To address the problems of limited ground clearance, platform attitude fluctuation caused by slope disturbances, and difficulty in maintaining a stable working height during cross-ridge operations in hilly and mountainous tea plantations, a tracked high-clearance terrain-adaptive unmanned chassis was designed. The chassis adopts a boom-type structure, in which the lifting arms on both sides drive a trapezoidal gantry frame to realize lateral leveling and height adjustment. An independent lateral suspension was arranged between the gantry frame and the lifting arms as a key articulation mechanism, so that the track width remained constant during leveling while lateral arm sway was suppressed, thereby improving cross-ridge passability and attitude stability. Mechanical analysis and extreme load calculation were conducted under limiting boundary conditions, including inward-eight, outward-eight, unilateral braking steering, and virtual-leg conditions, and the gantry frame was further verified by finite element analysis using Ansys Workbench. A CAN-bus-based travel and lifting control system centered on the vehicle control unit (VCU) was developed, and a self-balancing strategy with a switchable height-reference side was proposed. The reference side was determined according to the stroke margin of the lifting mechanisms on both sides to align the target platform height, and the target displacement of the opposite side was then calculated from the roll angle measured by the inertial measurement unit (IMU). Real-time leveling was achieved through a position-velocity dual closed-loop PID controller. Indoor and field experiments were conducted to evaluate the leveling performance of the chassis under controllable ridge-height differences and actual terrain disturbances. In the indoor tests, a unilateral slope platform was used to simulate ridge-height differences on both sides of tea rows, with two levels of 250 and 500 mm, and static leveling and dynamic crossing tests were carried out. In the field tests, continuous driving verification was performed along a typical cross-ridge route in a steep-slope tea plantation. The results showed that the chassis could adapt to a maximum ridge-height difference of 500 mm, with a maximum leveling angle of 17.4°. Under dynamic driving conditions in steep-slope tea plantations, the chassis inclination angle was stably controlled within ±1°, while the ground clearance and track width remained constant. The proposed chassis and leveling method can realize static and dynamic leveling and maintain a constant chassis height in hilly and mountainous tea plantations, providing a reference for the platform-based design and engineering application of high-clearance self-propelled tea plantation equipment.
- Article type
- Year
- Co-author
Tea plant (Camellia sinensis) is one of the most significant economic crops in modern agriculture. Anthracnose is one of the most destructive fungal diseases in tea plants. It is often required for its early diagnosis and dynamic monitoring for the tea yield and quality. However, it is still lacking on the early in situ diagnosis of anthracnose at the leaf scale at present. This study aims to realize the early diagnosis of tea anthracnose using hyperspectral imaging. Two tea cultivars, “Zhongcha 108” and “Longjing 43”, were utilized as the experimental materials. Four hormones, six defense enzymes, and three photosynthetic pigments were then determined in the anthracnose-resistant and susceptible varieties. Hyperspectral imaging was employed to capture the leaf images at five stages of the anthracnose infection (0, 12, 24, 36 and 72 h). The spectral response features of the tea leaves were obtained from the two varieties at different infection stages. Principal component analysis (PCA) was employed on the hyperspectral data of the tea leaves using unsupervised clustering. Furthermore, the dynamic monitoring models were established for the hormones, defense enzymes, and photosynthetic pigments of the tea leaves. Additionally, the vertex component analysis (VCA) algorithm was used to unmix the hyperspectral image of the tea leaves. In hormones, there were the comparable concentrations of the salicylic acid (SA) and abscisic acid (ABA) between the two cultivars. The similar increasing trends were found at 24 h post-inoculation (hpi) and peaking after 72 h. In contrast, the pronounced differences were observed in the content of jasmonic acid (JA) and indole-3-acetic Acid (IAA). The JA content in “Zhongcha 108” increased at a higher rate, compared with the “Longjing 43”. Furthermore, the IAA content in “Zhongcha 108” was consistently remained more than double that in “Longjing 43” in the infection period (except at 0 hpi). These divergent hormonal responses were likely associated with the differential resistance to anthracnose between the two cultivars. The activities of five defense enzymes (peroxidase (POD), superoxide dismutase (SOD), malondialdehyde (MDA), phenylalamine ammonia lyase (PAL), and polyphenol oxidase (PPO)) in both cultivars increased with the duration of infection, thereby reaching their maximum levels after 72 hpi. Notably, the PPO activity in the “Zhongcha 108” was higher than that in the “Longjing 43”. Additionally, the catalase (CAT) activity in the “Zhongcha 108” displayed an upward trend, whereas it declined in the “Longjing 43”. Therefore, the PPO and CAT also played significant roles in the tea plant's resistance to the anthracnose. The contents of the photosynthetic pigments in two cultivars, including chlorophyll a, chlorophyll b, and carotenoids, decreased progressively with the extension of the infection time, thus reaching their minimum after 72 h. In hyperspectral imaging, The spectral features (peak and valley positions) were observed between the two tea varieties at different infection stages. There was the dynamic variation in the component contents of the tea leaves. Clustering results showed that the samples with the degree of infection at each stage were fully identified in the principal component space (cumulative contribution rate > 96%). Partial least squares regression (PLSR) was used to establish a quantitative model between the average spectrum of the tea leaves and physiological and biochemical indicators, with the maximum correlation coefficient of 0.8924. The number of model variables was reduced from 288 to 10 after feature wavelength selection (competitive adaptive reweighted sampling, CARS). The performance of most quantitative models was improved after selection. The spectral unmixing was greatly contributed to the in-situ visualization of the spatiotemporal dynamics of the disease lesions at the pixel scale, particularly for the early diagnosis of anthracnose 12 h after inoculation. There was 12~24 h earlier than the polymerase chain reaction (PCR). This finding can provide the technical support for the disease prevention and control in tea gardens. The perspective can also offer for the interaction between plants and fungal diseases.
Tea has become one of the most important economic crops globally, driven by the growing popularity of tea-based beverages. However, tea production is increasingly threatened by biotic stressors, among which Ectropis grisescens stands out as a major defoliating pest. The larvae of this moth species cause substantial damage to tea plants by feeding on their leaves, thereby reducing yield and affecting the overall quality of the crop. The manual methods are not only time-consuming and labor-intensive but also suffer from low efficiency, high costs, and considerable subjectivity. In this context, the development of intelligent, accurate, and automated early detection techniques for Ectropis grisescens larvae is of vital significance. Such advancements hold the potential to enhance pest management strategies, reduce economic losses, and promote sustainable tea cultivation practices.
The recognition framework was proposed to achieve real-time and fine-grained identification of E. grisescens larvae at four distinct instar stages within complex tea canopy environments. To capture the varying morphological characteristics across developmental stages, a hierarchical three-level detection system was designed, consisting of: (1) full-instar detection covering all instars from the 1st to the 4th, (2) grouped-stage detection that classified larvae into early (1st-2nd) and late (3rd-4th) instar stages, and (3) fine-grained detection targeting each individual instar stage separately. Given the challenges posed by limited, imbalanced, and noisy training data—common issues in field-based entomological image datasets— a semi-automated dataset optimization strategy was introduced to enhance data quality and improve class representation. Building upon this refined dataset, a controllable diffusion model was employed to generate a large number of high-resolution, labeled synthetic images that emulated real-world appearances of Ectropis grisescens larvae under diverse environmental conditions. To ensure the reliability and utility of the generated data, a novel high-quality image filtering strategy was developed that automatically evaluated and selected images containing accurate, detailed, and visually realistic larval instances. The filtered synthetic images were then strategically integrated into the real training dataset, effectively augmenting the data and enhancing the diversity and balance of training samples. This comprehensive data augmentation pipeline led to substantial improvements in the detection performance of multiple YOLO-series models (YOLOv8, YOLOv9, YOLOv10, and YOLOv11).
Experimental results clearly demonstrated that the YOLO series models exhibited strong and consistent performance across a range of detection tasks involving Ectropis grisescens larvae. In the full-instar detection task, which targeted the identification of all larval stages from 1st to 4th instars, the best-performing YOLO model achieved an impressive average mAP@50 of 0.904, indicating a high level of detection precision. In the grouped instar-stage detection task, where larvae were classified into early (1st–2nd) and late (3rd–4th) instar groups, the highest mAP@50 recorded was 0.862, reflecting the model's ability to distinguish developmental clusters with reasonable accuracy. For the more challenging fine-grained individual instar detection task-requiring the model to discriminate among each instar stage independently-the best mAP@50 reached 0.697, demonstrating the feasibility of detailed stage-level classification despite subtle morphological differences. The proposed semi-automated data optimization strategy contributed significantly to performance improvements, particularly for the YOLOv8 model. Specifically, YOLOv8 showed consistent gains in mAP@50 across all three detection tasks, with absolute improvements of 0.024, 0.027, and 0.022 for full-instar, grouped-stage, and fine-grained detection tasks, respectively. These enhancements underscored the effectiveness of the dataset refinement process in addressing issues related to data imbalance and noise. Furthermore, the incorporation of the controllable diffusion model led to a universal performance boost across all YOLO variants. Notably, YOLOv10 exhibited the most substantial gains among the evaluated models, with its average mAP@50 increasing from 0.811 to 0.821 across the three detection tasks. This improvement was statistically significant, as confirmed by a paired t-test (p < 0.05), suggesting that the synthetic images generated by the diffusion model effectively enriched the training data and improved model generalization. Among all evaluated models, YOLOv9 achieved the best overall performance in detecting Ectropis grisescens larvae. It attained top mAP@50 scores of 0.909, 0.869, and 0.702 in the full-instar, grouped-stage, and fine-grained detection tasks, respectively. When averaged across all tasks, YOLOv9 reached a mean mAP@50 of 0.826, accompanied by a macro F1-Score of 0.767, highlighting its superior balance between precision and recall.
This study demonstrated that the integration of a controllable diffusion model with deep learning enabled accurate field-level instar detection of Ectropis grisescens, providing a reliable theoretical and technical foundation for intelligent pest monitoring in tea plantations.
Fu brick tea is a popular fermented black tea, and its "Jin hua" fermentation process determines the quality, flavor and function of the tea. Therefore, the establishment of a rapid and non-destructive detection method for the fungal fermentation stage is of great significance to improve the quality control and processing efficiency.
The variation trend of Fu brick tea was analyzed through the acquisition of visible-near-infrared (VIS-NIR) and near-infrared (NIR) hyperspectral images during the fermentation stage, and combined with the key quality indexes such as moisture, free amino acids, tea polyphenols, and tea pigments (including theaflavins, thearubigins, and theabrownines), the variation trend was analyzed. This study combined support vector machine (SVM) and convolutional neural network (CNN) to establish quantitative detection of key quality indicators and qualitative identification of the fungal fermentation stage. To enhance model performance, the squeeze-and-excitation (SE) attention mechanism was incorporated, which strengthens the adaptive weight adjustment of feature channels, resulting in the development of the Spectra-SE-CNN model. Additionally, t-distributed stochastic neighbor embedding (t-SNE) was used for feature dimensionality reduction, aiding in the visualization of feature distributions during the fermentation process. To improve the interpretability of the model, the Grad-CAM technique was employed for CNN and Spectra-SE-CNN visualization, helping to identify the key regions the model focuses on.
In the quantitative detection of Fu brick tea quality, the best models were all Spectra-SE-CNN, with R2p of 0.8595, 0.8525 and 0.8383 for moisture, tea pigments and tea polyphenols, respectively, indicating a high correlation and modeling stability. These values suggest that the models were capable of accurately predicting these key quality indicators based on hyperspectral data. However, the R2p for free amino acids was lower (0.6702), which could be attributed to their relatively minor changes during the fermentation process or a weak spectral response, making it more challenging to detect this component reliably with the current hyperspectral imaging approach. The Spectra-SE-CNN model significantly outperformed traditional CNN models, demonstrating the effectiveness of incorporating the SE attention mechanism. The SE attention mechanism enhanced the model's ability to extract and discriminate important spectral features, thereby improving both classification accuracy and generalization. This indicated that the Spectra-SE-CNN model excels not only in feature extraction but also in enhancing the model's robustness to variations in the fermentation stage. Furthermore, t-SNE revealed a clear separation of the different fungal fermentation stages in the low-dimensional space, with distinct boundaries. This visualization highlighted the model's ability to distinguish between subtle spectral differences during the fermentation process. The heatmap generated by Grad-CAM emphasized key regions, such as the fermentation location and edges, providing valuable insights into the specific features the model deemed important for accurate predictions. This improved the model's transparency and helped validate the spectral features that were most influential in identifying the fermentation stages.
A Spectra-SE-CNN model was proposed in this research, which incorporates the SE attention mechanism into a convolutional neural network to enhance spectral feature learning. This architecture adaptively recalibrates channel-wise feature responses, allowing the model to focus on informative spectral bands and suppress irrelevant signals. As a result, the Spectra-SE-CNN achieved improved classification accuracy and training efficiency compared to CNN models, demonstrating the strong potential of deep learning in hyperspectral spectral feature extraction. The findings validate Hyperspectral imaging technology (HIS) enables rapid, non-destructive, and high-resolution assessment of Fu brick tea during its critical fungal fermentation stage and the feasibility of integrating HSI with intelligent algorithms for real-time monitoring of the Fu brick tea fermentation process. Furthermore, this approach offers a pathway for broader applications of hyperspectral imaging and deep learning in intelligent agricultural product monitoring, quality control, and automation of traditional fermentation processes.
京公网安备11010802044758号