CN115380817A - Pollination robot - Google Patents
Pollination robot Download PDFInfo
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- CN115380817A CN115380817A CN202211170866.8A CN202211170866A CN115380817A CN 115380817 A CN115380817 A CN 115380817A CN 202211170866 A CN202211170866 A CN 202211170866A CN 115380817 A CN115380817 A CN 115380817A
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- 230000010152 pollination Effects 0.000 title claims abstract description 164
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 229910000838 Al alloy Inorganic materials 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims 2
- 229920001296 polysiloxane Polymers 0.000 claims 1
- 210000002268 wool Anatomy 0.000 claims 1
- 235000016623 Fragaria vesca Nutrition 0.000 abstract description 16
- 235000011363 Fragaria x ananassa Nutrition 0.000 abstract description 16
- 238000011897 real-time detection Methods 0.000 abstract description 3
- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 abstract description 3
- 230000000712 assembly Effects 0.000 abstract 3
- 238000000429 assembly Methods 0.000 abstract 3
- 240000009088 Fragaria x ananassa Species 0.000 abstract 1
- 241000220223 Fragaria Species 0.000 description 27
- 235000021012 strawberries Nutrition 0.000 description 10
- 241000196324 Embryophyta Species 0.000 description 9
- 238000011160 research Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 235000013399 edible fruits Nutrition 0.000 description 4
- 210000000245 forearm Anatomy 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 210000004209 hair Anatomy 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 239000000741 silica gel Substances 0.000 description 3
- 229910002027 silica gel Inorganic materials 0.000 description 3
- 241000257303 Hymenoptera Species 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 241000894007 species Species 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 235000003447 Pistacia vera Nutrition 0.000 description 1
- 240000006711 Pistacia vera Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003806 hair structure Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 235000020233 pistachio Nutrition 0.000 description 1
- 230000008654 plant damage Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01H—NEW PLANTS OR NON-TRANSGENIC PROCESSES FOR OBTAINING THEM; PLANT REPRODUCTION BY TISSUE CULTURE TECHNIQUES
- A01H1/00—Processes for modifying genotypes ; Plants characterised by associated natural traits
- A01H1/02—Methods or apparatus for hybridisation; Artificial pollination ; Fertility
- A01H1/027—Apparatus for pollination
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Genetics & Genomics (AREA)
- Botany (AREA)
- Developmental Biology & Embryology (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Breeding Of Plants And Reproduction By Means Of Culturing (AREA)
Abstract
The invention discloses a pollination robot which comprises an upper machine body, a middle machine body, a lower machine body, triangular crawler belts, detection assemblies, mechanical arms and pollination assemblies, wherein the mechanical arms are in a multi-section mechanical connection structure, each detection assembly comprises a camera shooting recognition system and a distance measuring module, the triangular crawler belts are installed on two sides of the lower machine body, the upper part of the lower machine body is sequentially connected with the middle machine body, the upper machine body and the detection assemblies, the number of the mechanical arms is two, the two mechanical arms are respectively connected to two side surfaces of the upper machine body, and one end, far away from the upper machine body, of each mechanical arm is rotatably connected with the pollination assembly. Collect pollinated crop information through the detection subassembly real-time detection, carry out the region like the bouquet and draw, pinpoint the flower position, accurate discernment flowering phase to guarantee to accomplish the pollination in the best pollination period of flower, realize the cultivation of high-quality crop like the strawberry.
Description
Technical Field
The invention relates to the technical field of agricultural robots, in particular to a pollination robot.
Background
At present, pollination of strawberries mainly depends on bees and artificial pollination, but in recent years, the number of bees is continuously reduced, the pollination rate of bee vectors is reduced, so that a plurality of strawberries cannot be pollinated, and the fruit setting rate of the strawberries is reduced. Secondly, the efficiency of artificial pollination is not high, and artificial pollination has the defects of easily missing the best pollination opportunity, difficult control of pollination uniformity and the like, so that strawberries such as malformed fruits, cavity fruits and the like are formed.
In order to solve the problems, mechanical pollination gradually enters the visual field of people, and related mechanisms at home and abroad carry out related mechanical pollination research on the pollination robot. The intelligent pollination robot comprises a pollination robot in a robot competition, a competition pollination robot based on machine vision and a related research of an intelligent pollination robot based on ROS system development in a fertilizer combining intelligent research institute in China. However, the pollination robot actually applied to production is basically in a blank state, and the pollination robot in the market is few and can only be applied indoors; furthermore, the research of the pollination robot is limited to the research of certain functions, such as robot path planning or pollination recognition system, and the pollination recognition can not be integrated. Foreign countries: foreign pollination products are few and not perfect, and there are pollination products of Israel pistachio pollination robots, aruga accurate pollination robots and American fruit tree pollination robot systems, but the pollination robot is low in functionality, mainly plays a role in assisting anemophilous pollination and arbophilous pollination, and causes the specific gravity of the pollination robot in agricultural pollination work to be small.
For example, chinese patent CN216438220U discloses a greenhouse crop pollination robot, which comprises an autonomous walking device and an intelligent pollination device; the autonomous walking device comprises a mobile chassis, a navigation module, a main controller, a distance measuring module, a powder storage liquid box and a stabilized voltage power supply; the intelligent pollination device comprises a mechanical arm, a holder, a base, an upper support column, an atomization nozzle, a water pump, a pollination controller, a positioning module, a visual module and a hose; this greenhouse crop pollination robot can realize under the greenhouse environment to the operation of independently pollinating of crop, and implement accurate pollination operation, has reduced the waste of pollen, has avoided artificial pollination's danger simultaneously to and reduce the cost of labor. However, the greenhouse crop pollination robot is limited to work in a greenhouse, and particularly cannot pollinate outdoor planted species such as strawberries.
Disclosure of Invention
The pollination robot aims to solve the problem that in the prior art, a pollination robot is limited to pollination in a greenhouse, and particularly can not pollinate outdoor planted species such as strawberries.
The technical scheme of the invention is as follows:
the utility model provides a pollination robot, including the upper portion fuselage, the middle part fuselage, the lower part fuselage, the triangle track, determine module, arm and pollination subassembly, the arm is multisection mechanical connection structure, determine module includes camera identification system and ranging module, the triangle track is installed to lower part fuselage both sides, lower part fuselage upper portion in proper order with the middle part fuselage, the upper portion fuselage, determine module is connected, the arm is two and connect respectively at upper portion fuselage both sides face, the one end that the upper portion fuselage was kept away from to the arm rotates with the pollination subassembly to be connected. Collect pollinated crop information through detecting element real-time detection, carry out the region like the bouquet and draw, pinpoint the flower position, accurate discernment strawberry flowering phase to guarantee to accomplish the pollination in the best pollination period of strawberry flower, realize that high-quality crop like the cultivation of strawberry. The pollination robot is suitable for rugged roads by using the triangular crawler belt, and is provided with an automatic obstacle avoidance system, so that accidents of turning over, damage to strawberry plants and the like of the pollination robot can be avoided.
Furthermore, the pollination assembly comprises a base, a plurality of movable joints and bristles, wherein one end of each movable joint is hinged to the periphery of the base, and the bristles are fixedly connected to one side of each movable joint. Through using nimble arm and pollination subassembly cooperation, can carry out the pollination operation in a flexible way, be applicable to the plant pollination of not plant height.
Furthermore, the movable joint of the pollination robot is of a multi-section part hinged structure, the pollination assembly is of a hemispherical structure, and the bristles are fixedly connected to the inner side of the movable joint of the pollination assembly, wherein the movable joint is of a hemispherical structure. The plurality of movable joints of the spherical section part of the semi-spherical pollination assembly can effectively improve the efficiency of the pollination assembly for crops.
Furthermore, the pollination robot has a movable joint which is of a three-section part hinge structure and comprises a first section, a second section and a third section, wherein one end of the first section is hinged with the base, and the first section, the second section and the third section are sequentially hinged. Through the joint setting of multisection, increase the flexibility ratio of pollination subassembly.
Furthermore, the pollination robot is provided with the fine-hair-shaped structure with the bristles made of silica gel for better guaranteeing that flowers can be pollinated uniformly.
Furthermore, the middle body of the pollination robot is of a liftable structure, and the applicability of the pollination robot is improved by arranging the middle body of the pollination robot to be of the liftable structure.
Furthermore, the pollination robot comprises a mechanical arm, a connecting joint and a front arm, wherein the rear arm is rotatably connected to two sides of the upper machine body, and two ends of the connecting joint are respectively movably connected with the rear arm and the front arm; the end of the forearm far away from the connecting joint is rotationally connected with the pollination assembly.
Furthermore, in order to increase the flexibility and detection range of the detection assembly, the detection assembly is rotatably connected above the upper machine body, and the detection assembly can circumferentially rotate above the upper machine body.
Furthermore, the upper machine body, the middle machine body and the lower machine body of the pollination robot are all made of aluminum alloy, and the structural strength of the robot is improved by adopting the aluminum alloy, so that the service life of the robot is prolonged.
Furthermore, the pollination robot is characterized in that a main control board is installed inside the upper machine body and adopts Arduino UNO.
The invention has the beneficial effects that:
the pollination robot is provided with the upper machine body, the middle machine body, the lower machine body, the triangular crawler belt, the detection assembly, the mechanical arm and the pollination assembly, so that crops such as strawberries can be automatically pollinated in different environments.
Drawings
FIG. 1 is a schematic structural diagram of a pollination robot of the present invention;
FIG. 2 is a schematic structural diagram of a pollination robot of the present invention;
FIG. 3 is a schematic structural diagram of a pollination robot of the present invention;
FIG. 4 is a schematic structural diagram of a pollination assembly of the pollination robot of the present invention;
names and sequence numbers in the figure: 1. an upper body; 2. a middle fuselage; 3. a lower fuselage; 4. a triangular crawler belt; 5. a detection component; 6. a rear arm; 7. a connecting section; 8. a forearm; 9. a pollination assembly; 901. a base; 902. a movable section; 903. and (3) brush hairs.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings.
As shown in fig. 1 to 3, the invention provides a pollination robot, which comprises an upper machine body 1, a middle machine body 2, a lower machine body 3, a triangular crawler belt 4, a detection assembly 5, a mechanical arm and a pollination assembly 9. The mechanical arm is a multi-section mechanical connection structure, the detection assembly 5 comprises a camera shooting recognition system and a distance measurement module, and the camera shooting recognition system comprises a K210 camera and a cascade convolution neural network technology extraction recognition system. The two sides of the lower machine body 3 are provided with triangular crawler belts 4, and the upper part of the lower machine body 3 is sequentially connected with the middle machine body 2, the upper machine body 1 and the detection assembly 5; an energy storage system is also arranged in the lower machine body 3 and used for providing electric energy required by the robot. A driver, an automatic obstacle avoidance system and a main control board are arranged in the upper machine body 1; the main control board is matched with the camera shooting recognition system and is used for positioning the flowers of the crops such as strawberry flowers by using a cascade convolution neural network technology, recognizing the flowering phases of the crops such as strawberry flowers and realizing accurate positioning of the pollination robot. The arm is two and connects respectively at the both sides face of upper portion fuselage 1, and the arm is kept away from the one end of upper portion fuselage 1 and is rotated with pollination subassembly 9 and be connected, and pollination subassembly 9 is provided with brush hair 903. The triangular crawler belt 4 is composed of a crawler belt, a triangular bracket, a driving wheel, a supporting wheel, a tension wheel, a rollover prevention and connection disc device, and the triangular crawler belt 4 is made of rubber and wear-resistant steel. By using the triangular crawler 4, the pollination robot disclosed by the invention can adapt to rugged roads, is provided with an automatic obstacle avoidance system, can avoid accidents of overturning and damaging plants such as strawberry plants and the like of the pollination robot, collects pollinated crop information through real-time detection of the detection assembly 5, performs area extraction such as bouquet, accurately positions flower positions, and accurately identifies the flower period of the strawberries, so that pollination is finished in the optimal pollination period of the strawberries, and cultivation of high-quality crops such as strawberries is realized.
When the pollination robot is used, a grower such as a strawberry grower can place the pollination robot on a strawberry planting ground, the robot starts to work, the camera recognition system recognizes and positions the position of a strawberry flower, the control driver drives the triangular crawler 4 to enable the pollination robot to reach the position near the strawberry flower, the pollination assembly 9 is placed above the strawberry flower and slowly descends, when the pollination assembly 9 reaches a proper position, the pollination assembly starts to enter, the brush bristles 903 of the pollination assembly 9 brush pollen down and pollinate, and the pollination process is completed. The driver drives the triangular crawler 4 to adapt to different planting environments of different application scenes such as outdoor strawberry fields, indoor strawberry greenhouses and the like. The automatic obstacle avoidance system is arranged, the road condition is sensed through the sensor group, the road condition and the current running condition of the automatic obstacle avoidance system are analyzed through the STC89C52 single chip microcomputer, a new running route can be provided for the main control board, and accidents such as robot overturn, strawberry plant damage and the like can be avoided.
Further, the pollination assembly 9 of the pollination robot of the invention as shown in fig. 4 comprises a base 901, a plurality of movable joints 902 and bristles 903, wherein the movable joints 902 are a plurality, one end of each movable joint 902 is hinged on the periphery of the base 901, and the bristles 903 are fixedly connected to one side of each movable joint 902. As shown in figure 4, a plurality of movable joints 902 of the pollination assembly 9 are connected to the periphery of a base 901 to form an annular structure, meanwhile, bristles 903 are fixedly connected to the inner side of the movable joints 902, and through the cooperation of a flexible mechanical arm and the pollination assembly 9, the pollination operation can be flexibly carried out, so that the pollination assembly is suitable for pollination of plants with different plant heights.
Further, in the pollination robot of the present invention, as shown in fig. 4, the movable joint 902 is a multi-joint part hinge structure, so that the pollination assembly 9 is in a hemispherical structure, and the brush 903 is fixedly connected to the inner side of the movable joint 902 of the pollination assembly 9 in the hemispherical structure. The plurality of movable joints 902 of the spherical structure part of the hemispherical pollination assembly 9 enable the pollination assembly 9 to be changed into different form sizes, the pollination assembly 9 can be suitable for pollination operation of different plant crops, and the efficiency of the pollination assembly 9 for the crop pollination operation can be effectively improved.
Further, as shown in fig. 4, the movable joint 902 of the pollination robot is a three-section hinged structure, the movable joint 902 includes a first section, a second section and a third section, one end of the first section is hinged to the base 901, and the first section, the second section and the third section are sequentially hinged. Through the joint setting of multisection, increase the flexibility of pollination subassembly 9, the spherical structure part of the pollination subassembly 9 of hemispheric shape sets up three movable node 902 and makes pollination subassembly 9 can transform into different form sizes, uses pollination subassembly 9 can be applicable to different plant crops and carries out the pollination operation, can improve pollination subassembly 9 effectively and carry out the efficiency of pollination operation to the crop.
Further, in order to better ensure that the flowers can be pollinated uniformly, namely the efficiency and success of pollination of the flowers are ensured, the hair 903 is arranged to be of a fine hair structure made of silica gel. Namely, the brush bristles 903 are arranged to be of a fine-haired structure made of silica gel, so that when the pollination robot carries out pollination operation on flowers, the flowers can be well protected from being damaged, the pollinated flowers are uniformly pollinated like strawberry flowers, and strawberry deformity is prevented.
Furthermore, the middle body 2 is of a liftable structure, the lifting structure provided with the middle body 2 can adopt a conventional lifting structure, so that the upper body 1 can ascend or descend relative to the lower body 3 through the lifting structure of the middle body 2, and the applicability of the pollination robot provided by the invention is improved by arranging the middle body 2 as the liftable structure. Even with the middle part fuselage 2 that is provided with elevating system, cooperate arm and pollination subassembly 9 cooperations again, can carry out the pollination operation in a flexible way, be applicable to the plant pollination of not plant height.
Further, the pollination robot of the invention, as shown in fig. 1, the mechanical arm comprises a rear arm 6, a connecting joint 7 and a front arm 8, the rear arm 6 is rotatably connected to two sides of the upper body 1, and two ends of the connecting joint 7 are respectively movably connected with the rear arm 6 and the front arm 8. Through setting up multisection connection structure's mechanism arm, can increase the home range and the operable space of arm effectively, increased the motion range of pollination subassembly 9 promptly to improve pollination robot's pollination operating range. One end of the forearm 8 far away from the connecting joint 7 is rotationally connected with the pollination assembly 9, so that the pollination assembly 9 can rotate relative to the forearm 8, and the pollination operation can be rapidly completed through the rotation of the pollination assembly 9.
Furthermore, in order to increase the flexibility and detection range of the detection assembly 5, the detection assembly 5 is rotatably connected above the upper machine body 1, and the detection assembly 5 can circumferentially rotate above the upper machine body 1. The detecting component 5 of robot can rotate relatively on upper portion fuselage 1 promptly, and when pollination subassembly 9 on the arm is carrying out the pollination operation promptly, thereby detecting component 5 can rotate according to the control command of main control panel and detect and can not influence the pollination operation that pollination subassembly 9 goes on, can continuously monitor the robot all ring border condition when pollination subassembly 9 carries out the pollination operation promptly.
Furthermore, the upper body 1, the middle body 2 and the lower body 3 of the pollination robot are all made of aluminum alloy, and the structural strength of the robot is improved by adopting the aluminum alloy, so that the service life of the robot is prolonged. The aluminum alloy material is light, tough and durable, and can bear large impact, so that the robot can be guaranteed to work in the ground for a long time.
Further, the pollination robot is characterized in that a main control board is installed in the upper machine body 1, and the main control board is Arduino UNO. Due to the reliability and the low-price easy-development performance of the Arduino UNO, the stable operation of a control system of the robot can be guaranteed by the Arduino UNO, so that the pollination robot can stably operate for a long time, and the reliability of pollination operation is guaranteed.
The principles and embodiments of the present invention have been described herein using specific embodiments, the above examples are merely illustrative of the methods and their core ideas to aid understanding of the present invention. It should be noted that there are no specific structures but rather a few limitations to the preferred embodiments of the present invention, and that those skilled in the art can make various changes, modifications and alterations without departing from the spirit and scope of the invention; such modifications, variations, or combinations, or other applications of the inventive concepts and solutions as may be employed without such modifications, are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a pollination robot, includes upper portion fuselage, middle part fuselage, lower part fuselage, triangle track, determine module, arm and pollination subassembly, the arm is multisection mechanical connection structure, determine module includes camera identification system and ranging module, its characterized in that: the triangular crawler belts are installed on two sides of the lower machine body, the upper portion of the lower machine body is sequentially connected with the middle machine body, the upper machine body and the detection assembly, the two mechanical arms are connected to two sides of the upper machine body respectively, and one end, far away from the upper machine body, of each mechanical arm is rotatably connected with the pollination assembly.
2. The pollination robot as claimed in claim 1, wherein the pollination assembly comprises a base, a plurality of movable nodes and bristles, wherein one ends of the movable nodes are hinged in the circumferential direction of the base, and the bristles are fixedly connected to one side of the movable nodes.
3. The pollination robot as claimed in claim 2, wherein the movable node is a multi-node part hinge structure, the pollination assembly is of a hemispherical structure, and the bristles are fixedly connected to the inner side of the movable node of the pollination assembly which is of the hemispherical structure.
4. The pollination robot as claimed in claim 3, wherein the movable joint is a three-section hinged structure and comprises a first section, a second section and a third section, one end of the first section is hinged to the base, and the first section, the second section and the third section are sequentially hinged.
5. A pollination robot as claimed in claim 3 wherein the bristles are of a fine wool construction of silicone.
6. A pollination robot as claimed in claim 1 wherein the central body is of a liftable construction.
7. The pollination robot as claimed in claim 1, wherein the mechanical arm comprises a rear arm, a connecting joint and a front arm, the rear arm is rotatably connected to two sides of the upper body, and two ends of the connecting joint are respectively movably connected with the rear arm and the front arm; one end of the front arm, which is far away from the connecting joint, is rotatably connected with the pollination assembly.
8. A pollination robot as claimed in claim 1 wherein the sensing assembly is rotatably connected above the upper body, the sensing assembly being rotatable circumferentially above the upper body.
9. A pollination robot as claimed in any one of claims 1~8 wherein the upper body, the middle body and the lower body are made of aluminium alloy.
10. A pollination robot as claimed in claim 9 wherein a main control panel is mounted within the upper body, said main control panel being Arduino UNO.
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| CN202211170866.8A CN115380817B (en) | 2022-09-23 | 2022-09-23 | Pollination robot |
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| CN202211170866.8A CN115380817B (en) | 2022-09-23 | 2022-09-23 | Pollination robot |
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| CN115380817B CN115380817B (en) | 2024-05-14 |
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