[Objective]The paper was to study the effects of mowing on nutrients of forage mulberry.[Method]With forage mulberry as the research object,the effects of mowing stubbles and mowing stages on nutrient content of forag...[Objective]The paper was to study the effects of mowing on nutrients of forage mulberry.[Method]With forage mulberry as the research object,the effects of mowing stubbles and mowing stages on nutrient content of forage mulberry were studied.[Result]With the increase of mowing frequency,the crude protein and crude ash content of forage mulberry decreased,but the crude fiber content increased,and the quality of forage mulberry decreased correspondingly.The crude protein content decreased most obviously from 25.78%in the first stubble to 21.63%in the third stubble.In the first and third stubble,the nutrients at 28±1 d after the last mowing were higher than that at 38±1 d after the last mowing.That is,with the growth of forage mulberry,the accumulated nutrients were also used for their own growth.[Conclusion]From the perspective of nutrient content,the forage mulberry mowed earlier has higher nutritional value and better palatability.展开更多
Mowing is an important land management practice for natural semi-arid regions. A growing body of empirical evidence shows that different mowing regimes affect the functioning of grassland ecosystems. However, the resp...Mowing is an important land management practice for natural semi-arid regions. A growing body of empirical evidence shows that different mowing regimes affect the functioning of grassland ecosystems. However, the responses of plant functional traits to long-term mowing and their allometric scaling under long-term mowing are poorly understood. For a better understanding of the effects of mowing on grassland ecosystems, we analyzed the allometric traits of leaves and stems of Leymus chinensis （Trin.） Tzvel., a dominant grass species in eastern Eurasian temperate grassland, at different mowing intensities （no clipping, clipping once every two years, once a year and twice a year）. Experiments were conducted on plots established over a decade ago in a typical steppe of Xilinhot, Inner Mongolia, China. Results showed that most of the functional traits of L. chinensis decreased with the increased mowing intensity. The responses of leaves and stems to long-term mowing were asymmetric, in which leaf traits were more stable than stem traits. Also significant allometric relationships were found among most of the plant functional traits under the four mowing treatments. Sensitive traits of L. chinensis （e.g. leaf length and stem length） were primary indicators associated with aboveground biomass decline under high mowing intensity. In conclusion, the allometric growth of different functional traits of L. chinensis varies with different long-term mowing practices, which is likely to be a strategy used by the plant to adapt to the mowing disturbances.展开更多
The soil biological activity of mountain meadows is a significant factor that determines the health and utility of these regions. The climax stage of this area is forest, but to maintain semi-natural grassland, which ...The soil biological activity of mountain meadows is a significant factor that determines the health and utility of these regions. The climax stage of this area is forest, but to maintain semi-natural grassland, which is characterised by high biodiversity,low-intensity land use(mowing or grazing) is necessarily required. To understand the effect of various mowing regimes on the soil biological activity and plants, the soil microbial activity(microbial biomass carbon, dehydrogenase activity and number of the cultivable fraction of soil microbial community),annelids community(density and species composition earthworms and enchytraeids) and plant species composition were investigated. The study area was located in the Pieniny National Park in the Carpathian Mountains, in a meadow belonging to the association Dactylis glomerata-Poa trivialis. The investigated variants were divided according to mowing regime:traditional scything – hand mowing(HM), mechanical mowing(MM), or the abandonment of mowing – nonmowing(NM). The microbial activities(expressed by,e.g. microbial biomass carbon and the number of phosphorus bacteria) were affected by the mowing regime. The density of earthworms was higher in the HM and MM than in the NM variants. The largest changes in plant species composition were caused by the abandonment of mowing(NM). The mean number of plant species was positively correlated with soil moisture, earthworm density, and microbial activity(expressed indirectly by dehydrogenases activity). The soil microbial community, such as vegetative bacteria forms and ammonifying bacteria,were positively associated with pH value, and the microbial and total organic carbon content. The results presented here indicate that there is no single form of optimal management for all living organisms.Decisions about mowing regimes, or abandonment of use, should be preceded by multi-aspect studies,including plants and soil biota.展开更多
Grazing and mowing are two common practices for grassland management. Mowing is now recommended as an alternative to the traditional grazing for grassland conservation in Inner Mongolia, northern China. Many studies h...Grazing and mowing are two common practices for grassland management. Mowing is now recommended as an alternative to the traditional grazing for grassland conservation in Inner Mongolia, northern China. Many studies have revealed that mowing may alter ecosystem properties in various ways. However, little attention has been paid to the effect of mowing on trace gas emissions, especially on N2O flux. We conducted an experiment to investigate the effects of mowing on N2O fluxes from the semiarid grassland in Inner Mongolia. The mowing experiment, which started in 2003, comprised four mowing intensity treatments, i.e. mowing heights at 2 cm, 5 cm, 10 cm and 15 cm above the soil surface, respectively, and a control (non-mowing), with five replicates. Gas fluxes were measured through a closed static chamber technique during the growing seasons (usually from May to September, depending on local climate at the time) of 2008 and 2009, respectively. Our results showed that mowing decreased N2O emissions, above-ground biomass and total litter production. N2O emissions were greater in May and June than in other sampling periods, regardless of treatments (P 2O fluxes were mainly driven by variations in soil moisture, except in July and August. In July and August, above-ground plant biomass and soil total nitrogen became the major drivers of N2O fluxes under the soil temperatures between 16 ° C and 18 ° C. Though there were some uncertainties due to the low frequency of N2O flux measurement, our study mainly indicated that 5 cm mowing height might decrease N2O emissions in grasslands during the growing season, and soil properties affected the magnitude of the reduction.展开更多
Effects of mowing on the composition and diversity of grasslands varied with climate change(e.g.,precipitation and temperature).However,the interactive effects of long-term mowing and climate change on the diversity a...Effects of mowing on the composition and diversity of grasslands varied with climate change(e.g.,precipitation and temperature).However,the interactive effects of long-term mowing and climate change on the diversity and stability of leguminous and non-leguminous species in the semi-arid grasslands are largely unknown.Here,we used in situ monitoring data from 1982 to 2011 to examine the effects of continuous mowing and climate change on the plant biomass and diversity of leguminous and non-leguminous species,and soil total nitrogen in the typical semi-arid grasslands of northern China.Results showed that the biomass and diversity of leguminous species significantly decreased with the increasing in the biomass and diversity of non-leguminous species during the 30-a period.Variations in biomass were mainly affected by the long-term mowing,while variations in diversity were mainly explained by the climate change.Moreover,the normalized change rates of diversity in leguminous species were significantly higher than those in non-leguminous species.Mowing and temperature together contributed to the diversity changes of leguminous species,with mowing accounting for 50.0%and temperature 28.0%.Temporal stability of leguminous species was substantially lower than that of non-leguminous species.Consequently,soil total nitrogen decreased in the 2000s compared with the 1980s.These findings demonstrated that leguminous species were more sensitive to the long-term mowing and climate change than non-leguminous species in the semi-arid grasslands.Thus,reseeding appropriate leguminous plants when mowing in the semi-arid grasslands may be a better strategy to improve nitrogen levels of grassland ecosystems and maintain ecosystem biodiversity.展开更多
Based on ground observation and remote sensing monitoring data,regions appropriate for mowing herbage in the dog days and autumn were predicted and assessed quantitatively,and regions appropriate for mowing herbage we...Based on ground observation and remote sensing monitoring data,regions appropriate for mowing herbage in the dog days and autumn were predicted and assessed quantitatively,and regions appropriate for mowing herbage were divided into comparatively suitable,suitable and optimum areas for mowing herbage. Servicing products can be spread to agricultural and pastoral areas via short message service,broadcasting,radio and network in time,and good service effect can be obtained. However,under the effect of precision rate of medium-term prediction areas,the prediction of some rainfall areas deviates from the actual rainfall areas. After timely correction of weather prediction in 24 and 48 hours,pastoral weather forecast service in mowing herbage regions is improved obviously. Herbage mowed in the dog days is rich in nutrients,but it is rainy in the period,which brings certain difficulties to herbage mowing and airing. Therefore,herdsmen in various regions should pay more attention to local weather prediction and regulate mowing herbage periods in time,and autumn herbage can be mowed if the weather is not suitable for mowing herbage in the dog days.展开更多
The mowing height and mowing frequency are the key factors that affect the turf quality and turfgrass growing ability. The purpose of this study was to reveal the alternative effcient interaction between mowing height...The mowing height and mowing frequency are the key factors that affect the turf quality and turfgrass growing ability. The purpose of this study was to reveal the alternative effcient interaction between mowing height and mowing frequency in Kentucky bluegrass turf management. The Kentucky bluegrass cultivar ＇Kenblue＇ （Poa pratensis L.） was used to evaluate the interactions of mowing heights （H1, H4 and H7） and mowing frequencies （F2, F5 and F8） on the performance of turfgrass and turf physiological responses under the feld condition. The results showed that the treatment of H7×F8 had perfect infuence on the turf texture, root elongation, and also enhanced soluble sugar and free proline content in plants. While, the turf quality, color, uniformity and the increasing tiller numbers were performed more superior in the treatment of H4×F5 than other treatments. In all the interacting treatments, the relation between leaf green index and number of shoots （dm2） was positively correlated, thus, it could be speculated that the proper mowing height with frequency had a strong impact on the increasing of turfgrass tillers. On the whole, the interaction of H4×F5 on turf quality was the most excellent treatment in this experiment.展开更多
Spartina alterniflora is a major invasive plant in the coastal tideland of China that has serious negative impact on local economy and ecology.This paper took Hugang New Town in Xiangshan County,Zhejiang Province for ...Spartina alterniflora is a major invasive plant in the coastal tideland of China that has serious negative impact on local economy and ecology.This paper took Hugang New Town in Xiangshan County,Zhejiang Province for example,concluded the method of controlling S.alterniflora by integrating mechanical mowing and hydraulic reclamation in view of the threatening expansion of this species and serious land shortage in the local area.Moreover,it explored the ecological planning method of reclamation area based on this method.In view of the ecological sensitivity of the reclamation area,urban ecological planning concept was introduced into both processes of the development:penetrative reclamation and urban planning.The reclamation project has to meet such requirements as site selection,scope,water surface ratio etc.,the planning ensures the ecological sustainability in functional orientation,spatial structure,green space system and development intensity.展开更多
Ground dwelling insects,spiders,and other arthropods play an important role in agroecosystems as predators and saprophytic organisms.Their presence on the soil surface helps the biological control of pests,enhances or...Ground dwelling insects,spiders,and other arthropods play an important role in agroecosystems as predators and saprophytic organisms.Their presence on the soil surface helps the biological control of pests,enhances organic matter decomposition and promotes biodiversity.Soil disturbance,particularly tilling and mowing has greatly affected the assemblage and abundance of epigeic arthropods.This study aimed to determine the effects of herbaceous vegetation cover mowing height on arthropods abundance and structure in olive orchards.The experimental site was divided into three zones(Z1,Z2,and Z3)regarding mowing heights(0 cm,10 cm,and 15 cm).This research was done in 2019 from the beginning of May untill the end of September.During this research,1490 individuals were recorded belonging to 6 classes,11 orders and 13 families.The number of individuals was higher in the zones Z2 and Z3 comparing with Z1.The highest number of individuals showed woodlices(Isopoda)comprising 67,5%of all individuals collected.There were significant differences in the number of Carabidae,Bleteliidae and Forficulidae between the zones of research.Unlike Forficulidae,higher heights of mown positively affected the population of Carabidae and Blateliidae.展开更多
Path planning and task allocation are the key technologies of multi-machine collaboration.Current approaches focus on field operations,but actually orchard operations are also a promising area.In order to improve the ...Path planning and task allocation are the key technologies of multi-machine collaboration.Current approaches focus on field operations,but actually orchard operations are also a promising area.In order to improve the efficiency of orchard mowing,a cooperative operation scheduling method was proposed for multiple mowing robots in the dwarf dense planting orchards.It aims to optimize the non-working time of the robot in the intra-plot paths and inter-plot routes.Firstly,a genetic algorithm with multi-mutation and improved circle algorithm(MC-GA)was proposed for path planning.Subsequently,an ant colony optimization algorithm with mixed operator(Mix-ACO)was proposed for task allocation.With regard to the shortage of robots,a local search algorithm was designed to reassign work routes.Simulation experiment results show that MC-GA can significantly reduce the total turning time and the number of reverses for the robot.Mix-ACO can effectively allocate tasks by generating multiple work routes and reduce the total transfer time for the robot fleet.When the number of work routes exceeds the number of mowing robots,the local search algorithm can reasonably reallocate multiple routes to robots,reducing the difference in task completion time of the robot fleet.Field experiment results indicate that compared with the reciprocating method,SADG,and GA,MC-GA can reduce fuel consumption rate by 1.55%-8.69%and operation time by 84-776 s.Compared with ACO,Mix-ACO can reduce the total transfer time by 130 s.The research results provide a more reasonable scheduling method for the cooperative operation of multiple mowing robots.展开更多
Background Numerous previous studies have investigated the efects of grazing or mowing on plant community diversity and productivity in grasslands;however,few have deliberately made sound comparison between the efects...Background Numerous previous studies have investigated the efects of grazing or mowing on plant community diversity and productivity in grasslands;however,few have deliberately made sound comparison between the efects of paralleled grazing and mowing in terms of biomass removal on plant community diversity and productivity in semi-arid grasslands.Using a 4-year feld manipulative experiment,we investigated how moderate intensity of domestic cattle(Bos taurus)grazing and mowing can afect plant community diversity and productivity in the semiarid grassland in northeastern China,with the attempt to fnd a better management practice.Results Our results showed that grazing signifcantly increased plant species richness by 9%but did not change plant biomass,whereas mowing did not alter plant species richness but signifcantly reduced total plant biomass and root biomass by 18%and 12%,respectively,and signifcantly altered plant community composition,refected by 32%increase of grass to forb biomass ratio.Conclusions Cattle grazing exerted a neutral efect on plant biomass and a positive efect on plant species richness,suggesting that cattle grazing is a better management practice compared to the paralleled mowing,but longer-term experiments are needed to explore the lasting infuences of grazing vs.mowing on grassland productivity,plant diversity and the sustainability.展开更多
Background:Only a few decades ago,colorful,small-scale,heterogeneous,and species-rich hay meadows or extensive pastures were common,but have often been replaced by species-poor,uniform,large-scale multicut meadows.Tec...Background:Only a few decades ago,colorful,small-scale,heterogeneous,and species-rich hay meadows or extensive pastures were common,but have often been replaced by species-poor,uniform,large-scale multicut meadows.Technological advancements and improved efficiency in grassland management have come at the cost of biodiversity.Methods:In Germany,150 grassland plots have been investigated since 2006.Using these extensive data,we propose a new compound index for estimating the site-specific mowing intensity in order to facilitate assessment of the impact of mowing intensity on biodiversity and ecosystem processes.Our index integrates the various qualitative components of mowing machine type,mowing height and use of a conditioner,with the annual number of cuts.Results:The newly proposed index achieves a much finer gradation of mowing intensity compared to the previous quantification based on the number of cuts only.Furthermore,a decrease in plant and arthropod species was observed at higher mowing intensity.Conclusions:The proposed mowing intensity index offers enhanced precision in calculations and can easily be integrated into assessments of land-use intensity in grasslands.Further,it could serve as a basis for providing subsidies to farmers,who adopt low-impact mowing practices.展开更多
Background Caloric value is an important indicator of grassland ecosystem function,but the response of caloric value to nitrogen(N)addition and mowing is still unclear.We explored the adaptive changes of plant caloric...Background Caloric value is an important indicator of grassland ecosystem function,but the response of caloric value to nitrogen(N)addition and mowing is still unclear.We explored the adaptive changes of plant caloric value and energy standing crop along a N addition gradient after six-year NH_(4)NO_(3) addition and mowing treatments in an Inner Mongolian temperate meadow steppe in northern China.Results We found that the response of plant caloric value to N addition at different organizational levels was diverse.The caloric value of legumes increased linearly with N addition rates.The caloric value of grasses exhibited a non-linear response trend,initially increasing followed by saturation or decrease,with a N response threshold present.Due to the dominance of grass species,the caloric value at the community level followed a similar pattern to that of the grasses along the N addition gradient.Under mowing,the caloric value of plants at each organizational level increased and usually mowing enhanced the N response threshold.Amongst these,the N response threshold of Leymus chinensis increased from 3.302 to 5.443 g N m^(−2) yr^(−1),grasses increased from 4.414 to 5.746 g N m^(−2) yr^(−1),and community increased from 5.373 to 9.216 g N m^(−2) yr^(−1).Under non-mowing treatment,the N response thresholds of the most dominant species,Leymus chinensis,and community energy standing crop were 10.001 and 15.119 g N m^(−2) yr^(−1),respectively.Under mowing,the energy standing crops showed a linear increasing trend.Conclusions N response thresholds of plant caloric value and energy standing crop vary at different organizational levels(community>functional group>species).The results reveal varying regulatory capabilities of plants on the ecological environment at different organizational levels.These findings enhance our understanding of plant-environment interactions in grassland ecosystems under N deposition from an energy perspective,which is of great significance to clarify the response mechanism of grassland ecosystem structure and function to N deposition.展开更多
Aims Vegetation type is important in determining variations in soil carbon(C)efflux under grassland managements.This study was conducted to examine the effects of mowing and nitrogen(N)addition on soil respiration and...Aims Vegetation type is important in determining variations in soil carbon(C)efflux under grassland managements.This study was conducted to examine the effects of mowing and nitrogen(N)addition on soil respiration and their dependences upon vegetation types in an oldfield grassland of northern China.Methods Soil respiration,temperature,moisture and aboveground net primary productivity(ANPP)and belowground net primary productivity(BNPP)were examined in response to mowing and N addition among the three patches dominated by different species(named as grass,forb and mixed patches,respectively)in the growing seasons(May–October)from 2006 to 2008.Important Findings Across the 3 years,soil respiration in the grass patch was greater than those in the forb and mixed patches,which could have been ascribed to the higher soil moisture(SM)in the grass patch.Mowing had no impact on soil respiration due to unaltered SM and plant growth.Soil respiration was stimulated by 6.53%under N addition,and the enhancement was statistically significant in 2006 but not in 2007 or 2008 because of the limited water availability in the later 2 years.There were no interactive effects between mowing and N addition on soil respiration.Soil respiration showed positive dependence upon SM,ANPP and BNPP across plots.The results suggest that soil water availability and plant growth could be the primary factors in controlling the temporal and spatial variations in soil respiration and its response to different treatments.Our observations indicate that grassland managements(i.e.mowing for hay once a year)may have little influence on soil respiration of the oldfield grassland in northern China.展开更多
To assess the impacts of mowing on N2O and CH4 fluxes emissions from the meadow-steppe grasslands of Inner Mongolia, China, two regimes were investigated： unmown since 2005 （UM）, and mown once every three years sin...To assess the impacts of mowing on N2O and CH4 fluxes emissions from the meadow-steppe grasslands of Inner Mongolia, China, two regimes were investigated： unmown since 2005 （UM）, and mown once every three years since 2009 （M3）. On-site measurements were conducted continuously during a year-round period （August 2011 to August 2012）. During the observation period, three diurnal cycles were also measured. In addition, a targeted laboratory experiment was conducted to make up for the few measurements in winter. A large pulse of N20 emissions related to freeze-thaw cycles was observed at M3 during the spring thaw. Results showed that the meadow-steppes played a role as a sink for CH4 and a source for N2O. Significantly lower mean CH4 uptake at UM （40.3 gg C.m 2.hl） as compared to M3 （70.5 gg C .m-2.h-1） （p 〈 0.01）, and significantly higher mean N2O efftux at UM （6.3 gg N. m2. hI） as compared to M3 （4.3μg N.m2.h 1） （p〈0.05） were found. The laboratory experiment results revealed that mowing changed the soil conditions that favor the activity of denitrifiers during thawing periods. The CH4 and N2O fluxes were significantly correlated with soil temperature （p〈0.05）. Mowing affected CH4 uptake and N2O emission mainly through its effect on vegetation types and some soil properties, such as soil inorganic N content, soil temperature, and soil moisre content, while soil inorganic N and moisture were not leading factors. Our results also suggested that mowing could mitigate the potential global warming in terms of CH4 uptake and N2O emissions.展开更多
Aims Competition among plants in a community usually depends on their nitrogen(N)-use efficiency(NUE)and water-use efficiency(WUE)in arid and semi-arid regions.Artemisia frigida is an indicator species in heavily degr...Aims Competition among plants in a community usually depends on their nitrogen(N)-use efficiency(NUE)and water-use efficiency(WUE)in arid and semi-arid regions.Artemisia frigida is an indicator species in heavily degraded grassland,however,how its NUE and WUE respond to N addition in different successional stages is still unclear,especially with mowing,a common management practice in semi-arid grasslands.Methods Based on a long-term controlled experiment with N addition and mowing in an abandoned cropland from 2006 to 2013,we investigated the NUE and WUE oi A.frigida in two patches(i.e.grass and herb patches)in 2013 which represented two potential successional stages from herb to grass communities.The coverage of A.frigida was higher(about 50%)in the herb patch than in the grass patch(about 10%).Stable isotopic C(δ^(13)C)and N(δ^(15)N)as well as C and N pools were measured in plants and soils.NUE was calculated as leaf C/N,and leafδ^(13)C values were used as a proxy for WUE.Important Findings N addition did not affect WUE of A.frigida,but significantly decreased NUE by 42.9%and 26.6%in grass and herb patches,respectively.The response of NUE to N addition was related to altering utilization of different N sources(NH_(4)^(+)vs.NO_(3)^(-))by A.frigida according to the changed relationship between leafδ^(15)N/soil 615N and NUE.Mowing had no effect on NUE regardless of N addition,but significantly increased WUE by 2.3%for A.frigida without N addition in the grass patch.The addition of N reduced the positive effect of mowing on its WUE in grass patch.Our results suggested that decreased NUE and/or WUE of A.frigida under mowing and N addition could reduce its competition,and further accelerate restoration succession from the abandoned cropland to natural grassland in the semi-arid region.展开更多
There is little experimental field evidence on how multiple essential land use intensification drivers(LUIDs),such as nitrogen(N)fertilization and mowing,interact to control ecosystem multifunctionality.Here,we conduc...There is little experimental field evidence on how multiple essential land use intensification drivers(LUIDs),such as nitrogen(N)fertilization and mowing,interact to control ecosystem multifunctionality.Here,we conducted a 4-year field experiment in a meadow steppe in northeast China and evaluated the direct and indirect effects of mowing and N fertilization on a range of ecosystemfunctions associated with nutrient cycle,carbon stocks,and organic matter decomposition during the past 2 years of the experiment(2017 and 2018).Mowing had negative effects on the ecosystem multifunctionality index(EMF),carbon(C)cycle multifunctionality index(CCMF),and N cycle multifunctionality index(NCMF)in 2 years of sampling.However,in general,the responses of multifunctionality to N fertilization were ratespecific and year-dependent.N fertilization had positive effects on EMF,CCMF,NCMF,and phosphorus(P)cycle multifunctionality index(PCMF)in 2017,with the higher precipitation rate during the growing season,which was likely associated with the strong monsoon season.However,in 2018,EMF,CCMF,and NCMF increased at the lower N fertilization levels(£10 g N m^(-2) yr^(-1)),but decreased at higher N rates.N fertilization had consistent positive effects on PCMF in the 2 years of sampling.The effects of land use drivers on multifunctionality were indirectly influenced by bacterial biomass,plant richness,and soil moisture changes.Our results also indicated that the impacts of land use drivers on multifunctionality played an important role in maintaining a range of functions at low levels of functioning(<50% functional threshold).Low N fertilization levels(£10 g N m^(-2) yr^(-1))were able to reduce the negative effects of mowing on ecosystem multifunctionality while promoting plant biomass(food for livestock)and C storage.These findings are useful for designing practical strategies toward promoting multifunctionality by managing multiple LUIDs in a meadow steppe.展开更多
To avoid colliding with trees during its operation,a lawn mower robot must detect the trees.Existing tree detection methods suffer from low detection accuracy(missed detection)and the lack of a lightweight model.In th...To avoid colliding with trees during its operation,a lawn mower robot must detect the trees.Existing tree detection methods suffer from low detection accuracy(missed detection)and the lack of a lightweight model.In this study,a dataset of trees was constructed on the basis of a real lawn environment.According to the theory of channel incremental depthwise convolution and residual suppression,the Embedded-A module is proposed,which expands the depth of the feature map twice to form a residual structure to improve the lightweight degree of the model.According to residual fusion theory,the Embedded-B module is proposed,which improves the accuracy of feature-map downsampling by depthwise convolution and pooling fusion.The Embedded YOLO object detection network is formed by stacking the embedded modules and the fusion of feature maps of different resolutions.Experimental results on the testing set show that the Embedded YOLO tree detection algorithm has 84.17%and 69.91%average precision values respectively for trunk and spherical tree,and 77.04% mean average precision value.The number of convolution parameters is 1.78×10^(6),and the calculation amount is 3.85 billion float operations per second.The size of weight file is 7.11MB,and the detection speed can reach 179 frame/s.This study provides a theoretical basis for the lightweight application of the object detection algorithm based on deep learning for lawn mower robots.展开更多
基金Supported by Performance Incentive and Guidance Special Project of Scientific Research Institutes in Chongqing City(19537)Special Research and Development Project of Chongqing Rongchang Agriculture and Animal Husbandry High-tech Industry(20209)Diversification Development Research Office of Chongqing Modern Mountain Characteristic Benefit Agriculture(Sericulture)Technology System(18304).
文摘[Objective]The paper was to study the effects of mowing on nutrients of forage mulberry.[Method]With forage mulberry as the research object,the effects of mowing stubbles and mowing stages on nutrient content of forage mulberry were studied.[Result]With the increase of mowing frequency,the crude protein and crude ash content of forage mulberry decreased,but the crude fiber content increased,and the quality of forage mulberry decreased correspondingly.The crude protein content decreased most obviously from 25.78%in the first stubble to 21.63%in the third stubble.In the first and third stubble,the nutrients at 28±1 d after the last mowing were higher than that at 38±1 d after the last mowing.That is,with the growth of forage mulberry,the accumulated nutrients were also used for their own growth.[Conclusion]From the perspective of nutrient content,the forage mulberry mowed earlier has higher nutritional value and better palatability.
基金financially supported by the National Basic Research Program of China(2014CB138806)the Natural Science Fund Project of Inner Mongolia(2015ZD02)+2 种基金the International Science and Technology Cooperation Program of China(2013DFR30760)the National Scientific and Technical Support Program of China(2012BAD12B02)the Special Fund for Agro-scientific Research in the Public Interest(201303060)
文摘Mowing is an important land management practice for natural semi-arid regions. A growing body of empirical evidence shows that different mowing regimes affect the functioning of grassland ecosystems. However, the responses of plant functional traits to long-term mowing and their allometric scaling under long-term mowing are poorly understood. For a better understanding of the effects of mowing on grassland ecosystems, we analyzed the allometric traits of leaves and stems of Leymus chinensis （Trin.） Tzvel., a dominant grass species in eastern Eurasian temperate grassland, at different mowing intensities （no clipping, clipping once every two years, once a year and twice a year）. Experiments were conducted on plots established over a decade ago in a typical steppe of Xilinhot, Inner Mongolia, China. Results showed that most of the functional traits of L. chinensis decreased with the increased mowing intensity. The responses of leaves and stems to long-term mowing were asymmetric, in which leaf traits were more stable than stem traits. Also significant allometric relationships were found among most of the plant functional traits under the four mowing treatments. Sensitive traits of L. chinensis （e.g. leaf length and stem length） were primary indicators associated with aboveground biomass decline under high mowing intensity. In conclusion, the allometric growth of different functional traits of L. chinensis varies with different long-term mowing practices, which is likely to be a strategy used by the plant to adapt to the mowing disturbances.
基金financed by the Ministry of Science and High Education of the Republic of Poland(No.BM–4162/15,4175/17 and DS3337/KEKiOP)
文摘The soil biological activity of mountain meadows is a significant factor that determines the health and utility of these regions. The climax stage of this area is forest, but to maintain semi-natural grassland, which is characterised by high biodiversity,low-intensity land use(mowing or grazing) is necessarily required. To understand the effect of various mowing regimes on the soil biological activity and plants, the soil microbial activity(microbial biomass carbon, dehydrogenase activity and number of the cultivable fraction of soil microbial community),annelids community(density and species composition earthworms and enchytraeids) and plant species composition were investigated. The study area was located in the Pieniny National Park in the Carpathian Mountains, in a meadow belonging to the association Dactylis glomerata-Poa trivialis. The investigated variants were divided according to mowing regime:traditional scything – hand mowing(HM), mechanical mowing(MM), or the abandonment of mowing – nonmowing(NM). The microbial activities(expressed by,e.g. microbial biomass carbon and the number of phosphorus bacteria) were affected by the mowing regime. The density of earthworms was higher in the HM and MM than in the NM variants. The largest changes in plant species composition were caused by the abandonment of mowing(NM). The mean number of plant species was positively correlated with soil moisture, earthworm density, and microbial activity(expressed indirectly by dehydrogenases activity). The soil microbial community, such as vegetative bacteria forms and ammonifying bacteria,were positively associated with pH value, and the microbial and total organic carbon content. The results presented here indicate that there is no single form of optimal management for all living organisms.Decisions about mowing regimes, or abandonment of use, should be preceded by multi-aspect studies,including plants and soil biota.
文摘Grazing and mowing are two common practices for grassland management. Mowing is now recommended as an alternative to the traditional grazing for grassland conservation in Inner Mongolia, northern China. Many studies have revealed that mowing may alter ecosystem properties in various ways. However, little attention has been paid to the effect of mowing on trace gas emissions, especially on N2O flux. We conducted an experiment to investigate the effects of mowing on N2O fluxes from the semiarid grassland in Inner Mongolia. The mowing experiment, which started in 2003, comprised four mowing intensity treatments, i.e. mowing heights at 2 cm, 5 cm, 10 cm and 15 cm above the soil surface, respectively, and a control (non-mowing), with five replicates. Gas fluxes were measured through a closed static chamber technique during the growing seasons (usually from May to September, depending on local climate at the time) of 2008 and 2009, respectively. Our results showed that mowing decreased N2O emissions, above-ground biomass and total litter production. N2O emissions were greater in May and June than in other sampling periods, regardless of treatments (P 2O fluxes were mainly driven by variations in soil moisture, except in July and August. In July and August, above-ground plant biomass and soil total nitrogen became the major drivers of N2O fluxes under the soil temperatures between 16 ° C and 18 ° C. Though there were some uncertainties due to the low frequency of N2O flux measurement, our study mainly indicated that 5 cm mowing height might decrease N2O emissions in grasslands during the growing season, and soil properties affected the magnitude of the reduction.
基金the National Key Research and Development Program of China(2016YFC0500604)the National Natural Science Foundation of China(31860681)+1 种基金the China Agriculture Research System(CARS-34)the Natural Science Foundation of Inner Mongolia Autonomous Region,China(2017MS0317).
文摘Effects of mowing on the composition and diversity of grasslands varied with climate change(e.g.,precipitation and temperature).However,the interactive effects of long-term mowing and climate change on the diversity and stability of leguminous and non-leguminous species in the semi-arid grasslands are largely unknown.Here,we used in situ monitoring data from 1982 to 2011 to examine the effects of continuous mowing and climate change on the plant biomass and diversity of leguminous and non-leguminous species,and soil total nitrogen in the typical semi-arid grasslands of northern China.Results showed that the biomass and diversity of leguminous species significantly decreased with the increasing in the biomass and diversity of non-leguminous species during the 30-a period.Variations in biomass were mainly affected by the long-term mowing,while variations in diversity were mainly explained by the climate change.Moreover,the normalized change rates of diversity in leguminous species were significantly higher than those in non-leguminous species.Mowing and temperature together contributed to the diversity changes of leguminous species,with mowing accounting for 50.0%and temperature 28.0%.Temporal stability of leguminous species was substantially lower than that of non-leguminous species.Consequently,soil total nitrogen decreased in the 2000s compared with the 1980s.These findings demonstrated that leguminous species were more sensitive to the long-term mowing and climate change than non-leguminous species in the semi-arid grasslands.Thus,reseeding appropriate leguminous plants when mowing in the semi-arid grasslands may be a better strategy to improve nitrogen levels of grassland ecosystems and maintain ecosystem biodiversity.
基金Supported by Science and Technology Innovation Project of Inner Mongolia Meteorological Bureau(NMQXKJCX201115)Meteorological Innovation Team of Husbandry of Inner Mongolia Meteorological Bureau
文摘Based on ground observation and remote sensing monitoring data,regions appropriate for mowing herbage in the dog days and autumn were predicted and assessed quantitatively,and regions appropriate for mowing herbage were divided into comparatively suitable,suitable and optimum areas for mowing herbage. Servicing products can be spread to agricultural and pastoral areas via short message service,broadcasting,radio and network in time,and good service effect can be obtained. However,under the effect of precision rate of medium-term prediction areas,the prediction of some rainfall areas deviates from the actual rainfall areas. After timely correction of weather prediction in 24 and 48 hours,pastoral weather forecast service in mowing herbage regions is improved obviously. Herbage mowed in the dog days is rich in nutrients,but it is rainy in the period,which brings certain difficulties to herbage mowing and airing. Therefore,herdsmen in various regions should pay more attention to local weather prediction and regulate mowing herbage periods in time,and autumn herbage can be mowed if the weather is not suitable for mowing herbage in the dog days.
基金Supported by the National Natural Science Foundation of China(31772354)the National Science Foundation of Heilongjiang Province of China(C200619)the State Key Lab of Plant Cell and Chromosome Engineering(PCCE-KF-2017-02)
文摘The mowing height and mowing frequency are the key factors that affect the turf quality and turfgrass growing ability. The purpose of this study was to reveal the alternative effcient interaction between mowing height and mowing frequency in Kentucky bluegrass turf management. The Kentucky bluegrass cultivar ＇Kenblue＇ （Poa pratensis L.） was used to evaluate the interactions of mowing heights （H1, H4 and H7） and mowing frequencies （F2, F5 and F8） on the performance of turfgrass and turf physiological responses under the feld condition. The results showed that the treatment of H7×F8 had perfect infuence on the turf texture, root elongation, and also enhanced soluble sugar and free proline content in plants. While, the turf quality, color, uniformity and the increasing tiller numbers were performed more superior in the treatment of H4×F5 than other treatments. In all the interacting treatments, the relation between leaf green index and number of shoots （dm2） was positively correlated, thus, it could be speculated that the proper mowing height with frequency had a strong impact on the increasing of turfgrass tillers. On the whole, the interaction of H4×F5 on turf quality was the most excellent treatment in this experiment.
基金Sponsored by Science and Technology Program of Ministry of Housing and Urban-Rural Construction(2015R2-061)Youth Science Foundation of Nature Science Foundation of China(41201165)+1 种基金National Science and Technology Support Plan(2015BAL02B00)Doctoral Scientific Fund Project of the Ministry of Education of China(20130101110029)
文摘Spartina alterniflora is a major invasive plant in the coastal tideland of China that has serious negative impact on local economy and ecology.This paper took Hugang New Town in Xiangshan County,Zhejiang Province for example,concluded the method of controlling S.alterniflora by integrating mechanical mowing and hydraulic reclamation in view of the threatening expansion of this species and serious land shortage in the local area.Moreover,it explored the ecological planning method of reclamation area based on this method.In view of the ecological sensitivity of the reclamation area,urban ecological planning concept was introduced into both processes of the development:penetrative reclamation and urban planning.The reclamation project has to meet such requirements as site selection,scope,water surface ratio etc.,the planning ensures the ecological sustainability in functional orientation,spatial structure,green space system and development intensity.
文摘Ground dwelling insects,spiders,and other arthropods play an important role in agroecosystems as predators and saprophytic organisms.Their presence on the soil surface helps the biological control of pests,enhances organic matter decomposition and promotes biodiversity.Soil disturbance,particularly tilling and mowing has greatly affected the assemblage and abundance of epigeic arthropods.This study aimed to determine the effects of herbaceous vegetation cover mowing height on arthropods abundance and structure in olive orchards.The experimental site was divided into three zones(Z1,Z2,and Z3)regarding mowing heights(0 cm,10 cm,and 15 cm).This research was done in 2019 from the beginning of May untill the end of September.During this research,1490 individuals were recorded belonging to 6 classes,11 orders and 13 families.The number of individuals was higher in the zones Z2 and Z3 comparing with Z1.The highest number of individuals showed woodlices(Isopoda)comprising 67,5%of all individuals collected.There were significant differences in the number of Carabidae,Bleteliidae and Forficulidae between the zones of research.Unlike Forficulidae,higher heights of mown positively affected the population of Carabidae and Blateliidae.
基金funded by the earmarked fund for CARS(CARS-27)supported by the Earmarked Fund for the Hebei Apple Innovation Team of the Modern Agro-industry Technology Research System(Grant No.HBCT2024150202).
文摘Path planning and task allocation are the key technologies of multi-machine collaboration.Current approaches focus on field operations,but actually orchard operations are also a promising area.In order to improve the efficiency of orchard mowing,a cooperative operation scheduling method was proposed for multiple mowing robots in the dwarf dense planting orchards.It aims to optimize the non-working time of the robot in the intra-plot paths and inter-plot routes.Firstly,a genetic algorithm with multi-mutation and improved circle algorithm(MC-GA)was proposed for path planning.Subsequently,an ant colony optimization algorithm with mixed operator(Mix-ACO)was proposed for task allocation.With regard to the shortage of robots,a local search algorithm was designed to reassign work routes.Simulation experiment results show that MC-GA can significantly reduce the total turning time and the number of reverses for the robot.Mix-ACO can effectively allocate tasks by generating multiple work routes and reduce the total transfer time for the robot fleet.When the number of work routes exceeds the number of mowing robots,the local search algorithm can reasonably reallocate multiple routes to robots,reducing the difference in task completion time of the robot fleet.Field experiment results indicate that compared with the reciprocating method,SADG,and GA,MC-GA can reduce fuel consumption rate by 1.55%-8.69%and operation time by 84-776 s.Compared with ACO,Mix-ACO can reduce the total transfer time by 130 s.The research results provide a more reasonable scheduling method for the cooperative operation of multiple mowing robots.
基金supported by the National Natural Science Foundation of China(No.32061143027)the National Key Research and Development Program of China(No.2022YFF1300600)+2 种基金the Program for Introducing Talents to Universities(B16011)the Natural Science Foundation of Jilin Province Science and Technology Department(20220101283JC)NSFC grant of China(42230515).
文摘Background Numerous previous studies have investigated the efects of grazing or mowing on plant community diversity and productivity in grasslands;however,few have deliberately made sound comparison between the efects of paralleled grazing and mowing in terms of biomass removal on plant community diversity and productivity in semi-arid grasslands.Using a 4-year feld manipulative experiment,we investigated how moderate intensity of domestic cattle(Bos taurus)grazing and mowing can afect plant community diversity and productivity in the semiarid grassland in northeastern China,with the attempt to fnd a better management practice.Results Our results showed that grazing signifcantly increased plant species richness by 9%but did not change plant biomass,whereas mowing did not alter plant species richness but signifcantly reduced total plant biomass and root biomass by 18%and 12%,respectively,and signifcantly altered plant community composition,refected by 32%increase of grass to forb biomass ratio.Conclusions Cattle grazing exerted a neutral efect on plant biomass and a positive efect on plant species richness,suggesting that cattle grazing is a better management practice compared to the paralleled mowing,but longer-term experiments are needed to explore the lasting infuences of grazing vs.mowing on grassland productivity,plant diversity and the sustainability.
基金Deutsche ForschungsgemeinschaftBundesministerium für Bildung und Forschung。
文摘Background:Only a few decades ago,colorful,small-scale,heterogeneous,and species-rich hay meadows or extensive pastures were common,but have often been replaced by species-poor,uniform,large-scale multicut meadows.Technological advancements and improved efficiency in grassland management have come at the cost of biodiversity.Methods:In Germany,150 grassland plots have been investigated since 2006.Using these extensive data,we propose a new compound index for estimating the site-specific mowing intensity in order to facilitate assessment of the impact of mowing intensity on biodiversity and ecosystem processes.Our index integrates the various qualitative components of mowing machine type,mowing height and use of a conditioner,with the annual number of cuts.Results:The newly proposed index achieves a much finer gradation of mowing intensity compared to the previous quantification based on the number of cuts only.Furthermore,a decrease in plant and arthropod species was observed at higher mowing intensity.Conclusions:The proposed mowing intensity index offers enhanced precision in calculations and can easily be integrated into assessments of land-use intensity in grasslands.Further,it could serve as a basis for providing subsidies to farmers,who adopt low-impact mowing practices.
基金funded by the National Natural Science Foundation of China(grant numbers 31971464 and 32371639)basic research business fees of central universities of China(grant number 0919-140124).
文摘Background Caloric value is an important indicator of grassland ecosystem function,but the response of caloric value to nitrogen(N)addition and mowing is still unclear.We explored the adaptive changes of plant caloric value and energy standing crop along a N addition gradient after six-year NH_(4)NO_(3) addition and mowing treatments in an Inner Mongolian temperate meadow steppe in northern China.Results We found that the response of plant caloric value to N addition at different organizational levels was diverse.The caloric value of legumes increased linearly with N addition rates.The caloric value of grasses exhibited a non-linear response trend,initially increasing followed by saturation or decrease,with a N response threshold present.Due to the dominance of grass species,the caloric value at the community level followed a similar pattern to that of the grasses along the N addition gradient.Under mowing,the caloric value of plants at each organizational level increased and usually mowing enhanced the N response threshold.Amongst these,the N response threshold of Leymus chinensis increased from 3.302 to 5.443 g N m^(−2) yr^(−1),grasses increased from 4.414 to 5.746 g N m^(−2) yr^(−1),and community increased from 5.373 to 9.216 g N m^(−2) yr^(−1).Under non-mowing treatment,the N response thresholds of the most dominant species,Leymus chinensis,and community energy standing crop were 10.001 and 15.119 g N m^(−2) yr^(−1),respectively.Under mowing,the energy standing crops showed a linear increasing trend.Conclusions N response thresholds of plant caloric value and energy standing crop vary at different organizational levels(community>functional group>species).The results reveal varying regulatory capabilities of plants on the ecological environment at different organizational levels.These findings enhance our understanding of plant-environment interactions in grassland ecosystems under N deposition from an energy perspective,which is of great significance to clarify the response mechanism of grassland ecosystem structure and function to N deposition.
基金National Basic Research Program(2007CB106803)National Natural Science Foundation of China(30925009).
文摘Aims Vegetation type is important in determining variations in soil carbon(C)efflux under grassland managements.This study was conducted to examine the effects of mowing and nitrogen(N)addition on soil respiration and their dependences upon vegetation types in an oldfield grassland of northern China.Methods Soil respiration,temperature,moisture and aboveground net primary productivity(ANPP)and belowground net primary productivity(BNPP)were examined in response to mowing and N addition among the three patches dominated by different species(named as grass,forb and mixed patches,respectively)in the growing seasons(May–October)from 2006 to 2008.Important Findings Across the 3 years,soil respiration in the grass patch was greater than those in the forb and mixed patches,which could have been ascribed to the higher soil moisture(SM)in the grass patch.Mowing had no impact on soil respiration due to unaltered SM and plant growth.Soil respiration was stimulated by 6.53%under N addition,and the enhancement was statistically significant in 2006 but not in 2007 or 2008 because of the limited water availability in the later 2 years.There were no interactive effects between mowing and N addition on soil respiration.Soil respiration showed positive dependence upon SM,ANPP and BNPP across plots.The results suggest that soil water availability and plant growth could be the primary factors in controlling the temporal and spatial variations in soil respiration and its response to different treatments.Our observations indicate that grassland managements(i.e.mowing for hay once a year)may have little influence on soil respiration of the oldfield grassland in northern China.
文摘To assess the impacts of mowing on N2O and CH4 fluxes emissions from the meadow-steppe grasslands of Inner Mongolia, China, two regimes were investigated： unmown since 2005 （UM）, and mown once every three years since 2009 （M3）. On-site measurements were conducted continuously during a year-round period （August 2011 to August 2012）. During the observation period, three diurnal cycles were also measured. In addition, a targeted laboratory experiment was conducted to make up for the few measurements in winter. A large pulse of N20 emissions related to freeze-thaw cycles was observed at M3 during the spring thaw. Results showed that the meadow-steppes played a role as a sink for CH4 and a source for N2O. Significantly lower mean CH4 uptake at UM （40.3 gg C.m 2.hl） as compared to M3 （70.5 gg C .m-2.h-1） （p 〈 0.01）, and significantly higher mean N2O efftux at UM （6.3 gg N. m2. hI） as compared to M3 （4.3μg N.m2.h 1） （p〈0.05） were found. The laboratory experiment results revealed that mowing changed the soil conditions that favor the activity of denitrifiers during thawing periods. The CH4 and N2O fluxes were significantly correlated with soil temperature （p〈0.05）. Mowing affected CH4 uptake and N2O emission mainly through its effect on vegetation types and some soil properties, such as soil inorganic N content, soil temperature, and soil moisre content, while soil inorganic N and moisture were not leading factors. Our results also suggested that mowing could mitigate the potential global warming in terms of CH4 uptake and N2O emissions.
基金This work was supported by National Natural Science Foundation of China(31770526,31872406)the Chinese National Key Development Program for Basic Research(2016YFC0500703).
文摘Aims Competition among plants in a community usually depends on their nitrogen(N)-use efficiency(NUE)and water-use efficiency(WUE)in arid and semi-arid regions.Artemisia frigida is an indicator species in heavily degraded grassland,however,how its NUE and WUE respond to N addition in different successional stages is still unclear,especially with mowing,a common management practice in semi-arid grasslands.Methods Based on a long-term controlled experiment with N addition and mowing in an abandoned cropland from 2006 to 2013,we investigated the NUE and WUE oi A.frigida in two patches(i.e.grass and herb patches)in 2013 which represented two potential successional stages from herb to grass communities.The coverage of A.frigida was higher(about 50%)in the herb patch than in the grass patch(about 10%).Stable isotopic C(δ^(13)C)and N(δ^(15)N)as well as C and N pools were measured in plants and soils.NUE was calculated as leaf C/N,and leafδ^(13)C values were used as a proxy for WUE.Important Findings N addition did not affect WUE of A.frigida,but significantly decreased NUE by 42.9%and 26.6%in grass and herb patches,respectively.The response of NUE to N addition was related to altering utilization of different N sources(NH_(4)^(+)vs.NO_(3)^(-))by A.frigida according to the changed relationship between leafδ^(15)N/soil 615N and NUE.Mowing had no effect on NUE regardless of N addition,but significantly increased WUE by 2.3%for A.frigida without N addition in the grass patch.The addition of N reduced the positive effect of mowing on its WUE in grass patch.Our results suggested that decreased NUE and/or WUE of A.frigida under mowing and N addition could reduce its competition,and further accelerate restoration succession from the abandoned cropland to natural grassland in the semi-arid region.
基金supported by the National Key Research and Development Program of China(2016YFC0500602)the National Natural Science Foundation of China(31570470,31870456)+4 种基金the Fundamental Research Funds for the Central Universities(2412018ZD010)the Program of Introducing Talents of Discipline to Universities(B16011)supported by the Spanish Government under Ramon y Cajal(RYC2018-025483-I)support from a Large Research Grant from the British Ecological Society(Grant Agreement No.LRA17\1193,MUSGONET)support from Chinese Scholarship Council(CSC).
文摘There is little experimental field evidence on how multiple essential land use intensification drivers(LUIDs),such as nitrogen(N)fertilization and mowing,interact to control ecosystem multifunctionality.Here,we conducted a 4-year field experiment in a meadow steppe in northeast China and evaluated the direct and indirect effects of mowing and N fertilization on a range of ecosystemfunctions associated with nutrient cycle,carbon stocks,and organic matter decomposition during the past 2 years of the experiment(2017 and 2018).Mowing had negative effects on the ecosystem multifunctionality index(EMF),carbon(C)cycle multifunctionality index(CCMF),and N cycle multifunctionality index(NCMF)in 2 years of sampling.However,in general,the responses of multifunctionality to N fertilization were ratespecific and year-dependent.N fertilization had positive effects on EMF,CCMF,NCMF,and phosphorus(P)cycle multifunctionality index(PCMF)in 2017,with the higher precipitation rate during the growing season,which was likely associated with the strong monsoon season.However,in 2018,EMF,CCMF,and NCMF increased at the lower N fertilization levels(£10 g N m^(-2) yr^(-1)),but decreased at higher N rates.N fertilization had consistent positive effects on PCMF in the 2 years of sampling.The effects of land use drivers on multifunctionality were indirectly influenced by bacterial biomass,plant richness,and soil moisture changes.Our results also indicated that the impacts of land use drivers on multifunctionality played an important role in maintaining a range of functions at low levels of functioning(<50% functional threshold).Low N fertilization levels(£10 g N m^(-2) yr^(-1))were able to reduce the negative effects of mowing on ecosystem multifunctionality while promoting plant biomass(food for livestock)and C storage.These findings are useful for designing practical strategies toward promoting multifunctionality by managing multiple LUIDs in a meadow steppe.
基金the National Natural Science Foundation of China (No.51275223)。
文摘To avoid colliding with trees during its operation,a lawn mower robot must detect the trees.Existing tree detection methods suffer from low detection accuracy(missed detection)and the lack of a lightweight model.In this study,a dataset of trees was constructed on the basis of a real lawn environment.According to the theory of channel incremental depthwise convolution and residual suppression,the Embedded-A module is proposed,which expands the depth of the feature map twice to form a residual structure to improve the lightweight degree of the model.According to residual fusion theory,the Embedded-B module is proposed,which improves the accuracy of feature-map downsampling by depthwise convolution and pooling fusion.The Embedded YOLO object detection network is formed by stacking the embedded modules and the fusion of feature maps of different resolutions.Experimental results on the testing set show that the Embedded YOLO tree detection algorithm has 84.17%and 69.91%average precision values respectively for trunk and spherical tree,and 77.04% mean average precision value.The number of convolution parameters is 1.78×10^(6),and the calculation amount is 3.85 billion float operations per second.The size of weight file is 7.11MB,and the detection speed can reach 179 frame/s.This study provides a theoretical basis for the lightweight application of the object detection algorithm based on deep learning for lawn mower robots.
