CN109588305B - Pneumatic slight-elevation greenhouse strawberry pollination robot and implementation method thereof - Google Patents
Pneumatic slight-elevation greenhouse strawberry pollination robot and implementation method thereof Download PDFInfo
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- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
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- A01H1/00—Processes for modifying genotypes ; Plants characterised by associated natural traits
- A01H1/02—Methods or apparatus for hybridisation; Artificial pollination ; Fertility
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Abstract
The invention discloses a pneumatic slight-heading greenhouse strawberry pollination robot and an implementation method thereof, and relates to the field of agricultural equipment. The robot comprises an autonomous mobile platform, a pneumatic slight-pitch self-adaptive temperature-supplementing pollination unit, a strawberry canopy self-adaptive humidity-supplementing unit and a control system, the autonomous mobile platform can realize autonomous walking of high ridges and high frames in the greenhouse, and the pneumatic slight-pitch self-adaptive temperature-supplementing pollination unit, the plant canopy self-adaptive humidity-supplementing unit and the control system are all installed on the greenhouse autonomous mobile platform. Through staggered blowing of double-row strawberries slightly bending upward pneumatically, self-adaptive wetting of the powdering rows first and heating and blowing of the powder, the low-temperature, low-humidity and windless environmental conditions during flowering and fruit setting of greenhouse strawberries are effectively overcome, automatic cross pollination moving operation is realized, and the device is simple in structure, good in adaptability and high in efficiency.
Description
Technical Field
The invention belongs to the field of agricultural equipment, and particularly relates to a pneumatic slight-heading greenhouse strawberry pollination robot and an implementation method thereof.
Background
The flowering and fruit setting period of the facility-cultured strawberries is as long as 5-6 months, the strawberries have multiple crops, and uniform pollination is the key for ensuring the yield and quality of the strawberries.
The strawberry flowers belong to the complete flowers of the same male and female plants, and the yield and quality of cross pollination are superior to those of self pollination. The strawberry inflorescence is a bifidus umbrella inflorescence, the pollination success rate of pistil of the lower inflorescence is high, and the dehiscence and pollination success rate of stamen of the higher inflorescence is high and is influenced by temperature. Strawberries planted in the open air are pollinated by wind and insect vectors generally, strawberries planted in a greenhouse usually bloom in winter at present, and the yield and the quality of the strawberries are influenced due to the lack of pollination media. Most of the strawberries planted in the greenhouse adopt bee colony pollination and artificial point pollination.
Bees touch the greenhouse, are poisoned, do not visit flower collection, are not suitable for greenhouse environment, lack of bee-keeping technology, influence of external environment and the like, and all influence fruit setting rate, yield and the like. The bumblebee is low temperature resistant, is not sensitive to humidity and illumination, is widely applied to pollination of world protected areas and open cultivated crops, is influenced by the pesticide application environment and is difficult to manage; the strawberries continuously blossom and bear fruits for 5 months, the quality of manual pollination is also influenced by a narrow working environment and long-time working, and therefore efficient strawberry pollination equipment and technology for overcoming the influence of the environment are in actual demand.
The existing pollination equipment mainly adopts a mode of manual holding, backpack type and unmanned aerial vehicle pneumatic air conveying, and the object of the pollination equipment mainly aims at fruit tree pollination and field crop pollination. Chinese patent (CN201711335481.1) proposes an unmanned flying automatic pollination machine for apple trees based on binocular vision technology, which can realize full-automatic and high-precision fruit tree pollination operation; chinese patent (CN201310168774.0) proposes a collision-pneumatic hybrid rice seed production pollination machine and a method thereof, which can realize the stable and uniform transportation of pollen of a rice male parent to a female parent. The above equipment and method are suitable for the amphoteric flowers of the hermaphrodite plants, and cannot be suitable for the characteristics of the complete flowers of the hermaphrodite plants. Chinese patent (CN201320558641.X) proposes a solar greenhouse rail-mounted automatic pollination machine, which has the combined functions of reciprocating operation, wind power and mechanical vibration pollination, can realize the automation of the pollination process of greenhouse cultivated crops, but cannot meet the requirements of a two-row planting mode of strawberry plants, bifidus umbrella-like inflorescence characteristics and cross pollination, and the mechanical vibration type can easily damage plant stems and leaves. The proper temperature for strawberry pollination is 20-25 ℃, the relative humidity of air is about 70%, and the unsuitability of temperature and humidity can cause difficulty in anther cracking and poor pollen development, thereby reducing the success rate of pollination. At present, no research report is found on full-automatic pollination equipment and technology for strawberries.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a pneumatic slight-pitching greenhouse strawberry pollination robot and an implementation method thereof, which are used for completing automatic cross pollination moving operation of double-row strawberries.
In order to solve the technical problems, the invention adopts the following specific technical scheme:
the utility model provides a greenhouse strawberry pollination robot that slightly faces upward of strength, includes by independently moving platform, the self-adaptation of slightly facing upward of strength is mended warm pollination unit, plant canopy self-adaptation and is mended wet unit and control system, and independently moving platform can realize striding high ridge, overhead independently walking in the greenhouse, and the self-adaptation of slightly facing upward of strength is mended warm pollination unit, plant canopy self-adaptation and is mended wet unit, control system and all install on greenhouse is independently moving platform.
In the above scheme, the strength is faced upward self-adaptation a little and is mended warm pollination unit and include temperature sensor, vision sensor, heating wire, dryer, vertical directly moving piece and gyration piece, and temperature sensor, vision sensor arrange respectively in autonomous mobile platform's bottom and front portion, and the dryer is installed in autonomous mobile platform rear portion both sides through vertical directly moving piece and gyration piece, and the inside heating wire that is equipped with of dryer.
In the scheme, the air duct uses alpha as a side elevation working angle, alpha is an included angle with a horizontal line, and the value range of alpha is 5-10 degrees.
In the scheme, the value range of the wind speed of the wind cylinder is 7-10 m/s.
In the scheme, the wind cylinders on the two sides are longitudinally arranged along the autonomous mobile platform at intervals of D1Staggered arrangement, D1Is 0.9-1.2 times of the average plant spacing of strawberry plants.
In the scheme, the plant canopy self-adaptive moisturizing unit comprises a temperature sensor, a vision sensor, an atomizing nozzle and a horizontal straight moving part, and the atomizing nozzle is installed on two sides of the front part of the greenhouse autonomous moving platform through the horizontal straight moving part.
In the scheme, the distance between the air duct and the atomizing spray head along the longitudinal direction of the autonomous mobile platform is greater than the average plant spacing of the strawberry plant rows.
An implementation method of a pneumatic slight elevation greenhouse strawberry pollination robot is characterized in that according to the soil surface height H obtained by a visual sensor1And the top height H of the strawberry plant canopy, the side elevation angle alpha of the wind cylinder and the height of the wind cylinder are adjusted by the rotating part and the vertical straight moving part, so that the central line of the cylinder opening of the wind cylinder is aligned with the row of the strawberry plants (H)1+ H)/2 height position; in the process of moving the self-propelled mobile platform, the air duct on one side is heated and blown by wind power, and the pollen on the strawberry plant canopy on the side is blown to the strawberry plant rows on the other side, so that transverse cross pollination is realized.
The invention has the beneficial effects that:
according to the invention, through pneumatic slightly-overhead staggered blowing of double-row plants and self-adaptive wetting and heating of the powdering rows, the environmental conditions of low temperature, low humidity and no wind during flowering and fruit setting of strawberries in a greenhouse are effectively overcome, automatic cross pollination moving operation is realized, and the device has the advantages of simple structure, good adaptability and high efficiency.
Drawings
FIG. 1 is a schematic view of the structure of a strawberry pollination robot in a pneumatic slight upward greenhouse of the invention;
FIG. 2 is a schematic structural view of a pneumatic slight elevation greenhouse strawberry pollination robot.
In the figure: 1. the system comprises an autonomous mobile platform, 2, a temperature sensor, 3, a humidity sensor, 4, a left electric heating wire, 5, a left air duct, 6, a left atomizing nozzle, 7, a vision sensor, 8, a right atomizing nozzle, 9, a right electric heating wire, 10, a right air duct, 11, a left vertical straight moving part, 12, a left rotating part, 13, a left strawberry plant row, 14, a left horizontal straight moving part, 15, a right horizontal straight moving part, 16, a right strawberry plant row, 17, a right rotating part and 18, wherein the autonomous mobile platform is arranged on the platform.
Detailed Description
The technical solution of the present invention is further described in detail with reference to the accompanying drawings, but the scope of the present invention is not limited thereto. It should be noted that technical features or combinations of technical features described in the following embodiments should not be considered as being isolated, and they may be combined with each other to achieve better technical effects.
As shown in figure 2, in the current greenhouse strawberry production, no matter high ridge cultivation or overhead cultivation, double-row planting is adopted, and the mode that the arch back faces outwards in a unified mode is adopted.
As shown in fig. 1, the pneumatic slight-pitching greenhouse strawberry pollination robot consists of an autonomous moving platform 1, a pneumatic slight-pitching self-adaptive temperature-supplementing pollination unit, a plant canopy self-adaptive humidity-supplementing unit and a control system. The autonomous mobile platform 1 can realize the autonomous walking function of crossing high ridges or crossing high frames in the greenhouse, and the pneumatic slight elevation self-adaptive temperature and pollination unit, the plant canopy self-adaptive humidity supplementing unit and the control system are all arranged on the greenhouse autonomous mobile platform 1.
As shown in fig. 1 and 2, the pneumatic slight-pitch self-adaptive temperature-supplementing pollination unit is composed of a temperature sensor 2, a vision sensor 7, a left electric heating wire 4, a left air duct 5, a left vertical straight moving piece 11, a left rotating piece 12, a right electric heating wire 9, a right air duct 10, a right rotating piece 17 and a right vertical straight moving piece 18. Temperature sensor 2 arranges in the vehicle bottom of autonomic moving platform 1 and is located autonomic moving platform 1 vertical central line, and vision sensor 7 arranges in autonomic moving platform 1's locomotive and is located autonomic moving platform 1 vertical central line, and vision sensor 7's shooting direction is vertical downwards. A left heating wire 4 is arranged in a left air duct 5, and the left air duct 5 is arranged on the left side of the rear part of the autonomous moving platform 1 through a left rotating part 12 and a left vertical straight moving part 11; the right air duct 10 is internally provided with a right heating wire 9, and the right air duct 10 is arranged on the right side of the rear part of the autonomous moving platform 1 through a right rotating part 17 and a right vertical straight moving part 18.
The openings of the left air duct 5 and the right air duct 10 face to the left strawberry plant row 13 and the right strawberry plant row 16 respectively, meanwhile, the left air duct 5 and the right air duct 10 use alpha as a side elevation working angle, the alpha is an included angle with the horizontal line and ranges from 5 degrees to 10 degrees, and the wind speed V of the left air duct 5 and the right air duct 10 ranges from 7 m/s to 10 m/s. Meanwhile, the left air duct 5 and the right air duct 10 are longitudinally separated by D along the vehicle body1The plants corresponding to the left wind tube 5 and the plants corresponding to the right wind tube 10 are arranged in a staggered way, and the longitudinal distance between the plants is D1，D1Is 0.9-1.2 times of the average plant spacing of strawberry plants.
As shown in fig. 1 and 2, the strawberry canopy self-adaptive humidifying unit is composed of a humidity sensor 2, a vision sensor 7, a left atomizer 6, a right atomizer 8, a left horizontal straight moving member 14 and a right horizontal straight moving member 15. The left atomizer 6 is installed on the left side of the front part of the greenhouse autonomous mobile platform 1 through a left horizontal straight moving part 14, and the right atomizer 8 is installed on the right side of the front part of the greenhouse autonomous mobile platform 1 through a right horizontal straight moving part 15.
Wherein the distance between the left air duct 5 and the left atomizing nozzle 6 along the longitudinal direction of the vehicle body is D2The distance between the right air duct 10 and the right atomizing nozzle 8 along the longitudinal direction of the vehicle body is D3，D2And D3Is the same as and larger than the average plant spacing of the left strawberry plant row 13 and the right strawberry plant row 16.
The rotating part comprises a stepping motor, a motor fixing seat and a gear mechanism, the motor fixing seat is fixed on the sliding table of the direct moving part, the stepping motor is fixed on the motor fixing seat, and the stepping motor drives the air duct to rotate through the gear mechanism.
The direct-acting part comprises a motor, a motor flange, a base, a sliding table, a trapezoidal screw rod, a linear rail, a bearing sheet and a bearing, the lower end of the base is fixedly connected with the autonomous mobile platform 1, the motor flange is fixed at one end of the base, the motor is fixed on the motor flange, the bearing sheet is fixed at the other end of the base, and the bearing is fixed on the bearing sheet; trapezoidal lead screw one end links firmly with the motor output shaft, and the other end and bearing clearance fit, the motor rotate and drive trapezoidal lead screw and rotate, and trapezoidal lead screw passes through the slip table screw hole, moves on the line rail with screw-thread fit drive slip table, and the line rail is fixed in the recess of base upper surface.
A method for realizing a pneumatic slight elevation greenhouse strawberry pollination robot comprises the following steps:
(1) the autonomous mobile platform 1 walks autonomously at a certain speed across ridges or across an overhead forwards, and the visual sensor 7 detects and determines the position of the left strawberry plant row 13 and the strawberry plant canopy height H in real time2Height H of soil surface1Position of right strawberry plant row 16 and strawberry plant canopy height H3The temperature sensor 2 and the humidity sensor 3 respectively detect temperature and humidity information above the strawberry plant canopy of the left strawberry plant row 13 and the right strawberry plant row 16 in real time;
(2) according to the positions of the left strawberry plant row 13 and the right strawberry plant row 16 and the humidity above the canopy, the control system respectively controls the left horizontal straight moving part 14 and the right horizontal straight moving part 15 in the front of the autonomous mobile platform 1 to drive the left atomizing nozzle 6 and the right atomizing nozzle 8 to be aligned with the strawberry plant canopy of the left strawberry plant row 13 and the right strawberry plant row 16 for pre-humidifying, so that the pollen adhesiveness is improved;
(3) the control system obtains the soil surface height H according to the vision sensor 71And strawberry plant canopy height H of left strawberry plant row 132Strawberry plant canopy height H of right strawberry plant row 163The side elevation angle alpha of the left air duct 5 and the right air duct 10 is adjusted to be 5-10 degrees by the left rotating part 12 and the right rotating part 17 respectively, the height of the left air duct 5 and the height of the right air duct 10 are adjusted by the left vertical straight moving part 11 and the right vertical straight moving part 18 respectively, and the central line of the opening of the left air duct 5 is aligned with the left strawberry plant row 13 (H)1+H2) (H2) the height position of the right wind tube 10 is aligned with the central line of the tube opening of the right strawberry plant row 161+H3) A/2 height position;
(4) the control system adjusts the wind speed V of the left wind barrel 5 and the right wind barrel 10 to be 7-10 m/s; meanwhile, according to the temperatures above the canopy layers of the left strawberry plant row 13 and the right strawberry plant row 16, the control system respectively controls the left heating wire 4 and the right heating wire 9 to assist in heating the canopy layers of the strawberry plants of the left strawberry plant row 13 and the right strawberry plant row 16, so that the pollen amount and the pollen activity are improved;
(5) in the advancing process of the autonomous mobile platform 1, the left air duct 5 is heated and blown by wind power, and pollen of the strawberry plant canopy in the left strawberry plant row 13 is blown to the premoistened strawberry plant canopy in the right strawberry plant row 16, so that transverse cross pollination is realized; meanwhile, the right air duct 10 is blown by heating wind power, and pollen of the strawberry plant canopy in the right strawberry plant row 16 is blown to the pre-moistened strawberry plant canopy in the left strawberry plant row 13, so that transverse cross pollination is realized; because the left air duct 5 and the right air duct 10 are longitudinally separated by D along the vehicle body1The staggered arrangement avoids the conflict of wind blowing of the left wind barrel 5 and the right wind barrel 10, and realizes the cross pollination of front-back staggered and slight upward pneumatic blowing between the left strawberry plant row 13 and the right strawberry plant row 16.
While some embodiments of the present invention have been shown, it will be understood by those skilled in the art that changes may be made to the embodiments herein without departing from the spirit of the invention. The above examples are merely illustrative and should not be taken as limiting the scope of the invention.
Claims (6)
1. A pneumatic slight-pitching greenhouse strawberry pollination robot is characterized by comprising an autonomous moving platform, a pneumatic slight-pitching self-adaptive temperature-supplementing pollination unit, a plant canopy self-adaptive humidity-supplementing unit and a control system, wherein the autonomous moving platform can realize the autonomous walking of high ridges and high frames in a greenhouse, and the pneumatic slight-pitching self-adaptive temperature-supplementing pollination unit, the plant canopy self-adaptive humidity-supplementing unit and the control system are all arranged on the greenhouse autonomous moving platform;
the pneumatic slight-pitch self-adaptive temperature-supplementing pollination unit comprises a temperature sensor, a visual sensor, an electric heating wire, an air duct, a vertical direct-acting piece and a rotating piece, wherein the temperature sensor and the visual sensor are respectively arranged on the self-adaptive temperature-supplementing pollination unitThe air duct is arranged on two sides of the rear part of the main moving platform through a vertical straight moving piece and a rotating piece, and an electric heating wire is arranged in the air duct; two wind cylinders are longitudinally separated by D along the vehicle body1Staggered arrangement;
the plant canopy self-adaptive moisturizing unit comprises a temperature sensor, a vision sensor, an atomizing nozzle and a horizontal straight moving part, wherein the atomizing nozzle is installed on two sides of the front part of the greenhouse autonomous moving platform through the horizontal straight moving part.
2. The robot for pollinating strawberries in a pneumatic slight-pitch greenhouse according to claim 1, wherein the air duct uses alpha as a side-pitch working angle, alpha is an included angle with a horizontal line, and the value range of alpha is 5-10 degrees.
3. The robot for pollinating strawberries in a pneumatic slight-pitch greenhouse according to claim 1, wherein the wind speed of the wind drum is in a range of 7-10 m/s.
4. The pneumatic micro-pitching greenhouse strawberry pollination robot as claimed in claim 1, wherein two side air ducts are longitudinally arranged along the autonomous moving platform at intervals of D1Staggered arrangement, D1Is 0.9-1.2 times of the average plant spacing of strawberry plants.
5. The robot for strawberry pollination in a pneumatic slight bending greenhouse of claim 1, wherein the distance between the air duct and the atomizing spray head along the longitudinal direction of the autonomous moving platform is greater than the average plant spacing of the rows of strawberry plants.
6. The implementation method of the pneumatic slight elevation greenhouse strawberry pollination robot as claimed in claim 1, wherein the height H of the soil surface is obtained according to a visual sensor1And the top height H of the strawberry plant canopy, the side elevation angle alpha of the wind cylinder and the height of the wind cylinder are adjusted by the rotating part and the vertical straight moving part, so that the central line of the cylinder opening of the wind cylinder is aligned with the row of the strawberry plants (H)1+ H)/2 height position; in the process of moving the autonomous mobile platform, the wind power for heating the wind barrel on one sideAnd blowing, namely blowing the pollen of the canopy of the strawberry plant at the side to the row of the strawberry plant at the other side to realize transverse cross pollination.
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| CN110140655A (en) * | 2019-05-10 | 2019-08-20 | 江苏大学 | A kind of greenhouse wind spraying aid type automatic target detection pollination trolley and its operational method |
| US20240090395A1 (en) * | 2020-11-23 | 2024-03-21 | Polybee Pte. Ltd. | Method and system for pollination |
| CN113229137B (en) * | 2021-05-25 | 2022-02-15 | 东北农业大学 | Automatic cross pollination device for experimental strawberries and cross pollination method for strawberries |
| CN114223539A (en) * | 2022-01-23 | 2022-03-25 | 浙江农林大学 | Formula kiwi fruit liquid pollination unmanned aerial vehicle is lifted to both arms |
| CN114667928B (en) * | 2022-05-10 | 2022-12-20 | 清华大学深圳国际研究生院 | End effector and device for pollinating strawberry flowers |
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