Prototype decision support system based on the VegSyst simulation model to calculate crop N and water requirements for tomato under plastic cover

The simulation model VegSyst was calibrated and validated for tomato grown under plastic cover. Calibration was conducted with an autumn–winter soil-grown crop, and validation with five crops with differences in season, cropping media, and site. VegSyst accurately simulated daily dry matter production (DMP), N uptake, and ET_c. Comparing simulated and measured values by linear regression, slope and intercept values were not statistically significantly different (P < 0.05) from 1 and 0, respectively. Slopes between simulated and measured values indicated average differences of 4, 2, and ?1 % for DMP, N uptake, and ET_c, respectively. Model performance was good with autumn–winter and spring cropping cycles, and in soil and substrate. A prototype decision support system (VegSyst-DSS) based on VegSyst was developed to calculate daily irrigation and N fertilizer requirements and nutrient solution [N] for fertigated tomato. N fertilizer requirements are based on crop N uptake and consider soil mineral N, and N mineralized from manure and soil OM and the N efficiency of each N source. Irrigation requirements are based on ET_c and consider application efficiency and salinity. VegSyst-DSS requires very few inputs which are all readily available to farmers and advisors. Scenario analysis compared a scenario representative of local farming practice, where N supplied from soil is not considered, with scenarios with different amounts of N supplied from soil mineral N at planting and mineralization of soil OM and of manure. Relative to the scenario representative of farmer practice, VegSyst recommendations resulted in reductions of 34–65 % in fertilizer N.     

深水培栽培樱桃番茄营养液溶氧量变化分析

测定分析了华东型连栋塑料大棚内深水培营养液液温日变化和溶解氧量的消减动态。结果表明：营养液液温与大棚内气温呈极显著的正相关,但液温的日变化相对平缓;营养液溶氧量随栽培槽长度的增加而降低,因此深水培栽培樱桃番茄时,种植槽长度不宜过长。     

Oxyfertigation of a greenhouse tomato crop grown on rockwool slabs and irrigated with treated wastewater: Oxygen content dynamics and crop response

This work assesses the seasonal dynamics of the substrate oxygen content and the response to nutrient solution oxygen enrichment (oxyfertigation) of an autumn-spring tomato crop grown on rockwool slabs and irrigated with treated wastewater of very low dissolved oxygen (DO) content under Mediterranean greenhouse conditions. DO values in the nutrient solution were clearly higher for the oxygen-enriched (14.6 mg L⁻¹) tomato crop than for the non-enriched one (4.5 mg L⁻¹). However, DO values in the substrate solution were similar for both oxygen treatments (mean seasonal values of 5.1 and 4.8 mg L⁻¹ for the enriched and the non-enriched one, respectively), except for a short crop period at the end of the cycle when they were significantly higher for the oxygen-enriched crop. For both treatments, substrate DO values were highest for the winter period and decreased progressively during the spring period, reaching minimum values of around or below 3 mg L⁻¹ at the end of the spring. The oxygen enrichment of the nutrient solution did not affect any of the irrigation and fertigation parameters evaluated in the tomato crop: water uptake, volumetric water content of the substrate, electrical conductivity (EC) or nutrient concentration in the leached nutrient solution. Moreover, the oxygen enrichment of the nutrient solution did not affect the aboveground biomass and the biomass partitioning, the fresh weight of total and marketable tomato fruits or the tomato fruit quality parameters. Overall, it appears that oxygen deficiency conditions did not occur as the substrate DO values were higher than, or about, 3 mg L⁻¹ throughout most of the tomato crop cycle for both treatments and the rockwool slabs maintained good aeration conditions throughout the whole cycle.     

非连续光对无土栽培番茄苗期无机元素吸收的影响

本研究在人工光型植物工厂中采用岩棉种植番茄植株,分析了在总光量一致的基础上红光背景下蓝光补充介入和蓝光取代介入两种非连续供光模式对番茄植株营养液无机元素吸收及叶片色素光谱参量的影响。结果表明,与连续红光相比,蓝光以不同方式介入均降低了番茄叶片中K元素含量而提高了茎中K元素含量,蓝光介入一定程度上抑制了番茄K元素由茎向叶片的运输;蓝光以不同方式介入均提高了番茄地上部中Mg含量（增幅8.93%~13.63%）,而降低了地上部Fe含量（降幅28%~48%）及Mn含量（降幅3.93%~21.24%）。其中蓝光补充介入模式下番茄叶片中Mg元素含量随着蓝光补充强度的升高而增加,叶片Mg含量在蓝光取代介入模式下高于蓝光补充介入模式而地上部Fe含量趋势则相反,蓝光取代介入的非连续光模式较蓝光补充介入模式而言更有利于刺激叶片中Mg的积累而抑制地上部Fe的积累。与连续红光相比,蓝光以不同方式介入后番茄叶片色素光谱参量Hue值（色相角）和MCARI值（修正叶绿素吸收比指数）均有所提高,相反,Red/Green值（红绿区域光谱反射比）均有所降低,蓝光补充介入模式下叶片Hue值和MCARI值随蓝光补充强度的升高而增大,R/RB80处理下Hue、MCARI值最高,较对照分别提高4%、124%;蓝光取代模式下Hue值和MCARI值随蓝光间歇时间的延长先增大后减小,R/RB(1h)处理下Hue、MCARI值最高,较对照分别提高6%、215%。番茄叶片在绿光波段的反射率与各处理下Hue、MCARI值变化趋势接近,而番茄叶片中Mg元素含量与叶绿素光谱参量呈正相关性。蓝光取代介入的非连续光模式较蓝光补充介入模式而言更有利于刺激叶片类胡萝卜素分解和叶绿素积累,非连续供光模式通过调控番茄植株无机元素的吸收进而作用于叶片色素的形成。本研究为无土栽培番茄光环境调控提供了理论依据。     

营养液膜栽培和深水培对樱桃番茄叶水势影响

比较分析了DFT和NFT条件下樱桃番茄叶水势变化特征及其水培系统中营养液液温的日变化。结果表明,DFT条件下樱桃番茄叶水势相对较高,且日变化平缓。在早春气候条件下,DFT系统中营养液液温昼夜大部分时间高于NFT系统,对环境中气象因子变化的响应程度较弱。因此,在栽培樱桃番茄时,DFT水培方式要优于NFT。     

气象因子对负水头供液下番茄日耗液量的敏感性分析

以番茄为试验材料,测定其在温室内基质栽培负水头供液条件下的日耗液量、空气相对湿度、气温和太阳辐射强度等气象因子数据,采用通径分析方法,建立多元回归模型,计算各气象因子对番茄日耗液量的直接通径系数、间接通径系数、决定系数和对回归方程估测可靠程度R~2的总贡献值。结果表明:作物系数和日平均太阳辐射强度的直接通径系数达到极显著水平(P0.01),2个因子的决定系数和对R~2总贡献值最大,是影响番茄日耗液量的重要因子;气象因子减少对番茄日耗液量影响的通径分析发现,敏感性最强的气象因子是日平均太阳辐射强度,其次分别是作物系数和日最高太阳辐射强度。     

Effect of plant development on turbulent fluxes of a screenhouse banana plantation

This study focuses on CO₂ and water vapor flux measurements, water use efficiency estimates and evapotranspiration modeling during the course of growth of a young banana crop in a screenhouse in northern Israel. An eddy covariance system was deployed at the center of the screenhouse during two growth periods of the banana crop: small and large plants. Results show that daily whole canopy evapotranspiration increased during the measurement period from 2.2 mm day^?1 for the smaller plants to 3.4 mm day^?1 for the larger plants. The increase in net daily CO₂ consumption doubled during the same period, from about 11 to 21.5 g m^?2 day^?1 per unit ground area. Water vapor and CO₂ fluxes per unit leaf area were independent of plant size and averaged with 51 and 0.29 g m^?2 day^?1, respectively. Consequently, water use efficiency, defined as the ratio between net vertical fluxes of CO₂ and water vapor, was nearly constant during growth of the plants. Evapotranspiration models provided more accurate predictions for larger than for smaller plants. This was due to inadequate treatment of the partial cover of young plants, which could be overcome by the use of a crop coefficient. A modified Penman–Monteith evapotranspiration model adapted to the screenhouse environment, applied here for the first time to a banana screenhouse, was in better agreement with the measurements than an open canopy model.     

Strategies to decrease water drainage and nitrate emission from soilless cultures of greenhouse tomato

In the spring-summer season of 2005 and 2006, we explored the influence of three fertigation strategies (A-C) on the water and nitrogen use efficiency of semi-closed rockwool culture of greenhouse tomato conducted using saline water (NaCl concentration of 9.5 mol m⁻³). The strategies under comparison were the following: (A) crop water uptake was compensated by refilling the mixing tank with nutrient solution at full strength (with the concentrations of macronutrients equal or close to the corresponding mean uptake concentrations as determined in previous studies) and the recirculating nutrient solution was flushed out whenever its electrical conductivity (EC) surpassed 4.5 dS m⁻¹ due to the accumulation of NaCl; (B) the refill nutrient solution had a variable EC in order to maintain a target value of 3.0 dS m⁻¹; due to the progressive accumulation of NaCl, the EC and macronutrient concentrations of the refill nutrient solution tended to decrease with time, thus resulting in a progressive nutrient depletion in the recycling water till N-NO₃⁻ content dropped below 1.0 mol m⁻³, when the nutrient solution was replaced; (C) likewise Strategy A, but when EC reached 4.5 dS m⁻¹, crop water uptake was compensated with fresh water only in order to reduce N-NO₃⁻ concentration below 1.0 mol m⁻³ before discharge. In 2005 an open (free-drain) system (Strategy D), where the plants were irrigated with full-strength nutrient solution without drainage water recycling, was also tested in order to verify the possible influence of NaCl accumulation and/or nutrient depletion in the root zone on crop performance. In the semi-closed systems conducted following strategies A, B or C, the nutrient solution was replaced, respectively, 10, 14 and 7 times in 2005, and in 19, 24 and 14 times in 2006, when the cultivation lasted 167 days instead of 84 days in 2005. In both years, there were no important differences in fruit yield and quality among the strategies under investigation. Strategy C produced the best results in terms of water use and drainage, while Strategy B was the most efficient procedure with regard to nitrogen use. In contrast to strategies A and D, the application of strategies B and C minimized nitrogen emissions and also resulted in N-NO₃⁻ concentrations in the effluents that were invariably lower than the limit (approximately 1.42 mol m⁻³) imposed to the N-NO₃⁻ concentration of wastewater discharged into surface water by the current legislation associated to the implementation of European Nitrate Directive in Italy.     

Short-term soil nutrient impact in a real-time drain field soil moisture–controlled SDI wastewater disposal system

The Alabama Black Belt area is widespread of Vertisols that are generally unsuitable for conventional septic systems; nonetheless, systems of this type have been widely used in this region for decades. In order to explore alternatives for these conventional septic systems, a real-time soil moisture–controlled subsurface drip irrigation wastewater disposal system was integrated and field tested in a Houston Vertisol for 1 year. This automated disposal system effectively limited wastewater disposal during unfavorably wet drain field conditions. However, the resulting nutrient supply into the drain field was observed to be in surplus to crop growth requirements. Soil cores taken at the conclusion of the 1-year study indicated evidence of nitrate and phosphorus leaching. Available nitrates in the top 100 cm of soil showed a decreasing trend but were higher than all other parallel controls. Soil crop-available phosphorous in the soil increased below the drip line, as result that may be ascribed to soil cracking that was not properly controlled at the test site. Despite the demonstrated deficiencies, integrating timing of wastewater disposal with soil moisture conditions can supplement existing municipal or decentralized community wastewater treatment disposal systems.     

草莓集装箱植物工厂设计与应用

集装箱植物工厂具有可移动性强、使用地域广泛、环境可控、高密度种植和周年生产等优点。简要叙述北京市农业机械研究所有限公司设计开发的一种草莓集装箱植物工厂,该植物工厂整体设计形式呈现模块化,重点围绕栽培系统、补光系统、环境调控系统、营养液循环系统及控制系统进行创新设计,并对栽培环境进行测试。该系统在北京市通州区进行运营生产,试验及运营结果表明:草莓集装箱植物工厂可以用于草莓栽培,为集装箱植物工厂种植栽培拓宽思路;该草莓集装箱植物工厂的设计方案合理,系统配置科学,光能利用率高,种植系统安装便捷,可提高资源利用效率,达到草莓的连年生产需求,为农户创造更高价值。      

控制环境植物生产系统中营养液的检测与控制技术

综述了控制环境植物生产系统中营养液检测与控制技术的研究进展,通过对几种现有营养液检测和控制技术进行分析比较,可以看到它们在不同程度上存在着成本高、可靠性较低和智能化程度低等问题。为满足控制环境植物生产未来发展要求,建立和开发融合智能控制技术、专家系统、网络技术、现场总线技术的营养液检测与控制新型系统具有实际应用意义。     

Time trend in reference evapotranspiration: analysis of a long series of agrometeorological measurements in Southern Italy

This study aims to evaluate the potential effects of the climatic variations on the reference evapotranspiration (ET₀) and, consequently, on the crop water requirements in the Apulian Tavoliere, one of the largest irrigated districts of Southern Italy. To reach this purpose, both climatic parameters (air temperature and rainfall) and estimated water requirements of ??processing?? tomato (among the most representative irrigated crops in the district since the mid-1970s and, therefore, chosen as a study-case) were analyzed in order to find out if a time trend exists or does not. The analysis covered the period from 1957 to 2008. The analysis showed that the rainfall amounts decreased (?3.4 mm per year in the analyzed period), while air temperature increased (0.18 °C and 0.25?°C per decade for minimum and maximum, respectively). As a consequence of the climatic variation during the considered period, a growth trend of the ET₀ (1.4 mm per year) and water deficit (3.2 mm per year) took place. As a consequence, the water amounts for irrigating the same crop in the considered period were growing. This increased consumption is in agreement with the perception of the farmers of the district but never documented. Through the FAO AquaCrop model, the tomato irrigation water requirements have been simulated during the considered period. The trend analysis of the seasonal evapotranspiration values simulated in 52 years confirmed the increase in tomato water requirements (0.7 mm per year).     

Effects of nutrition systems and irrigation programs on tomato in soilless culture

A research has been carried out to determine the effects of nutrition systems and irrigation programs on soilless grown tomato plants under polyethylene covered unheated greenhouse conditions. Two nutrition systems (open and closed) and three irrigation programs (high, medium and low) based on integrated indoor solar radiation triggering thresholds (1 MJ m⁻² [0.4 mm], 2 MJ m⁻² [0.8 mm] and 4 MJ m⁻² [1.6 mm]) in both nutrition systems have been tested. Applied and discharged nutrient solution, evapotranspiration, total and marketable yield have been measured and water use efficiency has been calculated. The highest total yield has been obtained from the open system with respectively 11% and 7.2% increases in autumn and spring. Applied nutrient solution volume and seasonal ET have been modified between 47.8-180.4 l plant⁻¹ and 41.7-145.5 l plant⁻¹ respectively during both growing seasons. As average of two growing seasons, respectively 826.5 and 330.6 m³ ha⁻¹ nutrient solutions have been discharged from the greenhouse in the open and closed systems. WUE of treatments varied between 33-55 kg m⁻³ in autumn and 26-35 kg m⁻³ in spring. Highest WUE values have been determined in 4 MJ m⁻² and in the closed system in both growing seasons. Results showed that the closed system and infrequent irrigations increased water use efficiency while decreasing yield and discharged nutrient solution.     

供液方式对番茄基质栽培盐分累积与养分利用率的影响

研究了开放式和封闭式供液方式下番茄根区盐分累积强度、盐分离子组成与比例变化特征、番茄养分含量特征、养分利用效率,分析了盐分累积对番茄产量和脐腐病患病率的影响。结果表明:开放式和封闭式根区电导率均随生育期的延长不断上升,开放式根区溶液电导率最高为11.9 m S/cm,封闭式为17.2 m S/cm;开放式和封闭式根区盐分离子组成由大到小为NO_3~-、K~+、Ca~(2+)、Mg~(2+)、SO_4~(2-)、H_2PO_4~-;开放式和封闭式根区溶液离子比例失衡特征与程度相当,均表现为K~+、Ca~(2+)和H_2PO_4~-比例降低,Mg~(2+)、NO_3~-和SO_4~(2-)比例上升;番茄产量随电导率的增加而降低,果实脐腐病患病率则随电导率和离子比例失衡程度的增加而增加,到采收后期开放式和封闭式果实脐腐病患病率分别高达29.7%和36.6%;与开放式相比,封闭式供液方式下番茄N、P、K、Ca、Mg和S养分利用率分别提高11.6%、19.6%、18.9%、11.8%、37.3%和15.9%。开放式和封闭式基质栽培根区均存在盐分累积和离子比例失衡现象,为控制根区离子比例失衡和果实缺Ca现象,在番茄进入坐果期后应提高K和P的投入,控制N、Mg和S的投入。从节水、节肥和保护环境角度出发,基质栽培应着力发展封闭式供液方式。     

基于LightGBM和处方数据的番茄病害诊断方法

为高效地挖掘植物病害处方数据并辅助精准诊断,以番茄病毒病、番茄晚疫病、番茄灰霉病3种病害为研究对象,构建基于贝叶斯优化LightGBM的番茄病害智能诊断模型,探索作物病害处方数据挖掘及其精准诊断。重点对处方原数据（文本数据标签和One-hot编码等）进行预处理,以基于Wrapper的递归特征消除法进一步提取作物病害处方数据的特征;利用基于LightGBM算法构建番茄病害诊断模型,并与K近邻（KNN）、决策树（DT）、支持向量机（SVM）、随机森林（RF）、梯度提升决策树（GDBT）、AdaBoost和XGBoost常见机器学习模型运行结果进行比较分析并进行优化;设计基于LightGBM模型的Android手机端植物医生病害诊断APP。实验结果表明,基于贝叶斯优化的LightGBM模型综合诊断准确率可达到89.11%,比其他7种机器学习模型的诊断准确率平均高3.65个百分点;同时特征选择后的LightGBM模型在保证模型准确率的基础上降低了前期数据收集难度,模型综合准确率提高至89.34%,其中番茄病毒病的诊断精确度和F1值均达到96%以上,运行时间减少了47.73%;最后通过番茄叶霉病和番茄早疫病两种病害对本文模型进行了泛化能力测试,实验结果表明该模型具有较强的泛化能力和实用性。基于LightGBM模型设计的APP可以实现用户人群友好的交互式可视化且满足实际诊断需求。     

Effects of untreated and treated wastewater irrigation on some chemical properties of cauliflower (Brassica olerecea L. var. botrytis) and red cabbage (Brassica olerecea L. var. rubra) grown on calcareous soil in Turkey

The use of wastewater for irrigation is increasingly being considered as a technical solution to minimize soil degradation and to restore nutrient content of soils. The aims of this study were to test if wastewater irrigation could improve soil fertility without affecting the quality of soils and plants. A field experiment was conducted in 2006 to investigate the effects of irrigation with untreated, and preliminary and primary treated wastewater on macro- and micronutrient distribution within the soil profile, yield and mineral content of cauliflower and red cabbage plants grown on a calcareous Aridisol in eastern Anatolia, Erzurum province, Turkey. Wastewater irrigation affected significantly soil chemical properties in the 0–30 cm soil layer and plant nutrient content after harvest. Application of wastewater increased soil salinity, organic matter, exchangeable Na, K, Ca, Mg, plant available phosphorus and microelements, and decreased soil pH. Wastewater irrigation treatments also increased the yield as well as N, P, K, Ca, Mg, Na, Fe, Mn, Zn, Cu, Pb, Ni and Cd contents of cauliflower and red cabbage plants. The highest yield, macro- and micronutrient uptake of cauliflower and red cabbage plants were obtained with the untreated wastewater. Undesirable side effects such as heavy metal contamination in soil and plant, and salinity were not observed with the application of wastewater. It can be concluded that untreated wastewater can be used confidently, in the short term, in agricultural land, while primary treated wastewater can be used in sustainable agriculture in the long term.     

Salinity's influence on boron toxicity in broccoli: I. Impacts on yield, biomass distribution, and water use

Research addressing the interactive effects of the dual plant stress factors, excess boron and salinity, on crop productivity has expanded considerably over the past few years. The purpose of this research was to determine and quantify the interactive effects of salinity, salt composition and boron (B) on broccoli (Brassica oleracea L.) fresh head yield, biomass distribution and consumptive water use. A greenhouse experiment was conducted using a sand-tank system in which salinity-B treatment solutions were supplemented with a complete nutrient solution. Chloride-dominated salinity and salinity characteristic of California's San Joaquin valley (SJV), or sulfate-dominated, were tested at ECw levels of 2, 12 and 19 dS m⁻¹. Each salinity treatment consisted of boron treatments of 0.5, 12 and 24 mg L⁻¹. Plant head yield and shoot biomass were significantly reduced by both salinity and boron. Moreover, there was a significant salinity-boron interaction where increased boron was relatively less detrimental under saline conditions. These results occurred regardless of the salt solution composition (chloride or SJV). We found that an ‘interactive model’ better described our growth response than did a ‘single stressor yield model’. Salinity and boron also affected the distribution of shoot biomass. Regardless of salt type, as salinity increased, the fraction of biomass as leaf tissue increased while the biomass fraction as stems and particularly heads, decreased. However, an increase in B at low or high salinity with the SJV composition, decreased the head biomass fraction. This was not observed at moderate salinity, nor on any plants treated with Cl-dominated salinity. Cumulative evapotranspiration (ET) was also reduced by increased salinity but water use efficiency (WUE) was not. WUE was reduced by increased boron, but only at the low and high salinity levels.     

基于计算机视觉的番茄营养元素亏缺识别研究

针对番茄种植中营养元素的亏缺,肉眼不易进行识别判断的问题,以番茄亏缺氮、镁营养元素为研究对象,利用CDD摄像机采集研究图像,将图像进行处理后,提取分割出可以表现亏缺氮、镁的特征图像,提取颜色特征和纹理特征,并通过遗传算法进行优化。同时,将优化的特征进行组合分析,以此建立特征模型,并确定特征向量用于分析提取出来的特征参数,建立的特征模型,并采用二叉树形式对番茄缺素识别进行研究。仿真试验结果表明:番茄种植中,采用计算机视觉技术识别亏缺氮、镁营养元素,识别准确率可以满足生产需要。种植户可以根据检测结果对番茄进行区别施肥,既能满足番茄生长的需要,又不会造成资源的浪费,符合农业可持续发展的要求。     

Cotton response to short-term waterlogging imposed with a water-table gradient facility

Waterlogging of field-grown plants can occur either when the surface of slowly permeable soils is inundated or when the water-table rises so that part or all of the root zone is saturated. The effects of short-term waterlogging on field crop growth and yield have not been well quantified. To study these effects, a sloping, repacked slab of soil underlain by an impermeable membrane was constructed. The sloping plot (45 m long × 6 m wide × 0.6 m deep) was flooded by introducing water through a drainage network and gravel bed so that a gradient of water-table depth ranging from 0.1 m above to 0.66 m below the soil surface was obtained. Cotton (Gossypium hirsutum cv. Deltapine 61) was grown in the facility and the responses of plants to two periods of flooding were monitored. Soil matric potential and oxygen partial pressure data indicated that plants were subjected to a continuum of conditions ranging from complete inundation to no water-table within the root zone.The first flooding event began 82 days after sowing just prior to the main flowering period. Plants with more than 55% of their root system below the water table showed decreased leaf growth about 3–4 days after the flooding started with visible wilt symptoms and decreased leaf water potential observed on days 7 and 8 of flooding. In the second flooding event (131 days after sowing), plants showed no signs of waterlogging stress apart from reduced leaf growth despite 16 days of flooding. Plant growth response was probably more the result of reduced nutrient status (mostly nitrate) rather than a water deficit stress effect with some plant acclimatization between the first and second flooding event. Seed cotton yield data indicated that the observed stress during the first flooding event may have promoted reproductive growth in plants where the short-term water-table was greater than 0.2 m below the soil surface.     

基于3D视觉的番茄授粉花朵定位方法

为了给设施番茄授粉机器人授粉提供可靠的定位技术,提出了一种基于3D视觉的番茄花朵定位方法。采用RGB-D结构光相机快速获取温室内番茄植株的彩色图和深度图信息,通过YOLO v4 (You only look once)神经网络对植株上番茄花束进行目标检测,并提取出授粉花束在图像中的二维区域;使用主动对齐方式结合PCL进行彩色图像和深度图像的粗对齐,利用区域内色系单视角线性遍历方法对提取的花束区域进行精配准,获得番茄花束的空间高精度点云信息;再使用统计滤波法剔除点云信息离群点后,结合双向均值法计算花束3D box的授粉质心坐标。定位试验结果表明,该方法在温室环境中能成功对花束进行识别定位,神经网络平均检测精度达97.67%,完成单幅图像花束提取时间为14.95ms,算法获取授粉质心坐标的平均时间约为300ms。后期在温室内验证,在花束被遮挡小于80%时,算法能够对番茄花朵进行精准定位,并成功执行授粉动作,为番茄授粉机器人提供了一种新的授粉点定位方法。