CN107873510A - A kind of automatic pollination machine of apple tree based on binocular vision technology - Google Patents
A kind of automatic pollination machine of apple tree based on binocular vision technology Download PDFInfo
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- CN107873510A CN107873510A CN201711335481.1A CN201711335481A CN107873510A CN 107873510 A CN107873510 A CN 107873510A CN 201711335481 A CN201711335481 A CN 201711335481A CN 107873510 A CN107873510 A CN 107873510A
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- pollinating
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01H—NEW PLANTS OR NON-TRANSGENIC PROCESSES FOR OBTAINING THEM; PLANT REPRODUCTION BY TISSUE CULTURE TECHNIQUES
- A01H1/00—Processes for modifying genotypes ; Plants characterised by associated natural traits
- A01H1/02—Methods or apparatus for hybridisation; Artificial pollination ; Fertility
- A01H1/027—Apparatus for pollination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The present invention is a kind of automatic pollination machine of apple tree based on binocular vision technology.The pollination machine includes pollinating device, aircraft device, image acquisition and processing device, signal label device, positioning navigation device and computer；Described pollinating device includes load rod, pollination fixed pole, pollination lever, pollination shower nozzle and round tray；Load rod upper end is fixed with the second central shaft rotor, and load rod bottom is fixed with round tray；Pollination fixed pole upper end is connected through round tray with the inside of load rod, and lower end is connected with pollination lever；The lower end for lever of pollinating is connected by shower nozzle connecting tube of pollinating with pollination shower nozzle.The present invention can be overcome the shortcomings of present in prior art, realize full-automatic, high accuracy, Large Copacity, low cost Fruit Tree Pollination operation, solve a series of problems, such as artificial pollination amount of labour is big, and Normal hydraulic formula pollination running cost is high.
Description
Technical field
The present invention is a kind of machinery equipment pollinated automatically for apple tree, and in particular to one kind is based on binocular vision technology
The automatic pollination machine of apple tree, belong to agricultural mechanical field.
Background technology
Fruit Tree Pollination has two kinds of various ways, most commonly spontaneous pollination and artificial pollination.Spontaneous pollination has random
Property, easily by adverse weather conditions, spontaneous pollination is relied only on, for most of fruit trees for cross pollination, percentage of fertile fruit is low,
Fruit type is not straight, poor quality.Artificial pollination refers in the case of human intervention, and high-quality flower is carried out a little to award or spray
Pollination, overcomes the natural environment influences such as bad weather, realizes flower and fruit thinning to spend and determine fruit technology, improves fruit tree percentage of fertile fruit and fruit
Quality.
Apple in Foreign Countries garden generally use manually watches foster honeybee or wall honeybee pollinates to apple, improves the fruit setting of fruit
Rate, but because orchard largely uses agricultural chemicals, cause honeybee or the loss of wall honeybee larger, and bee raising or wall honeybee need
Nest is provided, properly recovery virtually adds the amount of labour, process is complicated, and investment is larger, thus Mechanical pollination with preserving nest block
The main trend of following Fruit Tree Pollination will necessarily be turned into.
China is mainly combined to the Pollination Modes of apple tree using spontaneous pollination and artificial pollination, is manually pollinated to solve
Certainly spontaneous pollination deficiency and randomness affected by environment.In general, apple selfing can not be solid, the apple flower florescence is short, short
Artificial pollination is carried out to full wafer orchard in time, task amount is big.Application No. 201320558641.x Chinese utility model is special
Profit, which discloses, has invented the automatic pollination machine of heliogreenhouse rail type, by tramcar device and oil pressure propulsion system and numerical control in structure
Instrument forms, and realizes the pollinating process automation of chamber facility cultivation productive labor, but the limitation of the structure of rail type can only be
Pollinated automatically in indoor regular fruit tree, the arrangement of typical apple garden fruit tree is irregular, can not use the automatic pollination machine of rail type
Pollinated.Although current various pollinating devices emerge in an endless stream, it is required for manually participating in, without fundamentally solution manpower labor
The big problem of momentum.
In recent years as the fast development of unmanned air vehicle technique, more and more extensive field provide to the developing of unmanned air vehicle technique
Space, this is without providing a new approaches suspected of Fruit Tree Pollination technology, but because unmanned plane shape is larger, can not be crisscross
Flexible operation in complicated tree trunk, even more impossible to the one-to-one pollination of flower progress, unmanned plane lift is limited in addition, so right
There is certain restriction in the weight quality that it can be carried.Due to the presence of above-mentioned variety of problems, applying for unmanned plane is awarded in fruit tree
The development in pink collar domain is restricted.
The pollinating device that a kind of fluid pressure type manually participates in is there is currently, the device is by hydraulic pump, by pollen with vaporific shape
Formula sprays, and realizes large-scale Fruit Tree Pollination, but the device needs artificial participation, and cost is high, and weight is big, and needleless of pollinating
To property, pollination is concentrated on a large scale, can not ensure accuracy rate, can also cause a large amount of wastes and environmental pollution of pollen to ask in addition
Topic.
Therefore, outstanding is seemed to a kind of research of pollinating device that can realize full-automatic, high accuracy, Large Copacity, low cost
To be urgent.
The content of the invention
It is an object of the invention to overcome the shortcomings of present in prior art, there is provided a kind of apple based on binocular vision technology
The automatic pollination machine of fruit tree.The device in Fruit Tree Pollination, realizes aircraft applications to apple tree using location and navigation technology
It is accurately positioned, flower is positioned using current known binocular vision technology and image processing techniques, classified, according to petal
Flexibility and pistil center shade situation when bursting forth, select out the flourishing flower opened and are pollinated, can improve fruit
Percentage of fertile fruit and pollen peak use rate.Pollinating device module, combined by design load bar, pollination fixed pole and pollination lever,
Make pollinating device that there is the double grading of the stable feature of pollination fixed pole and the stretching feature of pollination lever, load rod carrying
Most of weight of pollinating device, enough spaces and stable guarantee being provided for storage pollination lever, pollination lever radius is small, this
Kind design is in order to which the lever that ensures to pollinate can be arrived at the pistil of arbitrary target pollination.The present invention can overcome prior art institute
Existing deficiency, full-automatic, high accuracy, Large Copacity, low cost Fruit Tree Pollination operation is realized, solves the artificial pollination amount of labour
Greatly, a series of problems, such as Normal hydraulic formula pollination running cost is high.
The technical scheme is that：
A kind of automatic pollination machine of apple tree based on binocular vision technology, the pollination machine includes pollinating device, aircraft fills
Put, image acquisition and processing device, signal label device, positioning navigation device, control module and computer；
Described pollinating device includes load rod, pollination fixed pole, pollination lever, pollination shower nozzle and round tray；Load rod
Upper end is fixed with the second central shaft rotor, and load rod bottom is fixed with round tray；Pollinate fixed pole upper end through round tray with
The inside of load rod is connected, and lower end is connected with pollination lever；Sprayed by shower nozzle connecting tube of pollinating with pollination the lower end for lever of pollinating
Head is connected；
Described load rod upper end is connected with the second central shaft rotor, and outer wall is fixed with servo-driver, and lower end is provided with
Round tray, pollen liquid storage tank and displacement measuring device system are respectively fixed with round tray；Pollen liquid tube at one end is inserted
Enter in pollen liquid storage tank, the other end is connected through the bar wall of pollination fixed pole with pollination lever.
The bottom of pollination fixed pole is fixed with switching device, wherein switching device include the electromagnetic induction switch being connected with each other and
Single-chip microcomputer, wherein electromagnetic induction switch cross whole pollination fixed pole, are connected with single-chip microcomputer；
The top of pollination lever is connected with the servo-driver that load rod outer wall is fixed；
Described control module includes microprocessor；
Described displacement measuring device system includes laser interferometer, receiver and transmitter, wherein, laser interferometer point
It is not connected with receiver, transmitter, receiver, transmitter are connected by wireless transmission method with microprocessor respectively；
Described aircraft device composition includes：Four ends upper surface of cross aircraft frame, is respectively and fixedly provided with one
Individual propeller strut, the top of each propeller strut are provided with a cylindrical appliance case, and appliance case includes being connected with each other
Micromachine and electron speed regulator, propeller is installed on micromachine；It is fixed with aircraft frame centre of surface integrated
Receiver；The lower surface center of aircraft frame is fixed with central shaft rotor contiguous block, and central shaft rotor contiguous block is with awarding
The first central shaft rotor in powder device is connected；First central shaft rotor and the second central shaft rotor are connected.
Described image acquisition and processing device includes four CCD cameras, four camera tripods and integrated receiver；Flight
The lower section of four ends of device framework is fixed with a CCD camera by camera tripod；One group two-by-two of four CCD cameras, often
Group position is relative；Described integrated receiver is located at the central upper portion of aircraft frame, including microprocessor and location navigation
Device；
Described signal label device includes RFID chip, WIFI chips and power-supply device, at every apple tree tree trunk
It is provided with a signal label device；
Described positioning navigation device includes RFID reader and WIFI signal detector；
Described positioning navigation device, displacement measuring device system, CCD camera, servo-driver, electron speed regulator, open
The single-chip microcomputer closed in device is connected with microprocessor respectively, and microprocessor is connected with computer, electron speed regulator and micromachine phase
Even；Signal label device is wirelessly connected with positioning navigation device.
The aircraft device quality is 6-7 kilograms, and 10-12 kilograms of total launching weight, cruising time is 25-28 minutes；Institute
It is 0.2 meter of length to state load rod, the steel pipe that 0.05 meter of radius；Pollination fixed pole is 0.15 meter of length, the hollow PVC of 0.03 meter of radius
Pipe；Pollination lever is hollow plastics small hose, 3 meters of total length；Pollen liquid storage tank tank inner volume is 1400-1600mL.
The control method of the described automatic pollination machine of the apple tree based on binocular vision technology, comprises the following steps
(1) computer is started so that control module is opened；
(2) microprocessor in control module and signal label device are opened, signal label device transmitting apple tree coordinate
Information；
(3) microprocessor control positioning navigation device starts, and realizes that apple tree positions, and coordinate information is transferred into control
The microprocessor of module, microprocessor are handled the information of receiving, calculated, and are sent to cloud platform terminal；
(4) cloud platform terminal receives data and handled, and carries out route and drafts, the route information drafted is transferred to micro-
Processor；
(5) output work of the electron speed regulator rotating speed and micromachine in instruction control device box is sent by microprocessor
Rate so that aircraft device takes off and smoothly reaches specified location；
(6) after aircraft device is ready, two groups of CCD cameras installed in camera tripod gather image information, microprocessor
Device is classified, using angle point to using binocular stereo vision and image processing techniques by SVMs principle to flower
Detection algorithm (Harris) detects target pistil to be pollinated, and image information is handled；
(7) data processing storage is completed, and microprocessor controlled pollination device is opened, under micro-processor control, bar of pollinating
Adjustment angle and length, displacement measuring device system examinations feedback, related up-to-date information is sent to microprocessor；
(8) after microprocessor receives pollinating device completion information, send and instruct to single-chip microcomputer, under single-chip microcomputer control
Start electromagnetic induction switch, be stored in the pollen liquid inside pollination lever and drip under gravity, electromagnetic induction switch is by list
Piece machine timing routine is controlled, and the time one arrives, and electromagnetic induction switch is closed, and the pollination of this piece apple flower terminates, and pollination lever is punctured into
Original state；
(9) first apple flower pollination operations receive, and after step (8) terminates, single-chip microcomputer is sent to microprocessor to be terminated
Data information transfer after renewal repeat step (6), is complete to each detection state to pollinating device by information, microprocessor
Apple flower in full bloom is pollinated one by one, after the completion for the treatment of the pollination of whole apple tree, number that aircraft device updates according to cloud platform
According to, above the apple tree to be pollinated to next needs that flies, aforesaid operations are repeated, it is complete up to entirely presetting all apple trees in orchard
Into pollination；
(10) terminate pollination operation, close computer.
The substantive distinguishing features of the present invention：The design of pollinating device be the present invention core, by load rod, pollination fixed pole and
The combination for lever of pollinating so that simple pollination bar has the dual characteristicses of stability and retractility, and load rod is set to length 0.2
Rice, the steel pipe that 0.05 meter of radius, for carrying most of weight of pollinating device, upper end is connected with the second central shaft rotor, energy
Enough multiple rotary freedoms are provided for pollinating device；Outer wall is fixed with servo-driver, is the power source of whole pollinating device；Bottom
Portion is provided with round tray, for depositing pollen liquid storage tank and displacement measuring device system.Pollination fixed pole is set to length 0.15
Rice, the hollow pvc pipe of 0.03 meter of radius, upper end are connected through round tray with load rod, and lower end is provided with switching device, wherein
Switching device includes the electromagnetic induction switch and single-chip microcomputer being connected with each other, and electromagnetic induction switch crosses whole pollination fixed pole, with list
Piece machine is connected, by singlechip interruption program come the connection and interruption of controlling switch, so as to realize the automatic drippage of pollen liquid.Award
Powder lever is set to the hollow plastics small hose of radius very little, 3 meters of total length, the servo-driver that top is fixed with load rod outer wall
It is connected, in the presence of servo-driver, length can be converted freely, and pollination is monitored in real time by displacement measuring device system
Lever length, lever radial design very little of pollinating, it is therefore an objective to can accurately arrive at arbitrary target in complicated tree trunk and award
At pink blossom stamen.
Pollination bar in pollinating device with existing pollination bar is different on the market now, existing pollination bar is substantially simple
Single several bars are mutually nested, fixed by the spiral interface in bar, this design can not realize automation, and not have load-carrying
The differentiation of bar, pollination fixed pole and lever of pollinating, shank diameter is very big, can not flexibly be moved in complicated tree trunk, length of stretching
Spend limited, the design of the pollinating device of the unsuitable present invention.Other pollinating device uses a kind of brand-new Pollination Modes, by pollen
Mixed with nutrient solution, pollen liquid is made, by electromagnetic induction switch, using gravity dropping principle, realize that pollen liquid drips automatically
It is different from traditional hydraulic atomizing pollination to the operation of target pistil, it is not necessary to the device that the quality such as hydraulic pump is big, cost is high,
It is apparatus simplified, by increasing capacitance it is possible to increase to carry the quality of pollen liquid.Pollinating device designed by the present invention is simple, capacity is big, precision is high, into
This is low.
Beneficial effect of the present invention is：
1 present invention by aircraft applications in terms of the Fruit Tree Pollination, using radio RF recognition technology and wireless communication
Technology, coordinate residing for apple tree is inquired about by detecting WIFI signal power, apple tree coordinate information is read with reference to RFID reader,
Dual operation is positioned and navigated to aircraft, more accurate than a kind of technology is used alone.
2 use technique of binocular stereoscopic vision in image acquisition and processing link, gather image information by CCD camera, then
Image is handled and features localization, the three-dimensional information of apple flower is obtained, wherein gathering CCD camera in image procossing link
To image be converted to gray level image, obtain binary map after filtering, after the pretreatment operation such as Threshold segmentation, closing operation of mathematical morphology
Picture, apple flower contour images are extracted from bianry image using parallel thinning algorithm, it is former according to SVMs in pattern-recognition
Flexibility and pistil shade of the reason when being burst forth to petal are classified to flower, are not opened respectively, are bloomed, flourishing opening three kinds
State, the flourishing pistil center opened in apple flower profile then is detected from Corner Detection Algorithm (Harris), utilizes pistil
Information locating.This processing can select optimal pollination flower, improve fruit percentage of fertile fruit and pollen liquid peak use rate.
3 pollinating process are the operations of full-automatic, high mechanization degree, pass through central shaft rotor contiguous block, the first central shaft
Rotor and the second central shaft rotor synergy, multiple rotary freedoms are provided for pollinating device, pollination lever is in servo-drive
Freely converting and fixing for length is realized under the control of device, can be crisscross due to the pollination lever radius very little of design
Trunk in flexible operation, arrive at it is any need at the target pistil pollinated, carry out one-to-one pollination operation.Instead of artificial pollination
Operation, saves substantial amounts of labour.In addition, the Pollination Modes that conventional fluid pressure type manually participates in are changed, by pollen and nutrition
Liquid mixes, and is fabricated to the pollen liquid of more conducively fruit growth, pollen liquid is placed in pollen liquid storage tank, opened using electromagnetic induction
Close, using gravity, realize that pollen liquid instills automatically under the control of the first single-chip microcomputer timing routine, realize full-automatic pollination behaviour
Make.Pollination lever end is connected with pollination shower nozzle, vesicular texture, target flower can be pollinated on a large scale, reduces and misses
Difference.
The device can realize the behaviour that pollinated automatically to the apple tree in full wafer orchard under conditions of it need not manually participate in
Make, automaticity is high, greatlys save labour, apparatus structure is simple, and light weight, capacity is big, can greatly improve fruit
The utilization rate of percentage of fertile fruit and pollen.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is propeller arrangement schematic diagram；
Fig. 3 is Flight Vehicle Structure schematic diagram；
Fig. 4 is pollinating device structural representation；
Fig. 5 is electromagnetic induction switch structural representation；
Axle rotor structure schematic diagram centered on Fig. 6；
Fig. 7 is operational flowchart；
Fig. 8 is device electrical connection figure.
In figure：1 is the blade of propeller first, and 2 be the blade of propeller second, and 3 be appliance case, and 4 be propeller strut, and 5 are
Aircraft frame, 6 be the first central shaft rotor, and 7 be the second central shaft rotor, and 8 be servo-driver, and 9 be load rod, and 10 be to award
Fen-ting bar, 11 be pollination lever, and 12 be pollination shower nozzle connecting tube, and 13 be pollination shower nozzle, and 14 be electromagnetic induction switch, and 15 be monolithic
Machine, 16 be pollen fluid catheter, and 17 be round tray, and 18 be displacement measuring device system, and 19 be pollen liquid storage tank, and 20 be CCD
Camera, 21 be camera tripod, axle rotor contiguous block centered on 22, and 23 be integrated receiver.
Embodiment
In order that the technological means realized of the present invention and function are more clearly understood that understandable, with reference to being specifically illustrating, do into one
The detailed description of step：A kind of automatic pollination machine of apple tree based on binocular vision technology, mainly including pollinating device, aircraft device,
Image acquisition and processing device, signal label device, positioning navigation device, control module and computer.
Described pollinating device (wherein Fig. 4,5 be partial enlarged drawing) as shown in Fig. 1,4,5, including load rod 9, pollination are determined
Bar 10, pollination lever 11, pollination shower nozzle 13 and round tray 17；The upper end of load rod 9 is fixed with the second central shaft rotor 7, load-carrying
The bottom of bar 9 is fixed with round tray 17；Pollination fixed pole 10 upper end is connected through round tray 17 with the inside of load rod 9, lower end
It is connected with pollination lever 11；The lower end for lever 11 of pollinating is connected by shower nozzle connecting tube 12 of pollinating with pollination shower nozzle 13；
The described upper end of load rod 9 is connected with the second central shaft rotor 7, and outer wall is fixed with servo-driver 8, and lower end is set
There is round tray 17, pollen liquid storage tank 19 and displacement measuring device system 18 are respectively fixed with round tray 17；Pollen liquid
The one end of conduit 16 is inserted in pollen liquid storage tank 19, and the other end is connected through the bar wall of pollination fixed pole 10 with pollination lever 11
Connect.
The bottom of pollination fixed pole 10 is fixed with switching device, and wherein switching device includes the electromagnetic induction switch being connected with each other
14 and single-chip microcomputer 15, wherein electromagnetic induction switch 14 crosses whole pollination fixed pole 10, is connected with single-chip microcomputer 15, passes through single-chip microcomputer 15
Interrupt routine carrys out the connection and interruption (such as Fig. 4,5) of controlling switch, and single-chip microcomputer 15 is connected with control module；
The top of pollination lever 11 is connected with the servo-driver 8 that the outer wall of load rod 9 is fixed, it is possible to achieve in load rod
Moved up and down inside 9；Described displacement measuring device system 18 includes laser interferometer, receiver and transmitter, wherein, laser
Interferometer is connected with receiver, transmitter respectively, and receiver, transmitter pass through wireless transmission method and control module phase respectively
Even；
Function describes：Load rod 9 is using the hard steel pipe of material, for carrying most of weight of pollinating device, upper end
Second central shaft rotor 7 of design is used for being connected with aircraft device, and the servo-driver 8 that outer wall is fixed is as pollinating device
Power source, the stretching of controlled pollination lever 11, the round tray 17 of lower end are used for depositing the He of displacement measuring device system 18
Pollen liquid storage tank 19, wherein displacement measuring device system 18 include laser interferometer, receiver and transmitter, are done by laser
Interferometer measures the physical length of pollination lever 11, and sends that information to microprocessor, pollen liquid storage tank by transmitter
19 are used for depositing pollen liquid.Pollen liquid is transferred in pollination lever 11 by pollen fluid catheter 16 from pollen liquid storage tank 19, electromagnetism
Inductive switch 14 single-chip microcomputer 15 control, by clamp or loosen pollination lever flexible pipe, realize voluntarily opens interrupters operate,
So that pollen liquid can be dripped voluntarily under gravity, the time interrupted by the program control switch of single-chip microcomputer 15, so as to real
The control of existing pollen liquid infusion volume, the design of pollination shower nozzle 13 enable pollen liquid to increase the area of drippage, and increase, which is pollinated, grasps
The accuracy of work.
Described control module includes microprocessor and its related known circuit, and described microprocessor concrete model is
i586；
Described aircraft device is commercially available commercial unmanned plane, as shown in Figure 1, 2, 3 (wherein 2,3 be partial enlarged drawing),
Its composition includes：Four ends upper surface of cross aircraft frame 5, is respectively and fixedly provided with a propeller strut 4, each spiral
The top of oar pillar 4, a cylindrical appliance case 3 is installed, appliance case 3 includes the micromachine being connected with each other and electronics is adjusted
Fast device (being powered by internal charging battery), the first blade 1, the propeller of the second blade 2 composition are installed on micromachine；Fly
Integrated receiver 23 is fixed with the centre of surface of row device framework 5；The lower surface center of aircraft frame 5 is fixed with central shaft
Rotor contiguous block 22, central shaft rotor contiguous block 22 are connected with the first central shaft rotor 6 in pollinating device；
Aircraft frame 5 is in cross, and the integrated receiver 23 that upper end is set is used for depositing control module and location navigation
Device；The propeller strut 4 that four ends are fixed plays a supportive role, and has for carrying propeller the 1st, 22 blades and storage
The appliance case 3 of micromachine and electron speed regulator, wherein electron speed regulator control micromachine rotating speed, and micromachine passes through control
Power output realizes the vertical lift of aircraft device and elevating movement, and both synergy provide for aircraft device together
Power；The central shaft rotor contiguous block 22 being fixed at the lower surface center of aircraft frame 5 is aircraft device and pollinating device
With reference to key, the first central shaft rotor 6 is connected with the second central shaft rotor 7, as shown in fig. 6, central shaft rotor module energy
Multiple frees degree are enough provided, in integrated receiver under microprocessor control, required angle and fixation can be rotated, grasped for pollination
Make to provide accurate angle.
Described image acquisition and processing device includes four CCD cameras, 20, four camera tripods 21 and integrated receiver
23；The lower section of 5 four ends of aircraft frame is fixed with a CCD camera 20 by camera tripod 21；Four CCD cameras
20 one group two-by-two, every group of position is relative；Described integrated receiver 23 is located at the central upper portion of aircraft frame 5, including control
Molding block and positioning navigation device；
Image acquisition and processing link uses technique of binocular stereoscopic vision, and image information is gathered using four CCD cameras 20, will
The image information of collection is sent to microprocessor, and image is handled microprocessor and features localization, obtains the three of apple flower
Information is tieed up, wherein the image that CCD camera 20 collects is converted into gray level image in image procossing link, after filtering, threshold value
Bianry image is obtained after the pretreatment operations such as segmentation, closing operation of mathematical morphology, is extracted using parallel thinning algorithm from bianry image
Apple flower contour images, according to the flexibility and pistil shade when SVMs principle is burst forth to petal in pattern-recognition
Flower is classified, do not open respectively, bloom, it is flourishing open three kinds of states, then from Corner Detection Algorithm (Harris) examine
The flourishing pistil center opened in apple flower profile is surveyed, pistil information is stored and is sent to microprocessor.
Described signal label device includes RFID chip, WIFI chips and power-supply device.At every apple tree tree trunk
A signal label device is provided with, the coordinate information of every apple tree is all stored with two chips, by wireless connection,
Two common transmission signals of chip.Utilize RFID and WIFI double techniques, it is therefore an objective to make the coordinate information of transmission more accurate.
Described positioning navigation device includes RFID reader and WIFI signal detector, is arranged in aircraft frame 5
In the integrated receiver 23 held in the heart, by detecting WIFI signal power, coordinate record is inquired about, is read in conjunction with RFID reader
Coordinate information, by microprocessor processes, control aircraft device is accurate to up to above apple tree.
Aircraft frame 5 in the aircraft device is using the carbon fiber composite with high specific strength and specific stiffness
Material, it is therefore an objective to reduce the architecture quality of aircraft, aircraft device quality is 6-7 kilograms, 10-12 kilograms of total launching weight, continuation of the journey
Time is 25-28 minutes；The load rod 9 is designed as 0.2 meter of length, the steel pipe that 0.05 meter of radius, and quality is 0.5 kilogram of left side
It is right；Pollination fixed pole 10 is designed as 0.15 meter of length, the hollow pvc pipe of 0.03 meter of radius, and quality is 0.3 kilogram or so；Pollination is dynamic
Bar 11 is designed as hollow plastics small hose, 3 meters of total length, and quality is 0.2 kilogram or so；Pollen liquid storage tank 19 is aluminium alloy material
The cuboid box of matter, floor space are 0.01 square metre of rectangle, are highly 0.15 meter, and slack tank quality is 0.1 kilogram or so；Can
The volume for carrying pollen liquid is about 1500ml, and every apple tree needs the 50ml or so that pollinates, so fully loaded pollen liquid storage tank
19 can provide the pollen liquid measure needed for about 30 apple trees.
The electrical connection of the present apparatus is as shown in Figure 7：Positioning navigation device, displacement measuring device system 18, CCD camera
20th, the single-chip microcomputer in servo-driver 8, electron speed regulator, switching device is connected with microprocessor respectively；Microprocessor and computer
Pass through wireless connection；Electron speed regulator is connected with micromachine；Signal label device wirelessly with positioning navigation device
It is connected.
Electromagnetic induction switch 14 is connected with single-chip microcomputer 15, passes through order of the radio transceiver from microprocessor；Signal
Label apparatus transmission signal, positioning navigation device receive signal, by signal carry information transfer to microprocessor at
Reason；Electron speed regulator in appliance case 3 is connected with microprocessor, and micromachine is connected with electron speed regulator；CCD camera 20 will adopt
The image information of collection is transferred to microprocessor；Image information will include needed for pollinating device after microprocessor processor
Angle and length information be sent to servo-driver 8；Transmitters and receivers are come with inside displacement measuring device system 18,
By being wirelessly transferred, with microprocessor two-way communication.
Described computer is market mainstream business computer, and the computer is wirelessly connected with cloud platform terminal, specifically
Cloud platform terminal use Baidu's cloud intelligent platform；Computer is used for controlling the unlatching and interruption of whole device, for accident
The very first time that goes out to be now able to of situation carries out manual control, and reduction can not survey the loss that factor is brought；Baidu's cloud intelligent platform branch
The calculating, storage and backup of mass data are held, the information that can be provided according to Baidu map, drafts out optimal route.
Core of the described control module as the present apparatus, specifically include microprocessor i586 and related known circuit (bag
Include the transmitter of receiving and transmitting signal device second and the second receiver) synergy under, together control modules running.Micro- place
Reason device transmits order to single-chip microcomputer 15 in real time, and electromagnetic induction switch 14 realizes voluntarily time opening under the control of single-chip microcomputer 15
And interrupt operation, complete automatic pollination operation；Signal label device constantly sends apple tree coordinate information, and positioning navigation device leads to
RFID reader and WIFI signal detector receive information are crossed, and sends apple tree coordinate information to microprocessor；Microprocessor
Order is made after handling information, the electron speed regulator acted in appliance case 3, electron speed regulator control micromachine turns
Speed, micromachine realize the vertical lift of aircraft device and elevating movement by controlling power output, and both act synergistically
Together power is provided for aircraft device；CCD camera 20 gathers image information, and the image information of collection is transmitted into microprocessor and entered
Row processing；Servo-driver and displacement measuring device system are sent commands to by microprocessor, according to order, there is provided definite awards
Powder lever length and angle information.
A kind of control method of the automatic pollination machine of apple tree based on binocular vision technology of the invention, its workflow is as schemed
Shown in 8：
(1) starts computer so that control module is opened；
(2) microprocessor in control modules and signal label device are opened, signal label device transmitting apple tree coordinate
Information；
(3) microprocessors control positioning navigation device starts, and realizes that apple tree positions, and coordinate information is transferred into control
Molding
The microprocessor of block, microprocessor are handled the information of receiving, calculated, and are sent to cloud platform terminal；
(4) cloud platforms terminal receives data and handled, and carries out route and drafts, the route information drafted is transferred to
Micro- place
Manage device；
(5) is sent the output of the electron speed regulator rotating speed and micromachine in instruction control device box by microprocessor
Power,
So that aircraft device takes off and smoothly reaches specified location；
(6) after aircraft devices are ready, two groups of CCD cameras installed in camera tripod gather image information, microprocessor
Device
To using binocular stereo vision and image processing techniques, flower is classified by SVMs principle, adopted
Use angle point
Detection algorithm (Harris) detects target pistil to be pollinated, and image information is handled；
(7) data processings storage is completed, and microprocessor controlled pollination device is opened, under micro-processor control, bar of pollinating
Adjust
Whole angle and length, displacement measuring device system examinations feedback, related up-to-date information is sent to microprocessor；
(8) sends to single-chip microcomputer and instructed, controlled in single-chip microcomputer after microprocessor receives pollinating device completion information
Under open
Dynamic electromagnetic induction switch, it is stored in the pollen liquid inside pollination lever and drips under gravity, electromagnetic induction is opened
Guan Shoudan
Piece machine timing routine is controlled, and the time one arrives, and electromagnetic induction switch is closed, and the pollination of this piece apple flower terminates, and pollination is dynamic
Bar is received
It is condensed to original state；
(9) first apple flower pollination operation of receives, and after step (8) terminates, single-chip microcomputer is sent to microprocessor to be terminated
Letter
Breath, microprocessor is by the data information transfer after renewal to pollinating device, repeat step (6), to each detection shape
State is complete
Apple flower in full bloom is pollinated one by one, and after the completion for the treatment of whole apple tree pollination, aircraft device is according to cloud platform
Renewal
Data, the apple tree top pollinated to next needs of flying, repeat aforesaid operations, until entirely presetting orchard institute
There is apple
Fruit tree completes pollination；
(10) terminates pollination operation, closes computer.
The above be the present invention concrete operations flow, starter, signal label device transmission signal, location navigation carry out
Positioning so that aircraft device smoothly reaches the destination, and image acquisition and processing device starts after arrival, is gathered and schemed by CCD camera
As information, microprocessor is transferred to, using binocular stereo vision and image processing techniques, image is handled and feature mark
It is fixed, the three-dimensional information of apple flower is obtained, wherein the image in the image processing arts collecting CCD camera is converted to gray-scale map
Picture, bianry image is obtained after filtering, after the pretreatment operation such as Threshold segmentation, closing operation of mathematical morphology, using parallel thinning algorithm
Apple flower contour images are extracted from bianry image, when being burst forth by SVMs principle in pattern-recognition according to apple petal
Flexibility and pistil shade situation apple flower profile is classified, be divided into do not open, bloom, it is flourishing open three kinds of states,
Then the flourishing pistil opened in apple piece profile is detected from Corner Detection Algorithm (Harris), the pistil coordinate handled well is believed
Breath is transferred to microprocessor.By processing of the microprocessor to data, the angular length letter provided needed for pollinating device is calculated
Breath, is sent to pollinating device instruction, is rotated up to required angle according to the first central shaft of command information rotor 6, drives load-carrying
Bar 9 adjusts, and then fixed pole 10 of pollinating is completed angle and fixed；Lever 11 of being pollinated under the control of servo-driver 8 starts adjustment length,
In order to obtain exact numerical, ranging is carried out using displacement measuring device system 18, after angle and length fix, sent information to
Microprocessor.Microprocessor sends instructions to single-chip microcomputer 15 so that monolithic processor controlled electromagnetic induction switch starts, and pollen liquid exists
It is low under Action of Gravity Field, a colored pollination operation is completed, according to described in flow chart, is repeated the above steps, until target trees
All pollination terminates.A kind of automatic pollinating process of apple tree based on binocular vision technology is finished.
It is related to binocular vision technology positioning in image acquisition and processing device, image is caught by two groups of CCD cameras 20
Information, as two eyes are general, according to the image difference captured, depth perception obtained, establishes feature corresponding relation, will be same
Photosites of the space physics point in different images are mapped, and this technology can be found in：Positioning based on binocular vision technology
[D] Southern Yangtze University is studied, 2016. papers illustrate the principle using binocular visual positioning.Image procossing link, will
The image collected is converted to gray level image, obtains two after filtering, after the pretreatment operation such as Threshold segmentation, closing operation of mathematical morphology
It is worth image, apple flower contour images is extracted from bianry image using parallel thinning algorithm, these operations are the normal of image procossing
Use method；SVMs is mainly used to treatment classification problem, and the present invention uses SVMs principle, is splited according to apple petal
Flexibility and pistil shade situation when opening carry out classification flower to apple flower profile and classified；Corner Detection Algorithm is
A kind of algorithm of Corner Feature is found on image by mathematical computations, the algorithm is widely used in image procossing, and principle can
Referring to paper：Survey on Corner Detection [J/OL] computer applications are studied, and 2006.
It is emphasized that embodiment of the present invention is illustrative, rather than it is limited, therefore present invention bag
Include and be not limited to embodiment described in embodiment, it is every by those skilled in the art's technique according to the invention scheme
The other embodiment drawn, also belongs to the scope of protection of the invention.
Unaccomplished matter of the present invention is known technology.
Claims (3)
1. a kind of automatic pollination machine of apple tree based on binocular vision technology, it is characterized in that：The pollination machine includes pollinating device, flown
Row device device, image acquisition and processing device, signal label device, positioning navigation device, control module and computer；
Described pollinating device includes load rod, pollination fixed pole, pollination lever, pollination shower nozzle and round tray；Load rod upper end
The second central shaft rotor is fixed with, load rod bottom is fixed with round tray；Pollination fixed pole upper end passes through round tray and load-carrying
The inside of bar is connected, and lower end is connected with pollination lever；The lower end for lever of pollinating passes through shower nozzle connecting tube and the shower nozzle phase of pollinating of pollinating
Even；
Described load rod upper end is connected with the second central shaft rotor, and outer wall is fixed with servo-driver, and lower end is provided with circle
Pallet, pollen liquid storage tank and displacement measuring device system are respectively fixed with round tray；Pollen liquid tube at one end is inserted in
In pollen liquid storage tank, the other end is connected through the bar wall of pollination fixed pole with pollination lever；
The bottom of described pollination fixed pole is fixed with switching device, and wherein switching device includes the electromagnetic induction switch being connected with each other
And single-chip microcomputer, wherein electromagnetic induction switch cross whole pollination fixed pole, are connected with single-chip microcomputer；
The top of described pollination lever is connected with the servo-driver that load rod outer wall is fixed；
Described control module includes microprocessor；
Described displacement measuring device system includes laser interferometer, receiver and transmitter, wherein, laser interferometer respectively with
Receiver, transmitter are connected, and receiver, transmitter are connected by wireless transmission method with microprocessor respectively；
Described aircraft device composition includes：Four ends upper surface of cross aircraft frame, is respectively and fixedly provided with a spiral shell
Oar pillar is revolved, the top of each propeller strut is provided with a cylindrical appliance case, and appliance case is micro- including being connected with each other
Type motor and electron speed regulator, propeller is installed on micromachine；Integrated storage is fixed with aircraft frame centre of surface
Box；The lower surface center of aircraft frame is fixed with central shaft rotor contiguous block, and central shaft rotor contiguous block fills with pollination
The first central shaft rotor in putting is connected；First central shaft rotor and the second central shaft rotor are connected；
Described image acquisition and processing device includes four CCD cameras, four camera tripods and integrated receiver；Aircraft frame
The lower section of four ends of frame is fixed with a CCD camera by camera tripod；One group two-by-two of four CCD cameras, every group of position
Put relative；Described integrated receiver is located at the central upper portion of aircraft frame, including control module and positioning navigation device；
Described signal label device includes RFID chip, WIFI chips and power-supply device, is all provided with every apple tree tree trunk
It is equipped with a signal label device；
Described positioning navigation device includes RFID reader and WIFI signal detector；
Described positioning navigation device, displacement measuring device system, CCD camera, servo-driver, electron speed regulator, switch dress
Single-chip microcomputer in putting is connected with microprocessor respectively, and microprocessor is connected with computer, and electron speed regulator is connected with micromachine；Letter
Number label apparatus is wirelessly connected with positioning navigation device.
2. the automatic pollination machine of apple tree as claimed in claim 1 based on binocular vision technology, it is characterized in that the aircraft
Device quality is 6-7 kilograms, and 10-12 kilograms of total launching weight, cruising time is 25-28 minutes；The load rod is length 0.2
Rice, the steel pipe that 0.05 meter of radius；Pollination fixed pole is 0.15 meter of length, the hollow pvc pipe of 0.03 meter of radius；Lever of pollinating is hollow
Plastics small hose, 3 meters of total length；Pollen liquid storage tank tank inner volume is 1400-1600mL.
3. the control method of the described automatic pollination machine of the apple tree based on binocular vision technology as claimed in claim 1, its
It is characterized as that this method comprises the following steps
(1) computer is started so that control module is opened；
(2) microprocessor in control module and signal label device are opened, signal label device transmitting apple tree coordinate information；
(3) microprocessor control positioning navigation device starts, and realizes that apple tree positions, and coordinate information is transferred into control module
Microprocessor, microprocessor is handled the information of receiving, calculated, and is sent to cloud platform terminal；
(4) cloud platform terminal receives data and handled, and carries out route and drafts, the route information drafted is transferred into microprocessor
Device；
(5) power output of the electron speed regulator rotating speed and micromachine in instruction control device box is sent by microprocessor,
So that aircraft device takes off and smoothly reaches specified location；
(6) after aircraft device is ready, two groups of CCD cameras installed in camera tripod gather image information, microprocessor pair
Using binocular stereo vision and image processing techniques, flower is classified by SVMs principle, using Corner Detection
Algorithm (Harris) detects target pistil to be pollinated, and image information is handled；
(7) data processing storage is completed, and microprocessor controlled pollination device is opened, under micro-processor control, pollination bar adjustment
Angle and length, displacement measuring device system examinations feedback, related up-to-date information is sent to microprocessor；
(8) after microprocessor receives pollinating device completion information, send and instruct to single-chip microcomputer, start under single-chip microcomputer control
Electromagnetic induction switch, it is stored in the pollen liquid inside pollination lever and drips under gravity, electromagnetic induction switch is by single-chip microcomputer
Timing routine is controlled, and the time one arrives, and electromagnetic induction switch is closed, and the pollination of this piece apple flower terminates, and pollination lever is punctured into initially
State；
(9) first apple flower pollination operations receive, and after step (8) terminates, single-chip microcomputer sends ending message to microprocessor,
Microprocessor is flourishing to each detection state to open to pollinating device, repeat step (6) by the data information transfer after renewal
Apple flower is pollinated one by one, and after the completion for the treatment of the pollination of whole apple tree, data that aircraft device update according to cloud platform are flown
Above the apple tree to be pollinated to next needs, aforesaid operations are repeated, until entirely presetting all apple trees in orchard completes pollination；
(10) terminate pollination operation, close computer.
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