row.
In a kind of implementation, Roberts operator, Prewitt operator, Sobel operator and Log can use
(Laplacian of Gaussian) operator etc. carries out edge detection and extracts.It should be noted that public in the prior art
The relevant calculation formula for having opened above-mentioned edge detection and extraction, no longer repeats one by one herein, and it is public to be referred to institute in the prior art
The calculation formula opened obtains the edge of each limb image-region in non-light area.
In a kind of implementation, the information process unit divides light area and non-light area in the following way:
The target image is pre-processed, the gray level image of the target image is obtained, utilizes algorithm for image enhancement
Image enhancement processing is carried out to the gray level image, will enhance that treated that gray level image is divided into light using Threshold Segmentation Algorithm
According to region and non-light area.
It should be noted that the pretreatment carried out to target image may include the rotation, correction, gray processing of image,
The embodiment of the present invention is without being defined pretreated specific algorithm.
A kind of method for culturing seedlings provided in an embodiment of the present invention can use image acquisition units during forest seedling nursing
Then the target image for acquiring target sapling will be adopted using the target light source direction of light source detection unit detection target light source
The target image of collection and target light source direction are sent to information process unit；Then by information process unit according to the target figure
Picture and the target light source direction determine the limb to be corrected of target sapling, to carry out institute according to identified limb to be corrected
State the limb correction of target sapling.As can be seen that in sapling growth course, continuous by the limb to be corrected to sapling is rectified
Just, it is able to solve the problem of sapling leads to growth curvature because of phototropism, improves the economic benefit of forest seedling nursing.
As shown in figure 4, for the flow diagram of another method for culturing seedlings provided in an embodiment of the present invention, the seedling system
It further include multiple mechanical arms, each mechanical arm is used to clamp a default limb for the target sapling, described according to
After the step of target image and the target light source direction determine the limb to be corrected of target sapling, the method for culturing seedlings is also wrapped
It includes:
S104: the information process unit sends limb correction to the target mechanical arm for clamping identified limb to be corrected
Instruction, so that the mechanical arm moves clamped limb after receiving the limb corrective instruction.
In a kind of implementation, target mechanical arm hair of the information process unit to limb to be corrected determined by clamping
Limb corrective instruction is sent, so as to the step of the mechanical arm mobile clamped limb after receiving the limb corrective instruction
Suddenly, comprising:
(1) information process unit calculates the correction angle for mutually blocking limb Yu the target light source direction；
(2) limb corrective instruction is sent to the smallest target mechanical arm of clamping correction angle, so that the mechanical arm is connecing
It is moved after receiving the limb corrective instruction according to the correction angle.
It should be noted that can be determined according to the plant size of target sapling for the quantity of mechanical arm, for example, right
3~5 mechanical arms can be set in 1 meter of plant below, 5~8 mechanical arms can be set for 1 meter or more of plant, when
So, it is merely illustrative here, cited specific number should not be construed as the restriction to the embodiment of the present invention, in the art
Technical staff need reasonably be arranged according to the concrete condition in practical application.
It should be noted that embodiment of the method shown in Fig. 4 is beneficial in addition to the whole for having embodiment of the method shown in Fig. 3
On the basis of effect, the correction angle for mutually blocking limb Yu target light source direction can also be further determined that, and make
The clamping correction the smallest target mechanical arm of angle can be moved according to corresponding limb of the correction angle to target sapling,
The correction of the automation to the limb to be corrected of target sapling is realized, guarantees that each limb of target sapling can fully absorb
Light source ensure that the Quality of Seedlings of forest seedling nursing, improve the economic benefit of forest seedling nursing.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Those of ordinary skill in the art will appreciate that all or part of the steps in realization above method embodiment is can
It is completed with instructing relevant hardware by program, the program can store in computer-readable storage medium,
Storage medium designated herein, such as: ROM/RAM, magnetic disk, CD.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of seedling system, which is characterized in that the seedling system includes: image acquisition units, light source detection unit and letter
Cease processing unit；Wherein,
Described image acquisition unit is communicated to connect with the information process unit, for acquiring the target image of target sapling, and
Target image collected is sent to the information process unit；
The light source detection unit is communicated to connect with the information process unit, for detecting the target light source side of target light source
To, and the target light source direction is sent to the information process unit；
The information process unit, for receiving target image transmitted by described image acquisition unit and light source inspection
Survey unit transmitted by light source direction, and according to the target image and the target light source direction determine target sapling wait rectify
Positive limb, to carry out the limb correction of the target sapling according to identified limb to be corrected.
2. seedling system according to claim 1, which is characterized in that the information process unit is specifically used for:
The target image is divided into light area and non-light area based on the contrast of image；
Each limb image-region in the non-light area is extracted using edge detection and extraction algorithm；
The corresponding limb of each limb image-region in non-light area is determined as limb to be corrected.
3. seedling system according to claim 2, which is characterized in that the information process unit is specifically used for:
The target image is pre-processed, the gray level image of the target image is obtained, using algorithm for image enhancement to institute
It states gray level image and carries out image enhancement processing, will enhance that treated that gray level image is divided into area of illumination using Threshold Segmentation Algorithm
Domain and non-light area.
4. seedling system according to claim 2, which is characterized in that the seedling system further includes multiple mechanical arms, often
One mechanical arm is used to clamp a default limb for the target sapling；
The information process unit is also used to refer to the target mechanical arm transmission limb correction for clamping identified limb to be corrected
It enables, so that the mechanical arm moves clamped limb after receiving the limb corrective instruction.
5. seedling system according to claim 4, which is characterized in that the information process unit is specifically used for:
Calculate the correction angle for mutually blocking limb Yu the target light source direction；
Send limb corrective instruction to the smallest target mechanical arm of clamping correction angle, so as to the mechanical arm receive it is described
It is moved after limb corrective instruction according to the correction angle.
6. a kind of method for culturing seedlings, which is characterized in that it is applied to seedling system as described in any one in claim 1-5, it is described to educate
Seedling-growing method includes:
Image acquisition units acquire the target image of target sapling, and target image collected is sent to the information processing
Unit；
Light source detection unit detects the target light source direction of target light source, and the target light source direction is sent to the information
Processing unit；
Information process unit receives target image transmitted by described image acquisition unit and the light source detection unit is sent out
The light source direction sent, and determine according to the target image and the target light source direction limb to be corrected of target sapling, with
Just the limb correction of the target sapling is carried out according to identified limb to be corrected.
7. method for culturing seedlings according to claim 6, which is characterized in that the information process unit determines in the following way
The limb to be corrected of target sapling:
The target image is divided into light area and non-light area based on the contrast of image；
Each limb image-region in the non-light area is extracted using edge detection and extraction algorithm；
The corresponding limb of each limb image-region in non-light area is determined as limb to be corrected.
8. method for culturing seedlings according to claim 7, which is characterized in that the information process unit divides in the following way
Light area and non-light area:
The target image is pre-processed, the gray level image of the target image is obtained, using algorithm for image enhancement to institute
It states gray level image and carries out image enhancement processing, will enhance that treated that gray level image is divided into area of illumination using Threshold Segmentation Algorithm
Domain and non-light area.
9. method for culturing seedlings according to claim 7, which is characterized in that the seedling system further includes multiple mechanical arms, often
One mechanical arm is used to clamp a default limb for the target sapling, described according to the target image and the target light
After source direction determines the step of limb to be corrected of target sapling, the method for culturing seedlings further include:
The information process unit sends limb corrective instruction to the target mechanical arm for clamping identified limb to be corrected, so as to
The mechanical arm mobile clamped limb after receiving the limb corrective instruction.
10. method for culturing seedlings according to claim 9, which is characterized in that the information process unit is to determined by clamping
The target mechanical arm of limb to be corrected sends limb corrective instruction, so that the mechanical arm is receiving the limb corrective instruction
The step of moving clamped limb afterwards, comprising:
The information process unit calculates the correction angle for mutually blocking limb Yu the target light source direction；It is rectified to clamping
The positive the smallest target mechanical arm of angle sends limb corrective instruction, so that the mechanical arm is receiving the limb corrective instruction
It is moved afterwards according to the correction angle.
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| CN103512494A (en) * | 2013-07-16 | 2014-01-15 | 宁波职业技术学院 | Visual inspection system and method for scale micro changes of plant fruits |
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| CN107507207A (en) * | 2017-07-07 | 2017-12-22 | 中国农业大学 | A kind of trimming evaluation method calculated based on fruit tree canopy illumination patterns |
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