CN107873510B - Automatic pollination machine for apple trees based on binocular vision technology - Google Patents
Automatic pollination machine for apple trees based on binocular vision technology Download PDFInfo
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- CN107873510B CN107873510B CN201711335481.1A CN201711335481A CN107873510B CN 107873510 B CN107873510 B CN 107873510B CN 201711335481 A CN201711335481 A CN 201711335481A CN 107873510 B CN107873510 B CN 107873510B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention relates to an automatic pollination machine for apple trees based on a binocular vision technology. The pollination machine comprises a pollination device, an aircraft device, an image acquisition and processing device, a signal label device, a positioning navigation device and a computer; the pollination device comprises a load rod, a pollination fixed rod, a pollination moving rod, a pollination nozzle and a circular tray; a second central shaft rotor is fixed at the upper end of the load rod, and a circular tray is fixed at the bottom of the load rod; the upper end of the pollination fixed rod passes through the circular tray to be connected with the interior of the load-carrying rod, and the lower end of the pollination fixed rod is connected with the pollination rod; the lower extreme of pollination pole passes through the pollination shower nozzle connecting pipe and links to each other with the pollination shower nozzle. The fruit tree pollination machine can overcome the defects in the prior art, realizes full-automatic, high-precision, large-capacity and low-cost fruit tree pollination operation, and solves a series of problems of large labor amount of artificial pollination, high cost of common hydraulic pollination operation and the like.
Description
Technical Field
The invention relates to a machine device for automatic pollination of apple trees, in particular to an automatic pollination machine for apple trees based on a binocular vision technology, and belongs to the field of agricultural machinery.
Background
Fruit tree pollination has a variety of modes, and the most common modes are natural pollination and artificial pollination. The natural pollination is random, is easily influenced by severe weather, only depends on the natural pollination, and has low fruit setting rate, irregular fruit shape and poor quality for most of the fruit trees with different flowers for pollination. The artificial pollination is to perform point pollination or spray pollination on high-quality flowers under the condition of human intervention, overcome the influence of the adverse natural environment such as bad weather and the like, realize the technology of flower thinning and fruit thinning and flower setting, and improve the fruit setting rate and the fruit quality of fruit trees.
In a foreign apple orchard, apples are pollinated by manually breeding bees or osmia, the fruit setting rate of fruits is improved, but because a great amount of pesticides are used in the orchard, the loss of the bees or the osmia is large, and nest holes need to be provided for manually breeding the bees or the osmia, nest blocks are properly recovered and stored, the labor amount is increased invisibly, the process is complex, the investment is large, and therefore mechanical pollination inevitably becomes the main trend of pollination of fruit trees in the future.
The pollination mode of apple trees in China mainly combines natural pollination and artificial pollination, and the artificial pollination is used for solving the problem that the natural pollination is influenced by the environment and randomness. Generally, the apple can not fruit after selfing, the flowering phase of the apple is short, artificial pollination is carried out on the whole orchard in a short time, and the task amount is large. The public development of chinese utility model patent that application number is 201320558641.x shows the automatic pollination machine of sunlight greenhouse rail formula, structurally constitute by tram device and oil pressure advancing system and numerical control appearance, the pollination process automation of greenhouse facility cultivation production work has been realized, but the structural constraint of rail formula can only automatic pollination in indoor regular fruit tree, ordinary apple orchard fruit tree is arranged irregularly, can't adopt the automatic pollination machine of rail formula to carry out the pollination. Although various pollination devices are in a large number at present, the pollination devices all need manual participation, and the problem of large labor capacity of manpower is not fundamentally solved.
Along with the rapid development of unmanned aerial vehicle technique, more and more extensive field provides the space for unmanned aerial vehicle technique's development in recent years, and this provides a new thinking for fruit tree pollination technique undoubtedly, but because unmanned aerial vehicle shape is great, can't operate in a flexible way in the complicated tree trunk of confusion, it is more impossible to carry out one-to-one pollination to the flower, and unmanned aerial vehicle lift is limited in addition, so have certain restriction to its heavy material volume that can carry. Because the existence of above-mentioned kind of problem, unmanned aerial vehicle's use receives the restriction in the development in fruit tree pollination field.
There is a pollination device of hydraulic pressure formula artificial participation at present, and the device passes through the hydraulic pump, with pollen with vaporific form blowout, realizes fruit tree pollination on a large scale, but the device needs artificial participation, and is with high costs, and weight is big, and the pollination is pointedly not moreover, and the pollination is concentrated on a large scale, can't guarantee the rate of accuracy, removes a large amount of wastes and the environmental pollution problem that can also cause pollen in addition.
Therefore, the research on the pollination device which can realize full automation, high precision, large capacity and low cost is particularly urgent.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an automatic pollination machine for apple trees based on a binocular vision technology. The device is applied to the fruit tree pollination with the aircraft in, utilizes the accurate positioning of location navigation technical realization to the apple tree, adopts current publicly-known binocular vision technique and image processing technique to fix a position, classify to the flower, according to the crookedness and the pistil central colour depth condition when petal blooms, selects out the flower of full bloom and carries out the pollination, can improve the fertile fruit rate and the pollen maximum utilization ratio of fruit. The pollination device module, through design load pole, pollination pole and pollination pole combination, make the pollination device have the stable characteristics of pollination pole and the dual characteristic of the flexible transform characteristics of pollination pole, load pole bears the most weight of pollination device, for depositing the pollination pole and provide sufficient space and stable guarantee, pollination pole radius is little, this kind of design is in order to guarantee that the pollination pole can reach the pistil department of arbitrary target pollination. The fruit tree pollination machine can overcome the defects in the prior art, realizes full-automatic, high-precision, large-capacity and low-cost fruit tree pollination operation, and solves a series of problems of large labor amount of artificial pollination, high cost of common hydraulic pollination operation and the like.
The technical scheme of the invention is as follows:
an apple tree automatic pollination machine based on a binocular vision technology comprises a pollination device, an aircraft device, an image acquisition and processing device, a signal label device, a positioning navigation device, a control module and a computer;
the pollination device comprises a load-bearing rod, a pollination fixed rod, a pollination movable rod, a pollination spray head and a circular tray; a second central shaft rotor is fixed at the upper end of the load rod, and a circular tray is fixed at the bottom of the load rod; the upper end of the pollination fixed rod passes through the circular tray to be connected with the interior of the load-carrying rod, and the lower end of the pollination fixed rod is connected with the pollination rod; the lower end of the pollination rod is connected with the pollination nozzle through a pollination nozzle connecting pipe;
the upper end of the load rod is connected with the second central shaft rotor, a servo driver is fixed on the outer wall of the load rod, a circular tray is arranged at the lower end of the load rod, and a pollen liquid storage tank and a displacement measuring device system are respectively fixed on the circular tray; one end of the pollen liquid conduit is inserted into the pollen liquid storage tank, and the other end of the pollen liquid conduit penetrates through the rod wall of the pollination fixed rod and is connected with the pollination rod.
A switch device is fixed at the lower part of the pollination fixed rod, wherein the switch device comprises an electromagnetic induction switch and a single chip microcomputer which are mutually connected, and the electromagnetic induction switch traverses the whole pollination fixed rod and is connected with the single chip microcomputer;
the top end of the pollination rod is connected with a servo driver fixed on the outer wall of the load-carrying rod;
the control module comprises a microprocessor;
the displacement measuring device system comprises a laser interferometer, a receiver and a transmitter, wherein the laser interferometer is respectively connected with the receiver and the transmitter, and the receiver and the transmitter are respectively connected with the microprocessor in a wireless transmission mode;
the aircraft device comprises: a propeller strut is fixed on the upper surface of each of the four end parts of the cross-shaped aircraft frame, a cylindrical equipment box is installed on the top of each propeller strut, each equipment box comprises a micro motor and an electronic speed regulator which are connected with each other, and a propeller is installed on each micro motor; an integrated storage box is fixed in the center of the surface of the aircraft frame; a central shaft rotor connecting block is fixed at the center of the lower surface of the aircraft frame and is connected with a first central shaft rotor in the pollination device; the first center shaft rotor and the second center shaft rotor are connected.
The image acquisition and processing device comprises four CCD cameras, four camera support frames and an integrated storage box; a CCD camera is fixed below the four end parts of the aircraft frame through camera support frames; the four CCD cameras are grouped in pairs, and each group is opposite in position; the integrated storage box is positioned in the center of the upper part of the aircraft frame and comprises a microprocessor and a positioning navigation device;
the signal tag device comprises an RFID chip, a WIFI chip and power supply equipment, and one signal tag device is arranged at the trunk of each apple tree;
the positioning navigation device comprises an RFID reader and a WIFI signal detector;
the positioning navigation device, the displacement measuring device system, the CCD camera, the servo driver, the electronic speed regulator and the singlechip in the switch device are respectively connected with the microprocessor, the microprocessor is connected with the computer, and the electronic speed regulator is connected with the micro motor; the signal label device is connected with the positioning navigation device in a wireless mode.
The aircraft device has the mass of 6-7 kg, the full takeoff weight of 10-12 kg and the endurance time of 25-28 minutes; the load-carrying rod is a steel pipe with the length of 0.2 m and the radius of 0.05 m; the pollination fixing rod is a hollow PVC pipe with the length of 0.15 meter and the radius of 0.03 meter; the pollination rod is a hollow plastic thin hose with the total length of 3 meters; the volume of the pollen liquid storage tank is 1400-1600mL.
The control method of the apple tree automatic pollination machine based on the binocular vision technology comprises the following steps
(1) Starting the computer to enable the control module to be started;
(2) A microprocessor and a signal tag device in the control module are started, and the signal tag device transmits the coordinate information of the apple tree;
(3) The microprocessor controls the positioning navigation device to start, positioning of the apple trees is achieved, coordinate information is transmitted to the microprocessor of the control module, and the microprocessor processes and calculates received information and sends the information to the cloud platform terminal;
(4) The cloud platform terminal receives the data for processing, carries out route planning and transmits planned route information to the microprocessor;
(5) The microprocessor sends instructions to control the rotating speed of the electronic speed regulator in the equipment box and the output power of the micro motor, so that the aircraft device takes off and smoothly reaches a specified position;
(6) After the aircraft device is ready, two groups of CCD cameras arranged on a camera support frame acquire image information, a microprocessor classifies flowers by adopting binocular stereo vision and image processing technologies through a support vector machine principle, detects target stamens to be pollinated by adopting an angular point detection algorithm (Harris), and processes the image information;
(7) After data processing and storage are completed, the microprocessor controls the pollination device to be started, the pollination rod adjusts the angle and the length under the control of the microprocessor, and the displacement measuring device system performs detection feedback and sends related latest information to the microprocessor;
(8) After the microprocessor receives the pollination device completion information, sending an instruction to the single chip microcomputer, starting the electromagnetic induction switch under the control of the single chip microcomputer, dripping pollen liquid stored in the pollination rod under the action of gravity, controlling the electromagnetic induction switch by a timing program of the single chip microcomputer, closing the electromagnetic induction switch when the time is up, finishing pollination of the apple flower, and shrinking the pollination rod to an initial state;
(9) The pollination operation of the first apple flower is accepted, after the step (8) is finished, the single chip microcomputer sends finish information to the microprocessor, the microprocessor transmits updated data information to the pollination device, the step (6) is repeated, pollination is carried out on all apple flowers which are detected to be full bloom one by one, after the pollination of the whole apple tree is finished, the aircraft device flies to the upper side of the next apple tree which needs pollination according to the updated data of the cloud platform, and the operation is repeated until all apple trees in the whole preset orchard finish pollination;
(10) And (5) finishing the pollination operation and closing the computer.
The invention has the substantive characteristics that: the design of the pollination device is the core of the invention, and the simple pollination rod has the dual characteristics of stability and flexibility by the combination of the load rod, the pollination fixed rod and the pollination movable rod, wherein the load rod is a steel tube with the length of 0.2 m and the radius of 0.05 m and is used for bearing most of the weight of the pollination device, and the upper end of the load rod is connected with the second central shaft rotor, so that a plurality of rotational degrees of freedom can be provided for the pollination device; a servo driver is fixed on the outer wall and is a power source of the whole pollination device; the bottom is provided with a round tray used for storing a pollen liquid storage tank and a displacement measuring device system. The pollination fixed rod is a hollow PVC pipe with the length of 0.15 meter and the radius of 0.03 meter, the upper end of the hollow PVC pipe penetrates through the circular tray to be connected with the load carrying rod, the lower end of the hollow PVC pipe is provided with a switch device, the switch device comprises an electromagnetic induction switch and a single chip microcomputer which are connected with each other, the electromagnetic induction switch transversely penetrates through the whole pollination fixed rod to be connected with the single chip microcomputer, and the on-off of the switch is controlled by an interrupt program of the single chip microcomputer, so that the pollen liquid is automatically dripped. The pollination pole is established to the tiny hollow plastic thin hose of radius, and total length is 3 meters, and the top is connected with the fixed servo driver of load pole outer wall, and under servo driver's effect, length can freely alternate, through displacement measurement device system real-time supervision pollination pole length, and the pollination pole radius design is very little, and the purpose can reach arbitrary target pollination pistil department accurately in the complicated tree trunk of intricacy.
The pollination pole in the pollination device is different from the pollination pole existing in the market, the existing pollination pole is basically that a plurality of simple poles are mutually nested and fixed by a spiral connector in the pole, the design can not realize automation, no load pole, pollination fixed pole and pollination pole are distinguished, the pole diameter is large, the pole can not move flexibly in a complicated tree pole, the expansion length is limited, and the pollination device is not suitable for the design of the pollination device. In addition, the pollination device adopts a brand-new pollination mode, pollen is mixed with nutrient solution to prepare pollen liquid, the operation that the pollen liquid automatically drips to a target pistil is realized by utilizing a gravity dripping principle through an electromagnetic induction switch, the device is different from the traditional hydraulic spraying pollination, devices with large mass and high cost such as a hydraulic pump are not needed, the device is simplified, and the quality of carrying the pollen liquid can be increased. The pollination device designed by the invention is simple, large in capacity, high in precision and low in cost.
The invention has the beneficial effects that:
the method applies the aircraft to pollination of fruit trees, adopts a wireless radio frequency identification technology and a wireless network communication technology, inquires the coordinates of the apple trees by detecting the intensity of WIFI signals, reads the coordinate information of the apple trees by combining an RFID reader, performs double operations on positioning and navigation of the aircraft, and is more accurate than the single technology.
2, acquiring image information through a CCD camera by adopting a binocular stereo vision technology in an image acquisition and processing link, then processing and calibrating characteristics of the image to obtain three-dimensional information of the apple flower, wherein the image acquired by the CCD camera is converted into a gray image in the image processing link, a binary image is obtained after preprocessing operations such as filtering, threshold segmentation, morphological closing operation and the like, a contour image of the apple flower is extracted from the binary image by adopting a parallel refinement algorithm, the flower is classified according to the bending degree and the color depth of the flower pistil when petals bloom in a mode recognition support vector machine principle and is in three states of unopened, full bloom and full bloom respectively, then a corner detection algorithm (Harris) is selected to detect the center of the flower pistil in the contour of the full-bloom apple flower, and the positioning is carried out by utilizing the information of the flower pistil. The treatment can select the optimal pollinated flowers, and improve the fruit setting rate of fruits and the maximum utilization rate of pollen liquid.
The 3 pollination process is full-automatic, the operation of high mechanization degree, through center pin rotor connecting block, first center pin rotor and second center pin rotor synergism, for the pollination device provides a plurality of rotatory degrees of freedom, the pollination pole realizes the free transform and the fixing of length under servo driver's control, because the pollination pole radius of design is very little, can operate in a flexible way in vertically and horizontally staggered's trunk, reach the target pistil department that arbitrary needs the pollination, carry out a one-to-one pollination operation. The artificial pollination operation is replaced, and a large amount of labor force is saved. Except that in addition, change the pollination mode of artifical participation of fluid pressure type in the past, mix pollen and nutrient solution, make into the pollen liquid that more does benefit to the fruit growth, place pollen liquid in pollen liquid storage jar, adopt electromagnetic induction switch, utilize gravity, realize that pollen liquid instils into automatically under the control of first singlechip timing program, realize full automatization pollination operation. The pollination pole end-to-end connection has the pollination shower nozzle, and porous structure can pollinate target flower on a large scale, reduces the error.
The device can realize the automatic pollination operation to the apple tree in the whole orchard under the condition that does not need artifical participation, and degree of automation is high, saves the labour greatly, and device simple structure, the quality is light, and is capacious, can improve the percentage of fertile fruit of fruit and the utilization ratio of pollen greatly.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a propeller configuration;
FIG. 3 is a schematic view of an aircraft configuration;
FIG. 4 is a schematic structural view of a pollination device;
FIG. 5 is a schematic diagram of an electromagnetic inductive switch;
FIG. 6 is a schematic view of a rotor configuration of a central shaft;
FIG. 7 is an operational flow diagram;
fig. 8 is a diagram showing the electrical connection of the device.
In the figure: 1 is the first paddle of screw, 2 is screw second paddle, 3 is the equipment box, 4 is the screw pillar, 5 is the aircraft frame, 6 is first center shaft rotor, 7 is second center shaft rotor, 8 is servo driver, 9 is the load pole, 10 is the pollination decides the pole, 11 is the pollination pole, 12 is pollination shower nozzle connecting pipe, 13 is the pollination shower nozzle, 14 is electromagnetic induction switch, 15 is the singlechip, 16 is pollen liquid pipe, 17 is circular tray, 18 is displacement measurement device system, 19 is pollen liquid storage jar, 20 is the CCD camera, 21 is the camera support frame, 22 is center pin rotor connecting block, 23 is integrated receiver.
Detailed Description
In order to make the technical means and functions of the present invention more comprehensible, the following detailed description is given with reference to the accompanying drawings: an automatic pollination machine for apple trees based on a binocular vision technology mainly comprises a pollination device, an aircraft device, an image acquisition and processing device, a signal label device, a positioning navigation device, a control module and a computer.
The pollination device is shown in figures 1, 4 and 5 (wherein, figure 4 and figure 5 are partial enlarged views), and comprises a load bar 9, a pollination fixing bar 10, a pollination bar 11, a pollination nozzle 13 and a circular tray 17; a second central shaft rotor 7 is fixed at the upper end of the load rod 9, and a circular tray 17 is fixed at the bottom of the load rod 9; the upper end of the pollination fixing rod 10 passes through the circular tray 17 to be connected with the inside of the load bearing rod 9, and the lower end is connected with the pollination rod 11; the lower end of the pollination rod 11 is connected with a pollination nozzle 13 through a pollination nozzle connecting pipe 12;
the upper end of the load rod 9 is connected with the second central shaft rotor 7, the outer wall of the load rod is fixed with a servo driver 8, the lower end of the load rod is provided with a circular tray 17, and a pollen liquid storage tank 19 and a displacement measuring device system 18 are respectively fixed on the circular tray 17; one end of the pollen liquid conduit 16 is inserted into the pollen liquid storage tank 19, and the other end passes through the wall of the pollination fixing rod 10 and is connected with the pollination rod 11.
A switch device is fixed at the lower part of the pollination fixed rod 10, wherein the switch device comprises an electromagnetic induction switch 14 and a singlechip 15 which are mutually connected, the electromagnetic induction switch 14 traverses the whole pollination fixed rod 10 and is connected with the singlechip 15, the on-off of the switch is controlled by the interruption program of the singlechip 15 (as shown in figures 4 and 5), and the singlechip 15 is connected with a control module;
the top end of the pollination rod 11 is connected with a servo driver 8 fixed on the outer wall of the load rod 9, so that the pollination rod can move up and down in the load rod 9; the displacement measuring device system 18 comprises a laser interferometer, a receiver and a transmitter, wherein the laser interferometer is respectively connected with the receiver and the transmitter, and the receiver and the transmitter are respectively connected with the control module in a wireless transmission mode;
description of the function: the weight-bearing rod 9 is a steel pipe made of hard materials, and is used for bearing most of the weight of the pollination device, the second central shaft rotor 7 designed at the upper end is used for being connected with an aircraft device, the servo driver 8 fixed on the outer wall is used as a power source of the pollination device, the telescopic transformation of the pollination rod 11 is controlled, the circular tray 17 at the lower end is used for storing a displacement measuring device system 18 and a pollen liquid storage tank 19, the displacement measuring device system 18 comprises a laser interferometer, a receiver and a transmitter, the actual length of the pollination rod 11 is measured through the laser interferometer, the information is transmitted to a microprocessor through the transmitter, and the pollen liquid storage tank 19 is used for storing pollen liquid. Pollen liquid pipe 16 shifts pollen liquid from pollen liquid storage jar 19 to pollination pole 11 in, electromagnetic induction switch 14 is in the control of singlechip 15, through pressing from both sides tight or relax the hose of pollination pole, realize opening the interrupt operation by oneself, make pollen liquid can drip by oneself under the action of gravity, time through 15 program control switch interrupt of singlechip, thereby realize the control that the pollen liquid instiled volume, the design of pollination shower nozzle 13 makes the pollen liquid can increase the area of dripping, increase the accuracy nature of pollination operation.
The control module comprises a microprocessor and a related known circuit thereof, wherein the specific model of the microprocessor is i586;
the aircraft device is a commercial unmanned aerial vehicle, as shown in fig. 1, 2 and 3 (wherein 2 and 3 are partial enlarged views), and the aircraft device comprises: a propeller strut 4 is fixed on the upper surface of each of the four end parts of a cross-shaped aircraft frame 5, a cylindrical equipment box 3 is installed on the top of each propeller strut 4, each equipment box 3 comprises a micro motor and an electronic speed regulator (powered by an internal rechargeable battery), which are connected with each other, and a propeller consisting of a first blade 1 and a second blade 2 is installed on each micro motor; an integrated storage box 23 is fixed at the center of the surface of the aircraft frame 5; a central shaft rotor connecting block 22 is fixed at the center of the lower surface of the aircraft frame 5, and the central shaft rotor connecting block 22 is connected with a first central shaft rotor 6 in the pollination device;
the aircraft frame 5 is cross-shaped, and an integrated storage box 23 arranged at the upper end is used for storing a control module and a positioning navigation device; four propeller struts 4 with fixed ends play a supporting role and are used for bearing a first 1 blade and a second 2 blade of the propeller and an equipment box 3 for storing a micro motor and an electronic speed regulator, wherein the electronic speed regulator controls the rotating speed of the micro motor, the micro motor realizes the vertical lifting and pitching movement of the aircraft device by controlling the output power, and the micro motor and the aircraft device are cooperatively used for providing power for the aircraft device; the central shaft rotor connecting block 22 fixed at the center of the lower surface of the aircraft frame 5 is the key for combining the aircraft device and the pollination device, the first central shaft rotor 6 and the second central shaft rotor 7 are connected, as shown in fig. 6, the central shaft rotor module can provide multiple degrees of freedom, can rotate to a required angle and is fixed under the control of a microprocessor in an integrated storage box, and provides an accurate angle for pollination operation.
The image acquisition and processing device comprises four CCD cameras 20, four camera support frames 21 and an integrated storage box 23; a CCD camera 20 is fixed below the four ends of the aircraft frame 5 through a camera support frame 21; the four CCD cameras 20 are grouped in pairs, each group being positioned oppositely; the integrated storage box 23 is positioned at the center of the upper part of the aircraft frame 5 and comprises a control module and a positioning navigation device;
the image acquisition and processing link adopts a binocular stereoscopic vision technology, image information is acquired by four CCD cameras 20, the acquired image information is sent to a microprocessor, the microprocessor processes and calibrates features of the image to obtain three-dimensional information of the apple flower, the image acquired by the CCD cameras 20 is converted into a gray image in the image processing link, the gray image is subjected to preprocessing operations such as filtering, threshold segmentation and morphological closing operation to obtain a binary image, a parallel refinement algorithm is adopted to extract an apple flower outline image from the binary image, the flower is classified according to the curvature and the color depth of the flower in petal blooming in mode identification, the flower is in three states of unrooted state, full bloom state and full bloom state respectively, then a corner detection algorithm (Harris) is selected to detect the center of the flower in the outline of the apple flower in full bloom, and the flower information is stored and sent to the microprocessor.
The signal label device comprises an RFID chip, a WIFI chip and power supply equipment. A signal tag device is arranged at the trunk of each apple tree, coordinate information of each apple tree is stored in the two chips, and the two chips transmit signals together through wireless connection. And the purpose of utilizing the RFID and WIFI dual technology is to enable the transmitted coordinate information to be more accurate.
The positioning and navigation device comprises an RFID reader and a WIFI signal detector, is arranged in an integrated storage box 23 at the upper end of the center of the aircraft frame 5, inquires coordinate records by detecting the intensity of a WIFI signal, combines coordinate information read by the RFID reader, and controls the aircraft device to accurately reach the upper part of the apple tree through processing by a microprocessor.
The aircraft frame 5 in the aircraft device is made of carbon fiber composite materials with high specific strength and specific rigidity, and aims to reduce the structural mass of the aircraft, the mass of the aircraft device is 6-7 kg, the full takeoff weight is 10-12 kg, and the endurance time is 25-28 minutes; the load-carrying rod 9 is designed to be a steel pipe with the length of 0.2 meter and the radius of 0.05 meter, and the mass is about 0.5 kg; the pollination fixing rod 10 is designed into a hollow PVC pipe with the length of 0.15 meter and the radius of 0.03 meter, and the mass is about 0.3 kg; the pollination rod 11 is designed into a hollow plastic thin hose, the total length is 3 meters, and the mass is about 0.2 kg; the pollen liquid storage tank 19 is a rectangular box made of aluminum alloy, the bottom area of the box is a rectangle with 0.01 square meter, the height of the box is 0.15 meter, and the weight of an empty tank is about 0.1 kg; the volume capable of carrying pollen liquid is about 1500ml, and each apple tree requires pollination of about 50ml, so a full-load storage tank 19 of pollen liquid can provide about 30 apple trees with the required amount of pollen liquid.
The electrical connection of the device is shown in fig. 7: the positioning navigation device, the displacement measuring device system 18, the CCD camera 20, the servo driver 8, the electronic speed regulator and the singlechip in the switch device are respectively connected with the microprocessor; the microprocessor is connected with the computer in a wireless way; the electronic speed regulator is connected with the micro motor; the signal label device is connected with the positioning navigation device in a wireless mode.
The electromagnetic induction switch 14 is connected with the singlechip 15 and receives commands from the microprocessor through wireless transmission; the signal label device transmits a signal, the positioning navigation device receives the signal and transmits information carried by the signal to the microprocessor for processing; an electronic speed regulator in the equipment box 3 is connected with the microprocessor, and the micro motor is connected with the electronic speed regulator; the CCD camera 20 transmits the acquired image information to the microprocessor; after the image information passes through the microprocessor processor, the image information contains the angle and length information required by the pollination device and is sent to the servo driver 8; the displacement measuring device system 18 is self-contained with a transmitter and receiver therein, and communicates with the microprocessor bi-directionally via wireless transmission.
The computer is a market mainstream business computer, the computer is connected with the cloud platform terminal in a wireless mode, and a Baidu cloud intelligent platform is used for the cloud platform terminal; the computer is used for controlling the starting and the interruption of the whole device, and can carry out manual control on the occurrence of an accident situation at the first time, thereby reducing the loss caused by an undetected factor; the Baidu cloud intelligent platform supports calculation, storage and backup of a large amount of data, and an optimal route can be drawn up according to information provided by the Baidu map.
The control module, which is the core of the apparatus, specifically includes a microprocessor i586 and related well-known circuits (including a second transmitter and a second receiver of the transceiver), which together control the operation of each module. The microprocessor transmits commands to the singlechip 15 in real time, and the electromagnetic induction switch 14 realizes self-timing opening and interruption operation under the control of the singlechip 15 to finish automatic pollination operation; the signal tag device continuously sends the coordinate information of the apple tree, and the positioning navigation device receives the information through the RFID reader and the WIFI signal detector and sends the coordinate information of the apple tree to the microprocessor; the microprocessor processes the information and then makes a command to act on the electronic speed regulator in the equipment box 3, the electronic speed regulator controls the rotating speed of the micro motor, the micro motor realizes the vertical lifting and pitching movement of the aircraft device by controlling the output power, and the micro motor and the aircraft device are powered by the synergistic action of the micro motor and the micro motor; the CCD camera 20 collects image information and transmits the collected image information to the microprocessor for processing; and sending commands to the servo driver and the displacement measuring device system by the microprocessor, and providing exact pollination rod length and angle information according to the commands.
The invention relates to a control method of an automatic pollination machine for apple trees based on a binocular vision technology, which comprises the following working procedures as shown in figure 8:
(1) Starting the computer to enable the control module to be started;
(2) A microprocessor and a signal tag device in the control module are started, and the signal tag device transmits the coordinate information of the apple tree;
(3) The microprocessor controls the positioning navigation device to start to realize the positioning of the apple tree and transmits the coordinate information to the control module
The microprocessor of the block processes and calculates the received information and sends the information to the cloud platform terminal;
(4) The cloud platform terminal receives the data for processing, carries out route planning, and transmits planned route information to the micro-place
Arranging a processor;
(5) The microprocessor sends commands to control the rotation speed of the electronic speed regulator in the equipment box and the output power of the micro motor,
enabling the aircraft device to take off and smoothly reach the designated position;
(6) After the aircraft device is ready, two sets of CCD cameras mounted on the camera support frame collect image information, and a microprocessor
Classifying flowers by adopting binocular stereo vision and image processing technology and by adopting the principle of a support vector machine, and adopting angular points
Detecting a target stamen to be pollinated by a detection algorithm (Harris), and processing image information;
(7) The data processing and storage are completed, the microprocessor controls the pollination device to be opened, and the pollination rod is adjusted under the control of the microprocessor
Adjusting the angle and the length, detecting and feeding back by a displacement measuring device system, and sending related latest information to a microprocessor;
(8) After the microprocessor receives the pollination device completion information, the microprocessor sends an instruction to the single chip microcomputer and starts the pollination device under the control of the single chip microcomputer
An electromagnetic induction switch, the pollen liquid stored in the pollination bar drops under the action of gravity, and the electromagnetic induction switch receives the pollen
The slice machine is controlled by a timing program, when the time is up, the electromagnetic induction switch is closed, the pollination of the flower apple is finished, and the pollination rod is retracted
Contracting to an initial state;
(9) The pollination operation of the first apple is accepted, and after the step (8) is finished, the single chip sends a finish signal to the microprocessor
And (5) transmitting the updated data information to the pollination device by the microprocessor, repeating the step (6), and setting each detection state as full
Pollinating the full-bloomed apple flowers one by one, and after the pollination of the whole apple tree is completed, updating the aircraft device according to the cloud platform
Data, flying to the upper part of the next apple tree needing pollination, and repeating the operation till all apples in the whole preset orchard
The fruit trees finish pollination;
(10) And ending the pollination operation and turning off the computer.
The specific operation flow of the invention is that the device is started, the signal label device emits signals, the positioning navigation is carried out for positioning, so that the aircraft device smoothly arrives at a destination, the image acquisition and processing device is started after the arrival, the image information is acquired by the CCD camera and transmitted to the microprocessor, the image is processed and the characteristics are calibrated by adopting the binocular stereo vision and the image processing technology, the three-dimensional information of the apple flower is obtained, wherein the image acquired by the CCD camera is converted into a gray image in the image processing technology, the binary image is obtained after the preprocessing operations such as filtering, threshold segmentation, morphological closing operation and the like, the apple flower outline image is extracted from the binary image by adopting a parallel thinning algorithm, the apple flower outline is classified into three states of unopened, full opened and full opened according to the curvature and the color depth of the flower pistil when the apple petals are opened by the support vector machine principle in mode identification, then the flower in the full opened apple flower outline is detected by adopting an angular point detection algorithm (Harris), and the processed coordinate information of the flower pistil is transmitted to the microprocessor. The microprocessor processes the data to calculate the angle length information required by the pollination device, the angle length information is sent to a command of the pollination device, the first central shaft rotor 6 rotates to reach a required angle according to the command information, the load rod 9 is driven to adjust, and then the pollination fixed rod 10 finishes angle fixation; the pollination rod 11 starts to adjust the length under the control of the servo driver 8, in order to obtain an accurate numerical value, a displacement measuring device system 18 is adopted for ranging, and after the angle and the length are fixed, information is sent to a microprocessor. And the microprocessor sends an instruction to the singlechip 15, so that an electromagnetic induction switch controlled by the singlechip is started, pollen liquid falls under the action of gravity, the pollination operation of one flower is completed, and the steps are repeated according to a flow chart until all the pollination of the target tree is finished. An automatic pollination process of apple trees is finished based on a binocular vision technology.
In image acquisition and processing devices, which involve binocular vision technology positioning, two sets of CCD cameras 20 capture image information, as with two eyes, and according to the difference between the captured images, depth perception is obtained, a characteristic correspondence is established, and mapping points of physical points in the same space in different images are corresponded, which technology can be seen in: localization studies based on binocular vision technology [ D ]. University of south of the Yangtze, 2016. This paper elaborates the principle of using binocular vision localization. An image processing link, namely converting the acquired image into a gray image, obtaining a binary image after preprocessing operations such as filtering, threshold segmentation, morphological closed operation and the like, and extracting an apple flower outline image from the binary image by adopting a parallel thinning algorithm, wherein the operations are common methods for image processing; the method adopts the principle of a support vector machine to classify the apple flower outline according to the bending degree of the apple petals when the apple petals bloom and the color depth of the flower pistils; the corner detection algorithm is an algorithm for finding corner features on an image through mathematical calculation, and the algorithm is widely applied to image processing, and the principle can be seen in a thesis: corner detection techniques overview [ J/OL ] computer application research, 2006.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.
The invention is not the best known technology.
Claims (2)
1. The utility model provides an automatic pollination machine of apple tree based on binocular vision technique which characterized in that: the pollination machine comprises a pollination device, an aircraft device, an image acquisition and processing device, a signal label device, a positioning navigation device, a control module and a computer;
the pollination device comprises a load rod, a pollination fixed rod, a pollination moving rod, a pollination nozzle and a circular tray; a second central shaft rotor is fixed at the upper end of the load rod, and a circular tray is fixed at the bottom of the load rod; the upper end of the pollination fixed rod penetrates through the circular tray to be connected with the inside of the load bearing rod, and the lower end of the pollination fixed rod is connected with the pollination rod; the lower end of the pollination rod is connected with the pollination nozzle through a pollination nozzle connecting pipe;
the upper end of the load rod is connected with the second central shaft rotor, a servo driver is fixed on the outer wall of the load rod, a circular tray is arranged at the lower end of the load rod, and a pollen liquid storage tank and a displacement measuring device system are respectively fixed on the circular tray; one end of the pollen liquid conduit is inserted into the pollen liquid storage tank, and the other end of the pollen liquid conduit penetrates through the rod wall of the pollination fixed rod and is connected with the pollination rod;
a switch device is fixed at the lower part of the pollination fixed rod, wherein the switch device comprises an electromagnetic induction switch and a singlechip which are mutually connected, and the electromagnetic induction switch traverses the whole pollination fixed rod and is connected with the singlechip;
the top end of the pollination rod is connected with a servo driver fixed on the outer wall of the load-carrying rod;
the control module comprises a microprocessor;
the displacement measuring device system comprises a laser interferometer, a receiver and a transmitter, wherein the laser interferometer is respectively connected with the receiver and the transmitter, and the receiver and the transmitter are respectively connected with the microprocessor in a wireless transmission mode;
the aircraft device assembly comprises: the upper surfaces of four end parts of the cross-shaped aircraft frame are all fixed with a propeller strut, the top of each propeller strut is provided with a cylindrical equipment box, each equipment box comprises a micro motor and an electronic speed regulator which are connected with each other, and the propellers are arranged on the micro motors; an integrated storage box is fixed at the center of the surface of the aircraft frame; a central shaft rotor connecting block is fixed at the central position of the lower surface of the aircraft frame and is connected with a first central shaft rotor in the pollination device; the first central shaft rotor is connected with the second central shaft rotor;
the image acquisition and processing device comprises four CCD cameras, four camera support frames and an integrated storage box; a CCD camera is fixed below the four end parts of the aircraft frame through camera support frames; the four CCD cameras are grouped in pairs, and each group is opposite in position; the integrated storage box is positioned in the center of the upper part of the aircraft frame and comprises a control module and a positioning navigation device;
the signal tag device comprises an RFID chip, a WIFI chip and power supply equipment, and one signal tag device is arranged at each apple tree trunk;
the positioning navigation device comprises an RFID reader and a WIFI signal detector;
the positioning navigation device, the displacement measuring device system, the CCD camera, the servo driver, the electronic speed regulator and the singlechip in the switch device are respectively connected with the microprocessor, the microprocessor is connected with the computer, and the electronic speed regulator is connected with the micro motor; the signal label device is connected with the positioning navigation device in a wireless mode.
2. The binocular vision technology-based control method of the automatic pollination machine for apple trees, as claimed in claim 1, characterized in that the method comprises the following steps
(1) Starting the computer to start the control module;
(2) A microprocessor and a signal label device in the control module are started, and the signal label device transmits the coordinate information of the apple tree;
(3) The microprocessor controls the positioning navigation device to start, positioning of the apple trees is achieved, coordinate information is transmitted to the microprocessor of the control module, and the microprocessor processes and calculates received information and sends the information to the cloud platform terminal;
(4) The cloud platform terminal receives the data for processing, plans a route and transmits planned route information to the microprocessor;
(5) The microprocessor sends an instruction to control the rotating speed of the electronic speed regulator in the equipment box and the output power of the micro motor, so that the aircraft device takes off and smoothly reaches a specified position;
(6) After the aircraft device is ready, two groups of CCD cameras arranged on a camera support frame collect image information, a microprocessor classifies flowers by adopting binocular stereo vision and an image processing technology through a support vector machine principle, detects target stamens to be pollinated by adopting an angular point detection algorithm (Harris), and processes the image information;
(7) After data processing and storage are finished, the microprocessor controls the pollination device to be started, the pollination rod adjusts the angle and the length under the control of the microprocessor, the displacement measuring device system performs detection feedback, and relevant latest information is sent to the microprocessor;
(8) After the microprocessor receives the pollination device completion information, sending an instruction to the single chip microcomputer, starting the electromagnetic induction switch under the control of the single chip microcomputer, dripping pollen liquid stored in the pollination rod under the action of gravity, controlling the electromagnetic induction switch by a timing program of the single chip microcomputer, closing the electromagnetic induction switch when the time is up, finishing pollination of the apple flower, and shrinking the pollination rod to an initial state;
(9) After the pollination operation of the first apple flower is finished, after the step (8) is finished, the single chip microcomputer sends finishing information to the microprocessor, the microprocessor transmits updated data information to the pollination device, the step (6) is repeated, each apple flower which is detected to be fully bloomed is pollinated one by one, after the pollination of the whole apple tree is finished, the aircraft device flies to the upper side of the next apple tree which needs pollination according to the updated data of the cloud platform, and the operation is repeated until all the apple trees in the whole preset orchard finish pollination;
(10) And (5) finishing the pollination operation and closing the computer.
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| CN109588305B (en) * | 2018-12-20 | 2021-07-20 | 江苏大学 | Pneumatic slight-elevation greenhouse strawberry pollination robot and implementation method thereof |
| CN111587665B (en) * | 2020-05-18 | 2024-05-03 | 华南农业大学 | Four-degree-of-freedom multi-eye visual rotary-flying picking robot and picking method thereof |
| CN112381028A (en) * | 2020-11-23 | 2021-02-19 | 苏州极目机器人科技有限公司 | Target feature detection method and device |
| CN113207675B (en) * | 2021-05-10 | 2022-07-22 | 北京农业智能装备技术研究中心 | Airflow vibration type facility crop automatic pollination device and method |
| CN115443906A (en) * | 2022-10-18 | 2022-12-09 | 西北农林科技大学 | Accurate pollination robot of kiwi fruit based on visual perception and double-flow spraying |
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