CN106171959A - A kind of pollination sprays equipment and system - Google Patents
A kind of pollination sprays equipment and system Download PDFInfo
- Publication number
- CN106171959A CN106171959A CN201610567163.7A CN201610567163A CN106171959A CN 106171959 A CN106171959 A CN 106171959A CN 201610567163 A CN201610567163 A CN 201610567163A CN 106171959 A CN106171959 A CN 106171959A
- Authority
- CN
- China
- Prior art keywords
- pollination
- equipment
- chest
- flowers
- medicine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Genetics & Genomics (AREA)
- Botany (AREA)
- Developmental Biology & Embryology (AREA)
- Environmental Sciences (AREA)
- Breeding Of Plants And Reproduction By Means Of Culturing (AREA)
- Cultivation Of Plants (AREA)
Abstract
The embodiment of the present invention open one pollination sprays equipment and system, and described equipment includes: carry out the mobile device moved along a straight line along cross bar；Described mobile device is provided above controlling device；It is provided with medicine-chest below described mobile device, below described medicine-chest, is provided with mechanical arm；One end of described mechanical arm is connected with the bottom of described medicine-chest, and the other end is provided with shower nozzle unsettled setting；Described shower nozzle is connected with the one end of the conduit being close to mechanical arm outer wall, and the other end of described conduit connects with the liquid outlet of described medicine-chest；Being additionally provided with camera head below described medicine-chest, described camera head communicates to connect with described control device, for sending photo to described control device, and is judged whether described target flowers by described control device according to described photo.The disclosed pollination of the embodiment of the present invention sprays equipment and system may replace artificial pollination and improves Pollination Effect and efficiency.
Description
Technical field
The present embodiments relate to agricultural equipment technology field, be specifically related to a kind of pollination and spray equipment and system.
Background technology
The fruit trees and vegetables of plantation under greenhouse, for want of spontaneous pollination condition, need at Spraying in the flowering stage growth regulator
With trace element etc., to promote pollen germination, improve fruit-setting rate, it is ensured that yield.
Generally, prior art can complete the pollination to fruit trees and vegetables by manual work.But, artificial pollination not only becomes
This height, and need under special time and specified conditions, carry out operation, labor intensity is big, working environment is poor, pollination efficiency is low,
And hormone is big to human health damage, artificial pollination is, in industrialized agriculture production chain, operator's health is caused serious harm
One of work link.
Therefore, how to replace artificial pollination and improve Pollination Effect and efficiency, becoming problem demanding prompt solution.
Summary of the invention
For defect of the prior art, the embodiment of the present invention proposes one pollination and sprays equipment and system.
On the one hand, the embodiment of the present invention proposes one pollination and sprays equipment, including:
For being arranged on cross bar and carrying out the mobile device moved along a straight line along described cross bar；
Described mobile device is provided above for controlling the control device that described mobile device moves；
It is provided with the medicine-chest for housing medicinal liquid below described mobile device, is provided with below described medicine-chest in institute
State the lower mobile mechanical arm to target flowers front to be sprayed of control controlling device；One end of described mechanical arm and described medicine
The bottom of case connects, and the other end is provided with shower nozzle unsettled setting；One end of described shower nozzle and the conduit being close to mechanical arm outer wall
Connecting, the other end of described conduit connects with the liquid outlet of described medicine-chest；After described medicinal liquid is sprayed by described liquid outlet, via institute
State conduit and sprayed to described target flowers by described shower nozzle；
Being additionally provided with the camera head for taking pictures below described medicine-chest, described camera head leads to described control device
Letter connects, and for sending photo to described control device, and is judged whether according to described photo by described control device
Described target flowers.
The pollination that the embodiment of the present invention proposes sprays equipment, owing to can determine target by controlling device and camera head
Flowers, and can pass through coordinating of medicine-chest, mechanical arm and shower nozzle to realize target flowers are sprayed, therefore may replace and manually award
Powder.Additionally, due to mechanical arm moves to target flowers front to be sprayed, therefore when spraying, medicinal liquid can accurately be sprayed to mesh
Mark flowers, therefore, the pollination that the embodiment of the present invention proposes sprays equipment and also can improve Pollination Effect and efficiency.
On the other hand, the embodiment of the present invention proposes one pollination spraying system, including:
Truss, described truss includes multiple montant, multiple side lever and at least one cross bar, described cross bar and described montant it
Between there is offset distance；Wherein, the upper end of described montant is arranged on ceiling skeleton, and described side lever is fixed on described montant, described
Cross bar is fixedly installed on the described side lever of adjacent two；Also including that pollination as described above sprays equipment, described pollination is sprayed
Arrange standby being arranged on described cross bar.
The pollination spraying system that the embodiment of the present invention proposes, owing to also having truss, the montant upper end of described truss is arranged
On ceiling skeleton, and pollination sprays equipment and is arranged on the cross bar of described truss, hence in so that this system is suitable in such as temperature
Carry out pollination under the greenhouse-environment of room and spray operation.
Accompanying drawing explanation
Fig. 1 is that the present invention pollinates and sprays the structural representation of apparatus embodiments；
Fig. 2 sprays equipment control principle schematic diagram for the pollination that the embodiment of the present invention provides；
Fig. 3 is that the present invention pollinates the structural representation of spraying system embodiment；
Fig. 4 is that the present invention pollinates the partial structurtes enlarged diagram of spraying system embodiment；
Fig. 5 is that the present invention pollinates the workflow diagram of spraying system embodiment.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is explicitly described, it is clear that described embodiment is the present invention
A part of embodiment rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not having
Make the every other embodiment obtained under creative work premise, broadly fall into the scope of protection of the invention.
Fig. 1 is that the present invention pollinates and sprays the structural representation of apparatus embodiments, and referring to Fig. 1, the embodiment of the present invention discloses one
Plant pollination and spray equipment, including:
Mobile device 1, described mobile device 1 is arranged on cross bar, and moves along a straight line along described cross bar；Described
Mobile device 1 is provided above for controlling the control device 2 that described mobile device 1 moves；Arrange below described mobile device 1
There are medicine-chest 3, described medicine-chest 3 to be used for housing medicinal liquid, are provided with for the control at described control device 2 below described medicine-chest 3
Lower movement is to the mechanical arm 4 in target flowers front to be sprayed；One end of described mechanical arm 4 is connected with the bottom of described medicine-chest 3,
The other end is provided with shower nozzle 5 unsettled setting；Described shower nozzle 5 is connected with the one end of the conduit being close to mechanical arm 4 outer wall, described in lead
The other end of pipe connects with the liquid outlet of described medicine-chest 3；After described medicinal liquid is sprayed by described liquid outlet, via described conduit and lead to
Cross described shower nozzle 5 to spray to described target flowers；The camera head 6 for taking pictures it is additionally provided with below described medicine-chest 3,
Described camera head 6 communicates to connect with described control device 2, for sending photo to described by the way of wired or wireless
Control device 2, and judged whether described target flowers by described control device 2 according to described photo.
Fig. 2 sprays equipment control principle schematic diagram for the pollination that the embodiment of the present invention provides, as in figure 2 it is shown, control device 2
For receiving camera head 6 and the information of induction installation transmission, and to mobile device 1, medicine-chest 3, mechanical arm 4, shower nozzle 5 sends phase
Information should be controlled in ground；Mobile device 1 is for moving along a straight line on cross bar；Medicine-chest 3 is used for housing medicinal liquid, and is controlling device
2 control the amount of liquid medicine that lower regulation sprays every time；Mechanical arm 4 is for moving to be sprayed under the control of described control device 2
Target flowers front；Shower nozzle 5 arrives the medicinal liquid of shower nozzle 5 to target flowers for spraying via described conduit；Camera head 6 is used for
Gather photo, and photo is sent to controlling device 2, and judged whether described mesh by controlling device 2 according to described photo
Mark flowers.
Wherein, described induction installation includes the first induction installation being arranged on cross bar, and is arranged in mobile device 1
The second induction installation, described first induction installation and the second induction installation coordinate and produce enabling signal and termination signal, to refer to
Show control device 2 so that it is control described pollination and spray the start and stop of equipment.
The pollination that the embodiment of the present invention provides sprays equipment, and its control principle is: controls device 2 and processes camera head 6 institute
The photographic intelligence collected, then it is carried out Treatment Analysis, extracts target flowers feature, calculate target flowers locus and
Target flowers area information, then controls mobile device 1 and mechanical arm 4 moves to target flowers, and control medicine-chest 3 and shower nozzle 5
Completing to spray action, spray wait pollinating after all target flowers spray during equipment completes image, mobile device 1 continues next
The linear motion of moving period, repeats said process, until sensing termination signal just power cut-off.
The pollination that the embodiment of the present invention proposes sprays equipment, owing to can determine mesh by controlling device 2 and camera head 6
Mark flowers, and can pass through coordinating of medicine-chest 3, mechanical arm 4 and shower nozzle 5 to realize target flowers are sprayed, therefore may replace people
Work is pollinated.Additionally, due to mechanical arm 4 moves to target flowers front to be sprayed, therefore when spraying, medicinal liquid can accurately spray
Spilling to target flowers, therefore, the pollination that the embodiment of the present invention proposes sprays equipment and also can improve Pollination Effect and efficiency.
Further, described mobile device 1 continue next moving period linear motion particularly as follows:
Described control device 2, according to the field range of described camera head 6, controls described mobile device 1 each mobile week
Phase carries out the displacement moved along a straight line.
Wherein, described field range refers to that described camera head 6 can photograph the scope of material object；In the present embodiment, by
It is used for shooting arable farming district in camera head 6, and described cross bar is close together apart from described arable farming district, therefore, described
Field range is limited；According to the angle of visual field of described camera head 6, and described equipment is apart from the distance in described arable farming district,
Then can calculate the widthwise size of the field range of described camera head 6, and then the described each movement of mobile device 1 can be calculated
Cycle carries out the displacement moved along a straight line.Such as, if knowing, described camera head 6 planar shoots in arable farming district
The maximum transversal distance arrived is 0.5m, and the displacement that the most described each moving period of mobile device 1 carries out moving along a straight line also is
0.5m。
Such setting, the photo that described camera head 6 can be made to shoot does not has coincidence, and shoots in adjacent moving period
The material object of photo can engage closely, thus ensure that flowers to be sprayed will not be missed, it also avoid flowers to be sprayed and weighed
Multiple shooting.
Further, according to described photo, described control device 2 judges whether that described target flowers specifically include:
Described photo is contrasted by S01, described control device 2 with flowers sample to be sprayed, it is judged that current mobile week
Phase whether exist in the field range of described camera head 6 characteristic matching with described flowers sample to be sprayed wait spray
Flowers；
If S02 described control device 2 judges to know flowers to be sprayed described in existence, then carry further according to described camera head 6
The described photo of confession, calculate described in flowers to be sprayed apart from the distance of described equipment；
In the present embodiment, described camera head 6 is preferably binocular camera, two photographic head of described binocular camera
Between there is certain spacing, in the photo that therefore said two photographic head shoots respectively, the position meeting of same flowers to be sprayed
Difference, thus, described control device 2 can calculate the flowers the to be sprayed distance apart from described equipment.Alternatively, described shooting dress
Put 6 and can also is that two monocular cams, there is between said two monocular cam certain spacing；Alternatively, take the photograph described in
As device 6 can also is that the combination of monocular cam and range finder.
S03, described control device 2 are according to the maximum extension length of described mechanical arm 4, it is judged that described in flowers distance to be sprayed
Whether the distance of described equipment is positioned at described maximum extension length；
S04, the most then described in flowers to be sprayed be then described target flowers, described control device 2 according to described target flower
Bunch area information control described medicine-chest 3 spouting liquid.
Wherein, described target flowers to refer specifically to be positioned at the maximum extension of described mechanical arm 4 apart from the distance of described equipment long
Flowers to be sprayed in degree.
Owing to spraying the medicinal liquid of corresponding amount according to the area of target flowers, therefore compared to prior art, the present embodiment carries
The pollination gone out spray equipment can effectively save medicinal liquid, thus improve medicinal liquid utilization rate.
Wherein, described mechanical arm 4 includes multiple steering wheel 41, and wherein, the steering wheel 41 near medicine-chest 3 can realize 360 degree
Rotating, the plurality of steering wheel 41 cooperates, in order to complete spraying of different spatial.Certainly, described steering wheel 41 is concrete
Quantity can be adjusted according to practical situation and demand, and this is not construed as limiting by the present embodiment.
Preferably, according to any of the above-described embodiment, also described camera head 6 can be arranged on described medicine by rotary apparatus
The lower section of case 3.So that described camera head 6 rotates such as 90 degree, 180 degree or 270 degree, thus can make the most mobile the most described
In the case of cross bar and described equipment, other target flowers being pointed to described other side of equipment spray.
The pollination that the embodiment of the present invention proposes sprays equipment, owing to additionally using the visual field model according to described camera head 6
Enclosing the mode carrying out image acquisition, therefore relative in the short time, many frequencys gather the prior art of image, and described pollination is sprayed
Arrange the standby number of times effectively reducing image acquisition, therefore reduce the work relevant with image acquisition and target flowers judgement
Measure, thus improve the efficiency determining target flowers.
Fig. 3 is that the present invention pollinates the structural representation of spraying system embodiment, and referring to Fig. 3, the embodiment of the present invention is also disclosed
A kind of pollination spraying system, including:
Truss, described truss includes multiple montant 31, multiple side lever 32 and at least one cross bar 33, described cross bar 33 and institute
State, between montant 31, there is offset distance；Wherein, the upper end of described montant 31 is arranged on ceiling skeleton, and described side lever 32 is fixed on institute
Stating on montant 31, described cross bar 33 is fixedly installed on the described side lever of adjacent two 32；Also include as described in foregoing embodiments
Pollination spray equipment 34, described pollination sprays equipment 34 and is arranged on described cross bar 33.
The pollination spraying system that the embodiment of the present invention proposes, owing to also having truss, montant 31 upper end of described truss sets
Put on ceiling skeleton, and pollination sprays equipment 34 and is arranged on the cross bar 33 of described truss, hence in so that this system is suitable for
Such as carry out pollination under warmhouse booth environment and spray operation.
Wherein, described montant 31 is additionally provided with telescoping mechanism, the described pollination spray being arranged on described cross bar 33 with regulation
Arrange the operation height of standby 34, thus described system can be made to possess the performance capacity under differing heights, thus promote further
The job area of described system.
Fig. 4 is that the present invention pollinates the partial structurtes enlarged diagram of spraying system embodiment, referring to Fig. 4, awards described in making
Powder sprays the mobile device 1 of equipment 34 reliably working and reduce mobile device 1 motor process on cross bar 33 on cross bar 33
In and cross bar 33 between frictional force, can be provided with multiple with cross bar 33 upper surface drivewheel bottom mobile device 1
35, control device 2 and realize the movement of mobile device 1 by controlling drivewheel 35；Can arrange multiple bottom mobile device 1 simultaneously
Cradle the driven pulley 36 of cross bar 33, in order to prevent described pollination from spraying generation side during equipment 34 moves on cross bar 33
Turn over.
Further, described side lever 32 being provided with cushion block 41, described cross bar 33 is arranged on institute's cushion block 41.Described cushion block
It is smooth that the setting of the offset distance 31 ' between 41, and described cross bar 33 and described montant 31 can ensure that described pollination sprays equipment 34
Do not collided with described side lever 32 and montant 31 by described side lever 32 and montant 31, and then ensure described pollination spray
Arrange the operation for 34 to be smoothed out.
Fig. 5 is that the present invention pollinates the workflow diagram of spraying system embodiment, and referring to Fig. 5, the embodiment of the present invention provides
Pollination spraying system workflow is as follows:
S1, starting device；
Before starting device, firstly, it is necessary to the working region that sprays in such as greenhouse completes design and the layout of truss,
And ensure that described equipment obstacle in motor process is all cleaned out；Secondly, it is ensured that described equipment has the electricity of abundance, medicine-chest
The dose of abundance is had in 3；Then, check described equipment each several part parts connect whether fasten, check described camera head 6 with
And mechanical arm 4 the most normally works, check that each switchs especially emergency stop switch and the most normally works；Finally, institute can be opened
Stating the power supply of equipment, described system will complete to spray work according to the following steps.
If the described apparatus senses of S2 is to enabling signal, then start to move along a straight line along described cross bar；Open if not sensing
Dynamic signal, the most only keeps starting state not carry out spraying operation, until described apparatus senses is to enabling signal；
Specifically, described first induction installation coordinates generation enabling signal with described second induction installation, described with instruction
Equipment proceeds by linear motion.Wherein, described first induction installation and the second induction installation can be such as Magnet and Hall
Sensor.
After S4, described equipment complete a moving period, described camera head 6 starts collection image of taking pictures, and will shooting
Photo upload to described control device 2；
S5, described control device 2 judge whether described target flowers according to described photo；
Specifically, step S5 also includes:
Described photo is contrasted by S51, described control device 2 with flowers sample to be sprayed, it is judged that current mobile week
Phase whether exist in the field range of described camera head 6 characteristic matching with described flowers sample to be sprayed wait spray
Flowers；
If S52 described control device 2 judges to know flowers to be sprayed described in existence, then carry further according to described camera head 6
The described photo of confession, calculate described in flowers to be sprayed apart from the distance of described equipment；
S53, described control device 2 are according to the maximum extension length of described mechanical arm 4, it is judged that described in flowers distance to be sprayed
Whether the distance of described equipment is positioned at described maximum extension length；
S54, the most then described in flowers to be sprayed be then described target flowers, described control device 2 according to described target flower
Bunch area information control described medicine-chest 3 spouting liquid.
Wherein, described target flowers to refer specifically to be positioned at the maximum extension of described mechanical arm 4 apart from the distance of described equipment long
Flowers to be sprayed in degree.
Described target flowers are completed to spray by S6, described equipment；
Specifically, described control device 2 controls described mechanical arm 4 and moves the front to described target flowers successively, and controls
Make described shower nozzle 5 and described target flowers are sprayed the medicinal liquid of the respective amount flowed out from described medicine-chest 3；It is positioned at institute completing to all
After stating the spraying of the described target flowers in maximum extension length, described control device 2 controls described mobile device 1 and carries out next
The linear motion of moving period.
Owing to spraying the medicinal liquid of corresponding amount according to the area of target flowers, therefore compared to prior art, the present embodiment carries
The pollination spraying system gone out can effectively save medicinal liquid, thus improve medicinal liquid utilization rate.
If the described equipment of S7 does not senses stopping signal, then repeat S3；
If the described equipment of S8 senses stopping signal when carrying out the linear motion of next moving period, then quit work.
Specifically, at described equipment, the first induction installation can be set along the destination county that cross bar 33 moves, at described mobile dress
Arranging the second induction installation in putting 1, described first induction installation coordinates generation to stop signal with described second induction installation, to refer to
Show that described equipment quits work.
The pollination spraying system that the embodiment of the present invention proposes, is not only suitable for carrying out pollination spray under such as warmhouse booth environment
Apply industry, and owing to described montant 31 can stretch, and cushion block 41 and the setting of offset distance 31 ', and then award described in can making
Powder sprays equipment 34 successfully to carry out spraying operation under differing heights.Further, since the most predeterminable thoughts on described cross bar 33
Answering device, for indicating described pollination to spray the start and stop of equipment 34, the pollination spraying system that therefore embodiment of the present invention provides is also
There is the ability of higher automated job.
Last it is noted that above example is only in order to illustrate technical scheme, it is not intended to limit；Although
With reference to previous embodiment, the present invention is described in detail, it will be understood by those within the art that: it still may be used
So that the technical scheme described in foregoing embodiments to be modified, or wherein portion of techniques feature is carried out equivalent；
And these amendment or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a pollination sprays equipment, it is characterised in that including:
For being arranged on cross bar and carrying out the mobile device moved along a straight line along described cross bar；
Described mobile device is provided above for controlling the control device that described mobile device moves；
It is provided with the medicine-chest for housing medicinal liquid below described mobile device, is provided with below described medicine-chest in described control
The lower mobile mechanical arm to target flowers front to be sprayed of control of device processed；One end of described mechanical arm and described medicine-chest
Bottom connects, and the other end is provided with shower nozzle unsettled setting；Described shower nozzle is connected with the one end of the conduit being close to mechanical arm outer wall,
The other end of described conduit connects with the liquid outlet of described medicine-chest；After described medicinal liquid is flowed out by described liquid outlet, lead via described
Manage and sprayed to described target flowers by described shower nozzle；
The camera head for taking pictures, described camera head and described control device communication link it is additionally provided with below described medicine-chest
Connect, for photo is sent to described control device, and judged whether according to described photo described by described control device
Target flowers.
Equipment the most according to claim 1, it is characterised in that described control device is according to the visual field model of described camera head
Enclose, control the displacement that each moving period of described mobile device carries out moving along a straight line.
Equipment the most according to claim 2, it is characterised in that described control device judges whether according to described photo
Described target flowers include:
Described photo is compared by described control device with flowers sample to be sprayed, it is judged that current moving period is taken the photograph described
As whether there are described target flowers in the field range of device；
If judging to know and there are described target flowers, then the area information according to described target flowers controls the hydrojet of described medicine-chest
Amount.
Equipment the most according to claim 3, it is characterised in that the current moving period of described judgement is at described camera head
Whether there are described target flowers in field range, also include:
Maximum extension length according to described mechanical arm, it is judged that whether there is described target in the field range of described camera head
Flowers；The distance that described target flowers spray equipment apart from described pollination is positioned at described maximum extension length.
5. according to the arbitrary described equipment of Claims 1-4, it is characterised in that described camera head is binocular camera.
6. according to the arbitrary described equipment of Claims 1-4, it is characterised in that described camera head is arranged by rotary apparatus
Below described medicine-chest.
7. a pollination spraying system, it is characterised in that include that truss, described truss include multiple montant, multiple side lever and extremely
A few cross bar, has offset distance between described cross bar and described montant；Wherein, the upper end of described montant is arranged on ceiling skeleton
On, described side lever is fixed on described montant, and described cross bar is fixedly installed on the described side lever of adjacent two；Also include such as power
Profit requires that 1 to 6 arbitrary described pollination sprays equipment, and described pollination sprays equipment and is arranged on described cross bar.
System the most according to claim 7, it is characterised in that described montant is provided with telescoping mechanism, is arranged on regulation
Described pollination on described cross bar sprays the operation height of equipment.
System the most according to claim 8, it is characterised in that be provided with cushion block on described side lever, described cross bar is arranged on
On described cushion block.
10. according to the system described in claim 7 or 8 or 9, it is characterised in that the two ends of described cross bar are respectively arranged with first
Induction installation, described first induction installation for coordinating the initial letter of generation with the second induction installation arranged in described mobile device
Number and termination signal, to indicate described pollination to spray the start and stop of equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610567163.7A CN106171959B (en) | 2016-07-18 | 2016-07-18 | One kind pollination sprays equipment and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610567163.7A CN106171959B (en) | 2016-07-18 | 2016-07-18 | One kind pollination sprays equipment and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106171959A true CN106171959A (en) | 2016-12-07 |
| CN106171959B CN106171959B (en) | 2018-03-02 |
Family
ID=57494071
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610567163.7A Active CN106171959B (en) | 2016-07-18 | 2016-07-18 | One kind pollination sprays equipment and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106171959B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107873510A (en) * | 2017-12-14 | 2018-04-06 | 河北工业大学 | A kind of automatic pollination machine of apple tree based on binocular vision technology |
| CN108782223A (en) * | 2017-05-05 | 2018-11-13 | 云世杰 | Automatic flight pollination equipment |
| KR20190130208A (en) * | 2018-04-23 | 2019-11-22 | 순천대학교 산학협력단 | Flower cross pollination Robot |
| US20200260675A1 (en) * | 2017-09-07 | 2020-08-20 | Edete Precision Technologies For Agriculture Ltd. | System for dry artificial pollination of cultivated trees or shrubs by insect-borne pollen and method of doing the same |
| CN111771711A (en) * | 2020-06-05 | 2020-10-16 | 江苏理工学院 | Pollination robot and pose calculation method and pose calculation device of mechanical arm of pollination robot |
| CN113207675A (en) * | 2021-05-10 | 2021-08-06 | 北京农业智能装备技术研究中心 | Airflow vibration type facility crop automatic pollination device and method |
| CN115617050A (en) * | 2022-12-02 | 2023-01-17 | 华南理工大学 | Automatic flower dotting method, robot, electronic equipment and storage medium |
| CN117397661A (en) * | 2023-10-27 | 2024-01-16 | 佛山市天下谷科技有限公司 | Medicine spraying control method of medicine spraying robot and medicine spraying robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2249872A1 (en) * | 1998-10-08 | 2000-04-08 | Arnold Webber | Method and apparatus for mechanically tripping and pollinating legume blossoms |
| CN103231794A (en) * | 2013-04-17 | 2013-08-07 | 华南农业大学 | Multi-air-bag aerial operation platform |
| CN205161433U (en) * | 2015-11-27 | 2016-04-20 | 郑州职业技术学院 | Manufactured nature geomantic omen rice breeding pollination system based on zigBee communication |
| CN205408984U (en) * | 2016-03-08 | 2016-08-03 | 西北农林科技大学 | Atomizing kiwi fruit pollination end effector |
| CN205484087U (en) * | 2016-03-25 | 2016-08-17 | 丽水市林业科学研究院 | Plant pollination state monitoring system based on CCD sensor |
-
2016
- 2016-07-18 CN CN201610567163.7A patent/CN106171959B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2249872A1 (en) * | 1998-10-08 | 2000-04-08 | Arnold Webber | Method and apparatus for mechanically tripping and pollinating legume blossoms |
| CN103231794A (en) * | 2013-04-17 | 2013-08-07 | 华南农业大学 | Multi-air-bag aerial operation platform |
| CN205161433U (en) * | 2015-11-27 | 2016-04-20 | 郑州职业技术学院 | Manufactured nature geomantic omen rice breeding pollination system based on zigBee communication |
| CN205408984U (en) * | 2016-03-08 | 2016-08-03 | 西北农林科技大学 | Atomizing kiwi fruit pollination end effector |
| CN205484087U (en) * | 2016-03-25 | 2016-08-17 | 丽水市林业科学研究院 | Plant pollination state monitoring system based on CCD sensor |
Non-Patent Citations (1)
| Title |
|---|
| 袁挺等: "温室环境下黄瓜采摘机器人信息获取", 《农业机械学报》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108782223A (en) * | 2017-05-05 | 2018-11-13 | 云世杰 | Automatic flight pollination equipment |
| US20200260675A1 (en) * | 2017-09-07 | 2020-08-20 | Edete Precision Technologies For Agriculture Ltd. | System for dry artificial pollination of cultivated trees or shrubs by insect-borne pollen and method of doing the same |
| CN107873510A (en) * | 2017-12-14 | 2018-04-06 | 河北工业大学 | A kind of automatic pollination machine of apple tree based on binocular vision technology |
| CN107873510B (en) * | 2017-12-14 | 2022-10-14 | 河北工业大学 | Automatic pollination machine for apple trees based on binocular vision technology |
| KR20190130208A (en) * | 2018-04-23 | 2019-11-22 | 순천대학교 산학협력단 | Flower cross pollination Robot |
| KR102095796B1 (en) * | 2018-04-23 | 2020-04-01 | 순천대학교 산학협력단 | Flower cross pollination Robot |
| CN111771711A (en) * | 2020-06-05 | 2020-10-16 | 江苏理工学院 | Pollination robot and pose calculation method and pose calculation device of mechanical arm of pollination robot |
| CN113207675A (en) * | 2021-05-10 | 2021-08-06 | 北京农业智能装备技术研究中心 | Airflow vibration type facility crop automatic pollination device and method |
| 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 |
| CN115617050A (en) * | 2022-12-02 | 2023-01-17 | 华南理工大学 | Automatic flower dotting method, robot, electronic equipment and storage medium |
| CN115617050B (en) * | 2022-12-02 | 2023-03-31 | 华南理工大学 | Automatic flower dotting method, robot, electronic equipment and storage medium |
| CN117397661A (en) * | 2023-10-27 | 2024-01-16 | 佛山市天下谷科技有限公司 | Medicine spraying control method of medicine spraying robot and medicine spraying robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106171959B (en) | 2018-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106171959A (en) | A kind of pollination sprays equipment and system | |
| CN104115809B (en) | A kind of field crops sprays machine and spraying method to target | |
| CN105123127B (en) | Medlar-picking machine device people and its control method | |
| CN205052293U (en) | Intelligent flowerpot | |
| CN102017938A (en) | Greenhouse suspended self-propelled target-oriented sprayer system and operation method thereof | |
| CN108371168B (en) | Rail self-propelled multimode greenhouse automatic spraying machine | |
| CN103988824A (en) | Automatic targeting and spraying system based on binocular vision technology | |
| CN104820947B (en) | A kind of farmland intelligence spray robot based on suspended chain conveyer | |
| CN104834298B (en) | Mobile phone remote automatic fertilization pesticide spraying system and its fertilization pesticide spraying method | |
| CN207284200U (en) | Intelligent translational formula water-fertilizer-pesticide integration sprinkling irrigation equipment | |
| CN204104581U (en) | A kind of automatic target detection spraying system based on binocular vision technology | |
| CN205546808U (en) | Remote intelligent system of watering flowers based on virtual reality technology | |
| CN203860304U (en) | Automatic targeting and spraying system | |
| CN109479705A (en) | A kind of self-action crop pollinating device | |
| CN203762122U (en) | Indoor autonomous mobile pesticide spraying robot | |
| CN207022716U (en) | A kind of agricultural cultivation planter box based on Internet of Things | |
| CN109601511A (en) | A kind of automatic spray running gear | |
| JP2001292684A (en) | System for controlling application of agrochemicals or fertilizer | |
| CN106054713A (en) | Paddy spraying wireless control system | |
| CN107743937A (en) | It is a kind of to preengage chemicals dosing plant on demand and method for the autonomous spraying machine in greenhouse | |
| Talluri et al. | Iot based multipurpose uniform water showering mechanism for urban agriculture | |
| CN110506727A (en) | The control method of apple orchard spraying machine operating angle | |
| CN210959677U (en) | Remote monitoring's automatic irrigation spouts medicine planting big-arch shelter | |
| CN108812589B (en) | Pesticide supply equipment based on unmanned aerial vehicle | |
| CN209149152U (en) | A kind of hot mist machine group of planes control system based on Internet of Things |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |