CN106171959B - One kind pollination sprays equipment and system - Google Patents
One kind pollination sprays equipment and system Download PDFInfo
- Publication number
- CN106171959B CN106171959B CN201610567163.7A CN201610567163A CN106171959B CN 106171959 B CN106171959 B CN 106171959B CN 201610567163 A CN201610567163 A CN 201610567163A CN 106171959 B CN106171959 B CN 106171959B
- Authority
- CN
- China
- Prior art keywords
- pollination
- flowers
- equipment
- medicine
- chest
- 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.)
- Active
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 discloses a kind of pollination and sprays equipment and system, and the equipment includes：The mobile device to be moved along a straight line along cross bar；Control device is provided with above the mobile device；Medicine-chest is provided with below the mobile device, mechanical arm is provided with below the medicine-chest；One end of the mechanical arm is connected with the bottom of the medicine-chest, and the other end is provided with shower nozzle and vacantly set；One end connection of conduit of the shower nozzle with being close to mechanical arm outer wall, the other end of the conduit connect with the liquid outlet of the medicine-chest；Camera device is additionally provided with below the medicine-chest, the camera device is communicated to connect with the control device, and the target flowers are judged whether according to the photo for photo to be sent to the control device, and by the control device.The disclosed pollination of the embodiment of the present invention sprays equipment and system may replace artificial pollination and improve Pollination Effect and efficiency.
Description
Technical field
The present embodiments relate to agricultural equipment technology field, and in particular to one kind pollination sprays equipment and system.
Background technology
The fruit trees and vegetables planted under greenhouse, due to a lack of spontaneous pollination condition, it is necessary in Spraying in the flowering stage growth regulator
With trace element etc., to promote pollen germination, fruit-setting rate is improved, ensures yield.
Generally, the pollination to fruit trees and vegetables can be completed by manual work in the prior art.However, artificial pollination not only into
This height, and need to carry out operation under special time and specified conditions, labor intensity is big, operating environment is poor, pollination efficiency is low,
And hormone is big to human health damage, artificial pollination is that operator's body is caused to seriously endanger in industrialized agriculture production chain
One of work link.
Therefore, how to substitute artificial pollination and improve Pollination Effect and efficiency, turn into urgent problem to be solved.
The content of the invention
For in the prior art the defects of, the embodiment of the present invention proposes that a kind of pollination sprays equipment and system.
On the one hand, the embodiment of the present invention proposes that a kind of pollination sprays equipment, including：
For the mobile device for being arranged on cross bar and being moved along a straight line along the cross bar；
The control device for controlling the mobile device movement is provided with above the mobile device；
The medicine-chest for housing decoction is provided with below the mobile device, is provided with below the medicine-chest in institute
State and the positive mechanical arm of target flowers to be sprayed is moved under the control of control device；One end of the mechanical arm and the medicine
The bottom connection of case, the other end are provided with shower nozzle and vacantly set；One end of conduit of the shower nozzle with being close to mechanical arm outer wall
Connection, the other end of the conduit connect with the liquid outlet of the medicine-chest；After the decoction is sprayed by the liquid outlet, via institute
State conduit and sprayed by the shower nozzle to the target flowers；
The camera device for taking pictures is additionally provided with below the medicine-chest, the camera device leads to the control device
Letter connection, is judged whether for photo to be sent to the control device, and by the control device according to the photo
The target flowers.
The pollination that the embodiment of the present invention proposes sprays equipment, due to that can determine target by control device and camera device
Flowers, and can be realized by the cooperation of medicine-chest, mechanical arm and shower nozzle and target flowers are sprayed, therefore may replace and manually award
Powder.Further, since mechanical arm is moved to target flowers front to be sprayed, therefore decoction can accurately be sprayed to mesh when spraying
Flowers are marked, therefore, the pollination that the embodiment of the present invention proposes, which sprays equipment, can also improve Pollination Effect and efficiency.
On the other hand, the embodiment of the present invention proposes a kind of pollination spraying system, including：
Truss, the truss include multiple montants, multiple side levers and at least one cross bar, the cross bar and the montant it
Between there is offset distance；Wherein, the upper end of the montant is arranged on ceiling skeleton, and the side lever is fixed on the montant, described
Cross bar is fixedly installed on two adjacent side levers；The pollination also included as described above sprays equipment, the pollination spray
Arrange standby be arranged on the cross bar.
The pollination spraying system that the embodiment of the present invention proposes, due to also having truss, the montant upper end of the truss is set
On ceiling skeleton, and pollination sprays equipment and is arranged on the cross bar of the truss, hence in so that the system is adapted to for example warm
Pollination is carried out under the greenhouse-environment of room and sprays operation.
Brief description of the drawings
Fig. 1 is the structural representation that present invention pollination sprays apparatus embodiments；
Fig. 2 sprays equipment control principle schematic diagram for pollination provided in an embodiment of the present invention；
Fig. 3 is the structural representation of present invention pollination spraying system embodiment；
Fig. 4 is the partial structurtes enlarged diagram of present invention pollination spraying system embodiment；
Fig. 5 is the workflow diagram of present invention pollination spraying system embodiment.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention 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 be the present invention
Part of the embodiment, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not having
The every other embodiment obtained under the premise of creative work is made, belongs to the scope of protection of the invention.
Fig. 1 is the structural representation that present invention pollination sprays apparatus embodiments, and referring to Fig. 1, the embodiment of the present invention discloses one
Kind pollination sprays equipment, including：
Mobile device 1, the mobile device 1 is arranged on cross bar, and is moved along a straight line along the cross bar；Described
The top of mobile device 1 is provided with the control device 2 for controlling the mobile device 1 to move；The lower section of mobile device 1 is set
There is medicine-chest 3, the medicine-chest 3 is used to house decoction, is provided with below the medicine-chest 3 for the control in the control device 2
Under be moved to the positive mechanical arm 4 of target flowers to be sprayed；One end of the mechanical arm 4 is connected with the bottom of the medicine-chest 3,
The other end is provided with shower nozzle 5 and vacantly set；One end connection of conduit of the shower nozzle 5 with being close to the outer wall of mechanical arm 4, it is described to lead
The other end of pipe connects with the liquid outlet of the medicine-chest 3；After the decoction is sprayed by the liquid outlet, via the conduit and lead to
The shower nozzle 5 is crossed to be sprayed to the target flowers；The camera device 6 for taking pictures is additionally provided with below the medicine-chest 3,
The camera device 6 communicates to connect with the control device 2, for photo to be sent to described by wired or wireless mode
Control device 2, and the target flowers are judged whether according to the photo by the control device 2.
Fig. 2 sprays equipment control principle schematic diagram for pollination provided in an embodiment of the present invention, as shown in Fig. 2 control device 2
Phase is sent for receiving the information of camera device 6 and induction installation transmission, and to mobile device 1, medicine-chest 3, mechanical arm 4, shower nozzle 5
Should ground control information；Mobile device 1 is used to be moved along a straight line on cross bar；Medicine-chest 3 is used to house decoction, and in control device
2 controls adjust the amount of liquid medicine sprayed every time down；Mechanical arm 4 is to be sprayed for being moved under the control of the control device 2
Target flowers front；Shower nozzle 5 is used to spray the decoction for reaching shower nozzle 5 via the conduit to target flowers；Camera device 6 is used for
Photo is gathered, and photo is sent to control device 2, and the mesh is judged whether according to the photo by control device 2
Mark flowers.
Wherein, the induction installation includes the first induction installation being arranged on cross bar, and is arranged in mobile device 1
The second induction installation, first induction installation and the second induction installation, which coordinate, produces enabling signal and termination signal, to refer to
Show control device 2, make it control described pollinate to spray the start and stop of equipment.
Pollination provided in an embodiment of the present invention sprays equipment, and its control principle is：Control device 2 handles the institute of camera device 6
The photographic intelligence collected, then Treatment Analysis is carried out to it, extract target flowers feature, calculate target flowers locus and
Target flowers area information, then control mobile device 1 and mechanical arm 4 to move to target flowers, and control medicine-chest 3 and shower nozzle 5
Completion sprays action, is sprayed after pollination during equipment is completed to image after the spraying of all target flowers, mobile device 1 continues next
The linear motion of moving period, said process is repeated, until sensing termination signal ability power cut-off.
The pollination that the embodiment of the present invention proposes sprays equipment, due to that can determine mesh by control device 2 and camera device 6
Flowers are marked, and can be realized by the cooperation of medicine-chest 3, mechanical arm 4 and shower nozzle 5 and target flowers are sprayed, therefore may replace people
Work is pollinated.Further, since mechanical arm 4 is moved to target flowers front to be sprayed, therefore decoction can accurately spray when spraying
Spill to target flowers, therefore, the pollination that the embodiment of the present invention proposes, which sprays equipment, can also improve Pollination Effect and efficiency.
Further, the linear motion that the mobile device 1 continues next moving period is specially：
The control device 2 controls the mobile device 1 each mobile week according to the field range of the camera device 6
The displacement that phase is moved along a straight line.
Wherein, the field range, which refers to the camera device 6, can photograph the scope of material object；In the present embodiment, by
It is used to shoot arable farming area in camera device 6, and the cross bar is closer to the distance apart from the arable farming area, it is therefore, described
Field range is limited；According to the angle of visual field of the camera device 6, and the equipment is apart from the distance in the arable farming area,
The widthwise size of the field range of the camera device 6 can be then calculated, and then 1 each movement of mobile device can be calculated
The displacement that cycle is moved along a straight line.If for example, know that the camera device 6 is planar shot in arable farming area
The maximum transversal distance arrived is 0.5m, then the displacement that 1 each moving period of mobile device is moved along a straight line also is
0.5m。
Such setting, the photo that can shoot the camera device 6 does not have coincidence, and is shot in adjacent moving period
The material object of photo can closely engage, so as to ensure that flowers to be sprayed will not be missed, it also avoid flowers to be sprayed and weighed
Multiple shooting.
Further, the control device 2 judges whether that the target flowers specifically include according to the photo：
S01, the control device 2 are contrasted the photo and flowers sample to be sprayed, and judge current mobile week
Phase whether there is in the field range of the camera device 6 to be waited to spray with the characteristic matching of the flowers sample to be sprayed
Flowers；
If S02, the control device 2 judge know presence described in flowers to be sprayed, carried further according to the camera device 6
The photo supplied, calculate distance of the flowers to be sprayed apart from the equipment；
In the present embodiment, the camera device 6 preferably binocular camera, two cameras of the binocular camera
Between there is certain spacing, therefore in the photo that shoots respectively of described two cameras, the position meeting of same flowers to be sprayed
Difference, thus, the control device 2 can calculate distance of the flowers to be sprayed apart from the equipment.Alternatively, the shooting dress
Put 6 and can also be two monocular cams, there is certain spacing between described two monocular cams；Alternatively, it is described to take the photograph
As device 6 can also be the combination of monocular cam and range finder.
S03, the control device 2 are according to the maximum extension length of the mechanical arm 4, flowers distance to be sprayed described in judgement
Whether the distance of the equipment is in the maximum extension length；
S04, if so, then the flowers to be sprayed are then the target flowers, the control device 2 is spent according to the target
The area information of cluster controls the spouting liquid of the medicine-chest 3.
Wherein, the target flowers refer specifically to the maximum extension length for being located at the mechanical arm 4 apart from the distance of the equipment
Flowers to be sprayed in degree.
Carried due to spraying the decoction of corresponding amount according to the area of target flowers, therefore compared to prior art, the present embodiment
The pollination gone out spray equipment can effectively save decoction, so as to improve decoction utilization rate.
Wherein, the mechanical arm 4 includes multiple steering wheels 41, wherein, the steering wheel 41 near medicine-chest 3 can realize 360 degree
Rotation, the multiple steering wheel 41 cooperates, to complete spraying for different spatial.Certainly, the steering wheel 41 is specific
Quantity can be adjusted according to actual conditions and demand, and the present embodiment is not construed as limiting to this.
Preferably, according to any of the above-described embodiment, also the camera device 6 can be arranged on the medicine by rotating device
The lower section of case 3.So that the camera device 6 rotates such as 90 degree, 180 degree or 270 degree, so as to make described in artificially do not move
In the case of cross bar and the equipment, the other target flowers for being pointed to the other sides of the equipment are sprayed.
The pollination that the embodiment of the present invention proposes sprays equipment, due to additionally using the visual field model according to the camera device 6
Enclose to carry out the mode of IMAQ, therefore the prior art of image is gathered relative to more frequencys in the short time, the pollination spray
Arrange for the number of IMAQ is effectively reduced, therefore reduce the work relevant with IMAQ and target flowers judgement
Measure, so as to improve the efficiency for determining target flowers.
Fig. 3 is the structural representation of present invention pollination spraying system embodiment, and referring to Fig. 3, the embodiment of the present invention is also disclosed
One kind pollination spraying system, including：
Truss, the truss include multiple montants 31, multiple side levers 32 and at least one cross bar 33, the cross bar 33 and institute
Stating between montant 31 has offset distance；Wherein, the upper end of the montant 31 is arranged on ceiling skeleton, and the side lever 32 is fixed on institute
State on montant 31, the cross bar 33 is fixedly installed on the side lever 32 of adjacent two；Also include as described in foregoing embodiments
Pollination spray equipment 34, the pollination sprays equipment 34 and is arranged on the cross bar 33.
The pollination spraying system that the embodiment of the present invention proposes, due to also having truss, the upper end of montant 31 of the truss is set
Put on ceiling skeleton, and pollination sprays equipment 34 and is arranged on the cross bar 33 of the truss, hence in so that the system is adapted to
Such as carry out pollination under warmhouse booth environment and spray operation.
Wherein, the montant 31 is additionally provided with telescoping mechanism, and the pollination being arranged on regulation on the cross bar 33 is sprayed
Standby 34 operation height is arranged, so as to make the system possess the work capacity under different height, thus further lifting
The job area of the system.
Fig. 4 is the partial structurtes enlarged diagram of present invention pollination spraying system embodiment, referring to Fig. 4, to make described award
Powder sprays the mobile device 1 of equipment 34 and reliably working and reduces the motion process on cross bar 33 of mobile device 1 on cross bar 33
In frictional force between cross bar 33, the bottom of mobile device 1 can be provided with multiple with the upper surface of cross bar 33 driving wheel
35, control device 2 is by controlling driving wheel 35 to realize the movement of mobile device 1；The bottom of mobile device 1 can be set multiple simultaneously
The driven pulley 36 of cross bar 33 is cradle, side occurs to prevent the pollination from spraying during equipment 34 is moved on cross bar 33
Turn over.
Further, cushion block 41 is provided with the side lever 32, the cross bar 33 is arranged on institute's cushion block 41.The cushion block
It is smooth that the setting of offset distance 31 ' between 41, and the cross bar 33 and the montant 31 can ensure that the pollination sprays equipment 34
By the side lever 32 and montant 31 without being collided with the side lever 32 and montant 31, and then ensure the pollination spray
Arrange and be smoothed out for 34 operation.
Fig. 5 is the workflow diagram of present invention pollination spraying system embodiment, provided in an embodiment of the present invention referring to Fig. 5
Spraying system workflow of pollinating is as follows：
S1, starting device；
Before starting device, firstly, it is necessary to for example in greenhouse spray working region complete truss design and arrangement,
And ensure that obstacle of the equipment in motion process is all cleaned out；Secondly, ensure that the equipment has the electricity of abundance, medicine-chest
There is the dose of abundance in 3；Then, check the equipment each several part part connection whether fasten, check the camera device 6 with
And mechanical arm 4 whether normal work, check it is each switch especially emergency stop switch whether normal work；Finally, you can open institute
The power supply of equipment is stated, the system will be completed to spray work according to the following steps.
If S2, the apparatus senses to enabling signal, start to be moved along a straight line along the cross bar；Opened if not sensing
Dynamic signal, then only keep starting state and without spraying operation, until the apparatus senses to enabling signal；
Specifically, first induction installation coordinates with second induction installation produces enabling signal, with described in instruction
Equipment proceeds by linear motion.Wherein, first induction installation and the second induction installation can be such as magnet and Hall
Sensor.
After S4, the equipment complete a moving period, the camera device 6 starts collection image of taking pictures, and will shooting
Photo upload to the control device 2；
S5, the control device 2 judge whether the target flowers according to the photo；
Specifically, step S5 also includes：
S51, the control device 2 are contrasted the photo and flowers sample to be sprayed, and judge current mobile week
Phase whether there is in the field range of the camera device 6 to be waited to spray with the characteristic matching of the flowers sample to be sprayed
Flowers；
If S52, the control device 2 judge know presence described in flowers to be sprayed, carried further according to the camera device 6
The photo supplied, calculate distance of the flowers to be sprayed apart from the equipment；
S53, the control device 2 are according to the maximum extension length of the mechanical arm 4, flowers distance to be sprayed described in judgement
Whether the distance of the equipment is in the maximum extension length；
S54, if so, then the flowers to be sprayed are then the target flowers, the control device 2 is spent according to the target
The area information of cluster controls the spouting liquid of the medicine-chest 3.
Wherein, the target flowers refer specifically to the maximum extension length for being located at the mechanical arm 4 apart from the distance of the equipment
Flowers to be sprayed in degree.
S6, the equipment are completed to spray to the target flowers；
Specifically, the control device 2 controls the mechanical arm 4 to be moved to the front of the target flowers successively, and controls
Make the decoction that the shower nozzle 5 sprays the respective amount from the medicine-chest 3 outflow to the target flowers；Complete to be located at institute to all
After stating the spraying of the target flowers in maximum extension length, it is next that the control device 2 controls the mobile device 1 to carry out
The linear motion of moving period.
Carried due to spraying the decoction of corresponding amount according to the area of target flowers, therefore compared to prior art, the present embodiment
The pollination spraying system gone out can effectively save decoction, so as to improve decoction utilization rate.
If S7, the equipment do not sense stop signal, repeatedly S3；
If S8, the equipment sense stop signal when carrying out the linear motion of next moving period, it is stopped.
Specifically, the destination county that can be moved in the equipment along cross bar 33 sets the first induction installation, in the mobile dress
Put and the second induction installation is set in 1, first induction installation coordinates with second induction installation produces stop signal, to refer to
Show that the equipment is stopped.
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
Industry is applied, and because the montant 31 can be stretched, and the setting of cushion block 41 and offset distance 31 ', and then described award can be made
Powder sprays equipment 34 and successfully carries out spraying operation under different height.Further, since also predeterminable thoughts on the cross bar 33
Device is answered, for indicating that described pollinate sprays the start and stop of equipment 34, therefore pollination spraying system provided in an embodiment of the present invention is also
There is the ability of higher automated job.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification 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. one kind pollination sprays equipment, it is characterised in that including：
For the mobile device for being arranged on cross bar and being moved along a straight line along the cross bar；
The control device for controlling the mobile device movement is provided with above the mobile device；
The medicine-chest for housing decoction is provided with below the mobile device, is provided with below the medicine-chest in the control
The positive mechanical arm of target flowers to be sprayed is moved under the control of device processed；One end of the mechanical arm and the medicine-chest
Bottom connects, and the other end is provided with shower nozzle and vacantly set；One end connection of conduit of the shower nozzle with being close to mechanical arm outer wall,
The other end of the conduit connects with the liquid outlet of the medicine-chest；After the decoction is flowed out by the liquid outlet, led via described
Manage and sprayed by the shower nozzle to the target flowers；
The camera device for taking pictures, the camera device and the control device communication link are additionally provided with below the medicine-chest
Connect, for photo to be sent to the control device, and by the control device according to judging whether the photo
Target flowers.
2. equipment according to claim 1, it is characterised in that the control device is according to the visual field model of the camera device
Enclose, the displacement for controlling each moving period of the mobile device to be moved along a straight line.
3. equipment according to claim 2, it is characterised in that the control device judges whether according to the photo
The target flowers include：
The photo is compared the control device with flowers sample to be sprayed, and judges that current moving period is taken the photograph described
As device field range in whether there is the target flowers；
If judgement knows the target flowers be present, the hydrojet of the medicine-chest is controlled according to the area information of the target flowers
Amount.
4. equipment according to claim 3, it is characterised in that described to judge current moving period in the camera device
It whether there is the target flowers in field range, in addition to：
According to the maximum extension length of the mechanical arm, judge to whether there is the target in the field range of the camera device
Flowers；The target flowers are located in the maximum extension length apart from the distance that the pollination sprays equipment.
5. equipment according to any one of claims 1 to 4, it is characterised in that the camera device is binocular camera.
6. equipment according to any one of claims 1 to 4, it is characterised in that the camera device is set by rotating device
Below the medicine-chest.
7. one kind pollination spraying system, it is characterised in that including truss, the truss includes multiple montants, multiple side levers and extremely
A few cross bar, has offset distance between the cross bar and the montant；Wherein, the upper end of the montant is arranged on ceiling skeleton
On, the side lever is fixed on the montant, and the cross bar is fixedly installed on two adjacent side levers；Also include as weighed
Profit requires that 1 to 6 any described pollination sprays equipment, and the pollination sprays equipment and is arranged on the cross bar.
8. system according to claim 7, it is characterised in that the montant is provided with telescoping mechanism, is arranged on regulation
The pollination on the cross bar sprays the operation height of equipment.
9. system according to claim 8, it is characterised in that cushion block is provided with the side lever, the cross bar is arranged on
On the cushion block.
10. according to the system described in claim 7 or 8 or 9, it is characterised in that the both ends of the cross bar are respectively arranged with first
Induction installation, first induction installation, which is used to coordinate with the second induction installation set in the mobile device, produces starting letter
Number and termination signal, to indicate that described pollinate sprays 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 CN106171959A (en) | 2016-12-07 |
| CN106171959B true 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) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108782223A (en) * | 2017-05-05 | 2018-11-13 | 云世杰 | Automatic flight pollination equipment |
| CN111405845A (en) * | 2017-09-07 | 2020-07-10 | 埃得特农业精密技术有限公司 | System for dry artificial pollination of cultivated trees or shrubs by arbo pollen and method for dry artificial pollination |
| 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 |
| KR102095796B1 (en) * | 2018-04-23 | 2020-04-01 | 순천대학교 산학협력단 | Flower cross pollination Robot |
| CN111771711B (en) * | 2020-06-05 | 2022-09-30 | 江苏理工学院 | Pollination robot and pose calculation method and pose calculation device of mechanical arm of pollination robot |
| 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 |
| 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 |
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 |
|---|
| 温室环境下黄瓜采摘机器人信息获取;袁挺等;《农业机械学报》;20091031;第40卷(第10期);第151-155页，尤其是第152页左栏第1段和第3段 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106171959A (en) | 2016-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106171959B (en) | One kind pollination sprays equipment and system | |
| CN109287256A (en) | In the outer region can automatically walk operating equipment | |
| CN103918636A (en) | Intelligent spraying method based on image processing and spraying robot based on image processing | |
| CN108271765B (en) | Multifunctional claw head environment monitoring robot and plant identification method thereof | |
| 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 | |
| CN105613153B (en) | Full-automatic tree skirt rendering robot and painting method | |
| CN109297467A (en) | For detecting the system and sensor module of three-dimensional environment data | |
| CN108271531A (en) | The fruit automation picking method and device of view-based access control model identification positioning | |
| CN109202848A (en) | Man-machine collaboration picking robot and its control method based on Leap Motion and machine vision | |
| CN110050776A (en) | A kind of capsicum spray robot and its control method | |
| CN102896631A (en) | Real-time/on-line azimuth adjustment device and method | |
| CN107455059A (en) | Intelligent translational formula water-fertilizer-pesticide integration sprinkling irrigation equipment | |
| CN109479705A (en) | A kind of self-action crop pollinating device | |
| CN107251785A (en) | Bend the intelligent bay film mulching integrated machine of canopy and its control method | |
| CN103332472B (en) | Button location feeder and button localization method | |
| JP2001292684A (en) | System for controlling application of agrochemicals or fertilizer | |
| CN109601511A (en) | A kind of automatic spray running gear | |
| KR102095796B1 (en) | Flower cross pollination Robot | |
| CN107791250B (en) | Working at height robot system and its control method | |
| CN106054713A (en) | Paddy spraying wireless control system | |
| CN106718685A (en) | A kind of mixed planting farmland pinpoints irrigation rig | |
| CN210017334U (en) | Air-assisted automatic targeted pollination trolley for greenhouse | |
| KR102131941B1 (en) | Crop growth measuring device for Rail mobile | |
| CN106094645B (en) | Farmland intelligence automatic multi-function protection canopy based on technology of 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 |