CN109588305A - A kind of strength is micro- to face upward Strawberry in Greenhouse pollination robot and its implementation - Google Patents
A kind of strength is micro- to face upward Strawberry in Greenhouse pollination robot and its implementation Download PDFInfo
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- CN109588305A CN109588305A CN201811590820.5A CN201811590820A CN109588305A CN 109588305 A CN109588305 A CN 109588305A CN 201811590820 A CN201811590820 A CN 201811590820A CN 109588305 A CN109588305 A CN 109588305A
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- strawberry
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- air duct
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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
Abstract
The present invention discloses that a kind of strength is micro- to face upward Strawberry in Greenhouse pollination robot and its implementation, is related to field of agricultural equipment.The robot adaptive mends that temperature pollination unit, strawberry canopy adaptively mends wet unit, control system forms by micro- face upward of autonomous mobile platform, strength, autonomous mobile platform can realize in greenhouse across high ridge, overhead autonomous, and strength is micro- to face upward and adaptive mend that temperature pollination unit, influences of plant crown adaptively mends wet unit, control system is mounted on greenhouse autonomous mobile platform.It is staggered and is blowed and adaptive powder row first be humidified, heats blow powder afterwards by the micro- duplicate rows strawberry faced upward of strength, effectively overcome Strawberry in Greenhouse bloom bear fruit during the calm environmental condition of low temperature and low humidity, realize the mobile operation of automatic cross-pollination, structure is simple, adaptability is good, high-efficient.
Description
Technical field
The invention belongs to field of agricultural equipment, in particular to a kind of strength is micro- to face upward Strawberry in Greenhouse pollination robot and its realization
Method.
Background technique
The phase of bearing fruit of blooming of facility cultivation strawberry, uniformly pollination was to guarantee yield of strawberry up to 5~6 months, as a result more batches
With the key of quality.
Strawberry belongs to hermaphrodite complete flower, and the yield and quality of cross-pollination is better than self-pollination.Strawberry inflorescence
For complete cyme, rudimentary inflorescence gynoecium pollination setting ratio is high, and advanced inflorescence stamen cracking is high with pollination setting ratio and by temperature
Degree influences.The strawberry of general outdoor plantation is by anemophily and insect pollination, and the strawberry of greenhouse production at present generally opens in winter
Flower influences the yield and quality of strawberry in default of pollination medium.The strawberry majority of chamber planting is pollinated using bee colony and people
Work point awards mode.
Honeybee touches canopy, and colored acquisition is not visited in poisoning, is not suitable for greenhouse-environment, the shadow of apiculture technology shortcoming and external environment
Ring etc., it can all influence fruit percentage of fertile fruit and yield etc..Bumblebee is low temperature resistant, to humidity and illumination-insensitive, has been widely used in
The pollination of world's protecting field and outdoor cultivated crop, but influenced by application environment, and difficult management；Strawberry is up to 5 months companies
Continuous bloom is beared fruit, and narrow working environment and prolonged work also will affect the quality that artificial point is awarded, therefore environment is overcome to influence
Strawberry efficiently pollinate equipment and technology becomes a reality demand.
Existing pollination equipment is main in such a way that man-hour manually hand-held, backpack and unmanned plane strength wind are sent, object master
It to pollinate for Fruit Tree Pollination and field crop.Chinese patent (CN201711335481.1) proposes a kind of based on binocular vision skill
The automatic pollination machine of the apple tree of the unmanned flight of art can be realized full-automatic, high-precision Fruit Tree Pollination operation；Chinese patent
(CN201310168774.0) a kind of collision-Pneumatic type breeding of hybrid rice pollination machine and its method are proposed, can be realized rice
Conveyed to female parent to paternal pollen stable and uniform.The above equipment and method are suitable for dioecious hermaphrodite flower, can not be applicable in female
The feature of male homophyletic complete flower.Chinese patent (CN201320558641.X) proposes that a kind of heliogreenhouse rail type is pollinated automatically
Machine has reciprocating working, wind-force and mechanical oscillation pollination combination function, can be realized the automatic of greenhouse production crop pollinating process
Change, but its requirement for being unable to satisfy strawberry duplicate rows mode of planting, complete cyme feature and cross-pollination, and mechanical
Oscillatory type is easily destroyed plant stem-leaf.The suitable temperature of strawberry pollination is at 20-25 DEG C, and relative air humidity is 70% or so, temperature
Degree, humidity be not suitable for will cause anther dehiscence difficulty, pollen development is bad, reduce pollination success rate.It is directed to strawberry at present
Full-automatic pollination equipment and technology have no research report.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention provide a kind of strength it is micro- face upward Strawberry in Greenhouse pollination robot and its
Implementation method, the mobile operation of automatic cross-pollination for completing duplicate rows strawberry.
In order to solve the above technical problems, the specific technical solution that the present invention uses is as follows:
A kind of strength is micro- to face upward Strawberry in Greenhouse pollination robot, including adaptively mends temperature by autonomous mobile platform, micro- face upward of strength
Pollination unit, influences of plant crown adaptively mend wet unit and control system, and autonomous mobile platform can be realized in greenhouse across high ridge, overhead
Autonomous, strength is micro- to face upward and adaptive mends that temperature pollination unit, influences of plant crown adaptively mends wet unit, control system is mounted on
On greenhouse autonomous mobile platform.
In above scheme, the micro- warm pollination unit of adaptive benefit of facing upward of the strength includes temperature sensor, visual sensor, electricity
Heated filament, air duct, vertical direct acting part and revolving meber, temperature sensor, visual sensor are respectively arranged in autonomous mobile platform
Bottom and front, air duct are installed on autonomous mobile platform rear portion two sides, and dress inside air duct by vertical direct acting part and revolving meber
There is heating wire.
In above scheme, the air duct faces upward operating angle by side of α, and α is to be with horizontal angle, value range
5°-10°。
In above scheme, the value range of the air duct wind speed is 7-10m/s.
In above scheme, two sides air duct is along autonomous mobile platform longitudinal direction and is separated by D1It is staggeredly arranged, D1It is average for strawberry
0.9~1.2 times of spacing in the rows.
In above scheme, it includes temperature sensor, visual sensor, atomization spray that the influences of plant crown, which adaptively mends wet unit,
Head and horizontal direct acting part, atomizer are installed on greenhouse autonomous mobile platform front part sides by horizontal direct acting part.
In above scheme, the distance of the air duct and atomizer along autonomous mobile platform longitudinal direction is greater than strawberry row
Average spacing in the rows.
A kind of micro- implementation method for facing upward Strawberry in Greenhouse pollination robot of strength, the soil surface obtained according to visual sensor
Height H1H is risen with strawberry canopy, the height of angle [alpha] and air duct is faced upward by the side of revolving meber and vertical direct acting part adjustment air duct
Degree makes the nozzle center line of air duct be directed at the (H of grass planting certain kind of berries plant1+ H)/2 height and positions；In autonomous mobile platform traveling process
In, the air duct of side carries out heating wind-force and blows, by the blows pollen of the side strawberry canopy to other side strawberry row
In, realize lateral cross-pollination.
The invention has the advantages that:
The present invention is staggered by the micro- duplicate rows plant faced upward of strength to be blowed and adaptive powder row first be humidified, heats blow afterwards
Powder, effectively overcome Strawberry in Greenhouse bloom bear fruit during the calm environmental condition of low temperature and low humidity, realize that automatic cross-pollination is mobile and make
Industry, structure is simple, adaptability is good, high-efficient.
Detailed description of the invention
Fig. 1 is the micro- present invention looks up structural representation for facing upward Strawberry in Greenhouse pollination robot of strength of the present invention；
Fig. 2 is the micro- schematic view of the front view for facing upward Strawberry in Greenhouse pollination robot of strength of the present invention.
In figure: 1. autonomous mobile platforms, 2. temperature sensors, 3. humidity sensors, 4. left heating wire, 5. left air ducts, 6.
Left atomizer, 7. visual sensors, 8. right atomizers, 9. right heating wire, 10. right air ducts, 11. left vertical direct acting parts, 12.
Left revolving meber, 13. left strawberry rows, 14. left horizontal direct acting parts, 15. right horizontal direct acting parts, 16. right strawberry rows, 17.
Right-hand rotation part, 18. right vertical direct acting parts.
Specific embodiment
Further details of the technical solution of the present invention with reference to the accompanying drawing, but protection scope of the present invention is not
It is limited to this.It should be noted that the combination of technical characteristic described in following embodiments or technical characteristic should not be regarded as
Be it is isolated, they can be combined with each other to reaching superior technique effect.
As shown in Fig. 2, in Strawberry in Greenhouse production at present, either high ridge cultivation or high-level cultivating are all fixed using duplicate rows
It plants, the unified mode outwardly of the back of a bow.
As shown in Figure 1, strength it is micro- face upward Strawberry in Greenhouse pollination robot by autonomous mobile platform 1, strength is micro- faces upward adaptive benefit
Temperature pollination unit, influences of plant crown adaptively mend wet unit and control system composition.Wherein autonomous mobile platform 1 can realize greenhouse
It is interior across high ridge or across overhead autonomous function, strength is micro- face upward it is adaptive mend temperature pollination unit, influences of plant crown adaptively mend it is wet
Unit, control system are mounted on greenhouse autonomous mobile platform 1.
As shown in Figure 1 and Figure 2, the strength is micro- faces upward adaptive temperature pollination unit of mending by temperature sensor 2, visual sensor
7, left heating wire 4, left air duct 5, Zuo Shuzhi direct acting part 11, left revolving meber 12, right heating wire 9, right air duct 10, right-hand rotation part 17,
Right vertical direct acting part 18 forms.Temperature sensor 2 is arranged in the vehicle bottom of autonomous mobile platform 1 and is located at autonomous mobile platform 1 and indulges
To on center line, visual sensor 7 is arranged in the headstock of autonomous mobile platform 1 and is located at 1 longitudinal centre line of autonomous mobile platform
On, the shooting direction of visual sensor 7 is straight down.Left air duct 5 is provided with left heating wire 4, and left air duct 5 passes through left revolving meber 12
The rear left of autonomous mobile platform 1 is installed on left vertical direct acting part 11；Right air duct 10 is provided with right heating wire 9, right air duct
10 are installed on the rear right of autonomous mobile platform 1 by right-hand rotation part 17 and right vertical direct acting part 18.
Wherein the nozzle of left air duct 5 and right air duct 10 is respectively facing left strawberry row 13 and right strawberry row 16, together
When left air duct 5 and right air duct 10 using α as side face upward operating angle, α be with horizontal angle, value range is 5 ° -10 °, left
The value range of the wind speed V of air duct 5 and right air duct 10 is 7-10m/s.Meanwhile left air duct 5 and right air duct 6 are longitudinally spaced along car body
D1It is staggeredly arranged, the corresponding plant of left air duct 5 plant longitudinal pitch corresponding with right air duct 6 is D1, D1It is averaged strain for strawberry
Away from 0.9~1.2 times.
As shown in Figure 1 and Figure 2, the adaptive humidifying unit of strawberry canopy is by humidity sensor 2, visual sensor 7, a left side
Atomizer 6, right atomizer 8, Zuo Shuiping direct acting part 14, right horizontal direct acting part 15 form.Left atomizer 6 passes through left level
Direct acting part 14 is installed on the front left of greenhouse autonomous mobile platform 1, and right atomizer 8 is installed on by right horizontal direct acting part 15
On the right side of the front of greenhouse autonomous mobile platform 1.
Wherein the distance of left air duct 5 and left atomizer 6 along car body longitudinal direction is D2, 8 edge of right air duct 10 and right atomizer
The distance of car body longitudinal direction is D3, D2With D3Average spacing in the rows that is identical and being greater than left strawberry row 13 and right strawberry row 16.
The revolving meber includes stepper motor, motor fixing seat, gear mechanism, and motor fixing seat is fixed on the cunning of direct acting part
On platform, stepper motor is fixed in motor fixing seat, stepper motor drives air duct to turn round by gear mechanism.
The direct acting part includes motor, motor flange, pedestal, slide unit, trapezoidal screw, line rail, bearing plate, bearing, pedestal
Lower end and autonomous mobile platform 1 be connected, the fixed motor flange in pedestal one end fixes motor, the pedestal other end on motor flange
Fixing bearing piece, fixing bearing on bearing plate；Trapezoidal screw one end and motor output shaft are connected, and the other end is matched with bearing clearance
It closes, motor rotation drives trapezoidal screw rotation, and trapezoidal screw is driven on the online rail of slide unit by slide unit threaded hole with being threadedly engaged
Mobile, line rail is fixed on the base in the groove on surface.
A kind of micro- implementation method for facing upward Strawberry in Greenhouse pollination robot of strength is as follows:
(1) for autonomous mobile platform 1 across ridge or across overhead forward with certain speed autonomous, the visual sensor 7 is real
When detect and determine that H is risen in the position of left strawberry row 13 and strawberry canopy2, soil surface height H1, right strawberry
The position of row 16 and strawberry canopy rise H3, temperature sensor 2, humidity sensor 3 distinguish the left strawberry of real-time detection
Temperature and humidity information above the strawberry canopy of row 13 and right strawberry row 16；
(2) according to humidity above the position and canopy of left strawberry row 13 and right strawberry row 16, control system point
Not Kong Zhi 1 front of autonomous mobile platform left horizontal direct acting part 14 and right horizontal direct acting part 15 drive left atomizer 6 and right mist
Change the strawberry canopy progress pre-humidifying that spray head 8 is directed at left strawberry row 13 and right strawberry row 16, to improve flower
Powder adhesion；
(3) control system is according to the soil surface height H obtained of visual sensor 71, left strawberry row 13 strawberry
Influences of plant crown rises H2, right strawberry row 16 strawberry canopy rise H3, respectively by left revolving meber 12 and right-hand rotation part 17
It adjusts left air duct 5 and angle [alpha] that 10 side of right air duct is faced upward is 5 ° -10 °, respectively by left vertical direct acting part 11 and right vertical direct acting part 18
The height of left air duct 5 and the height of right air duct 10 are adjusted, the nozzle center line of left air duct 5 is made to be directed at left strawberry row 13
(H1+H2The height and position of)/2 makes the nozzle center line of right air duct 10 be directed at the (H of right strawberry row 161+H3The height and position of)/2；
(4) it is 7-10m/s that control system, which adjusts left air duct 5 and the wind speed V of right air duct 10,；Simultaneously according to left strawberry row
13 and right 16 canopy of strawberry row above temperature, control system controls 9 pairs of left strawberries of left heating wire 4 and right heating wire respectively
The strawberry canopy of plant row 13 and right strawberry row 16 auxiliary heating, to improve pollen amount and pollen activity；
(5) in 1 traveling process of autonomous mobile platform, left air duct 5 carries out heating wind-force and blows, by left strawberry row 13
The strawberry canopy of pre-humidifying is completed into right strawberry row 16 for the blows pollen of middle strawberry influences of plant crown, realizes laterally
Cross-pollination；While right air duct 10 carries out heating wind-force and blows, by the pollen of strawberry influences of plant crown in right strawberry row 16
It blows into left strawberry row 13 and the strawberry canopy of pre-humidifying is completed, realize lateral cross-pollination；Due to left wind
Cylinder 5 and right air duct 10 are along the longitudinally spaced D of car body1It is staggeredly arranged, the wind-force of left air duct 5 and right air duct 10 is avoided to blow conflict, it is real
It is staggered front to back between existing left strawberry row 13 and right strawberry row 16, micro- cross-pollination facing upward strength and blowing.
Although the present invention has been presented for some embodiments, it will be appreciated by those of skill in the art that not departing from
In the case where spirit of that invention, the embodiments herein can be changed.Above-described embodiment is only exemplary, not Ying Yiben
Restriction of the embodiment of text as interest field of the present invention.
Claims (8)
- Face upward Strawberry in Greenhouse pollination robot 1. a kind of strength is micro-, which is characterized in that including by autonomous mobile platform, strength it is micro- face upward from Adapt to mend temperature pollination unit, influences of plant crown and adaptively mend wet unit and control system, autonomous mobile platform can realize in greenhouse across High ridge, overhead autonomous, micro- adaptive benefit warm pollinate unit, the influences of plant crown of facing upward of strength adaptively mend wet unit, control system System is mounted on greenhouse autonomous mobile platform.
- 2. strength according to claim 1 is micro- to face upward Strawberry in Greenhouse pollination robot, which is characterized in that the strength is micro- to face upward certainly It adapts to mend temperature pollination unit to include temperature sensor, visual sensor, heating wire, air duct, vertical direct acting part and revolving meber, temperature Degree sensor, visual sensor are respectively arranged in the bottom and front of autonomous mobile platform, and air duct is by vertical direct acting part and returns Turn part and be installed on autonomous mobile platform rear portion two sides, and heating wire is housed inside air duct.
- Strawberry in Greenhouse pollination robot is faced upward 3. strength according to claim 2 is micro-, which is characterized in that the air duct is with α Operating angle is faced upward in side, α be with horizontal angle, value range is 5 ° -10 °.
- 4. strength according to claim 2 is micro- to face upward Strawberry in Greenhouse pollination robot, which is characterized in that the air duct wind speed Value range is 7-10m/s.
- 5. strength according to claim 2 is micro- to face upward Strawberry in Greenhouse pollination robot, which is characterized in that two sides air duct is along autonomous Mobile platform longitudinal direction and it is separated by D1It is staggeredly arranged, D1It is averaged 0.9~1.2 times of spacing in the rows for strawberry.
- 6. strength according to claim 1 or 2 is micro- to face upward Strawberry in Greenhouse pollination robot, which is characterized in that the plant hat It includes that temperature sensor, visual sensor, atomizer and horizontal direct acting part, atomizer pass through water that layer self-adapting, which mends wet unit, Straight moving part is installed on greenhouse autonomous mobile platform front part sides.
- 7. strength according to claim 6 is micro- to face upward Strawberry in Greenhouse pollination robot, which is characterized in that the air duct and atomization Spray head is greater than the average spacing in the rows of strawberry row along the distance of autonomous mobile platform longitudinal direction.
- 8. a kind of micro- implementation method for facing upward Strawberry in Greenhouse pollination robot of strength according to claim 1, which is characterized in that The soil surface height H obtained according to visual sensor1H is risen with strawberry canopy, by revolving meber and vertical direct acting part tune The height of angle [alpha] and air duct is faced upward in the side of rectification campaign cylinder, and the nozzle center line of air duct is made to be directed at (the H of grass planting certain kind of berries plant1+ H)/2 height Position；In autonomous mobile platform traveling process, the air duct of side carries out heating wind-force and blows, by the side strawberry canopy Blows pollen realizes lateral cross-pollination into other side strawberry row.
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Cited By (5)
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| CN110140655A (en) * | 2019-05-10 | 2019-08-20 | 江苏大学 | A kind of greenhouse wind spraying aid type automatic target detection pollination trolley and its operational method |
| CN113229137A (en) * | 2021-05-25 | 2021-08-10 | 东北农业大学 | Automatic cross pollination device for experimental strawberries and cross pollination method for strawberries |
| CN114223539A (en) * | 2022-01-23 | 2022-03-25 | 浙江农林大学 | Formula kiwi fruit liquid pollination unmanned aerial vehicle is lifted to both arms |
| WO2022108533A1 (en) * | 2020-11-23 | 2022-05-27 | Polybee Pte. Ltd. | Method and system for pollination |
| CN114667928A (en) * | 2022-05-10 | 2022-06-28 | 清华大学深圳国际研究生院 | End effector and device for pollinating strawberry flowers |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022108533A1 (en) * | 2020-11-23 | 2022-05-27 | Polybee Pte. Ltd. | Method and system for pollination |
| CN113229137A (en) * | 2021-05-25 | 2021-08-10 | 东北农业大学 | Automatic cross pollination device for experimental strawberries and cross pollination method for strawberries |
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Effective date of registration: 20230406 Address after: 224000 Group 8, Gangang Village, Wulie Town, Dongtai City, Yancheng City, Jiangsu Province Patentee after: Jiangsu Xihe Modern Agriculture Development Co.,Ltd. Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Patentee before: JIANGSU University |