CN110140655A - A kind of greenhouse wind spraying aid type automatic target detection pollination trolley and its operational method - Google Patents
A kind of greenhouse wind spraying aid type automatic target detection pollination trolley and its operational method Download PDFInfo
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- CN110140655A CN110140655A CN201910387044.7A CN201910387044A CN110140655A CN 110140655 A CN110140655 A CN 110140655A CN 201910387044 A CN201910387044 A CN 201910387044A CN 110140655 A CN110140655 A CN 110140655A
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- pollination
- trolley
- type automatic
- target detection
- aid type
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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 invention discloses a kind of greenhouse wind spraying aid type automatic target detection pollination trolleies and its operational method, described includes self propelled chassis, direction controlling rack, pollination system and control system for identifying to target pollination trolley, pollination system includes heating module, it can need to carry out carrying out different degrees of heating to the air-flow of injection according to crop, change flower Partial little climate, builds best pollination environment；Control system for identifying obtains crop image information and identifies flower and its spatial position, adjusts direction controlling rack according to flower spatial position, and pollination system alignment flower is carried out target precision pollination.Chamber crop yield and quality can be improved with wind spraying aid type automatic target detection pollination trolley in greenhouse of the invention, while also having many advantages, such as that labor intensity is low, operating efficiency is high, green non-pollution.
Description
Technical field
The invention belongs to industrialized agriculture equipment technical fields, and in particular to a kind of greenhouse is small with the pollination of wind spraying aid type automatic target detection
Vehicle and its operational method.
Background technique
In recent years, China's agriculture in greenhouse is quickly grown, but the indoor pollination operation of temperature at present is mostly manual work, not only
Operating efficiency is lower, and the even toxic environment of high temperature, high humidity can also endanger the health of staff in greenhouse.
Due to the closure in greenhouse, the needs such as many crops such as tomato manually carry out supple-mentary pollination.It is currently used artificial
Supple-mentary pollination method has hormone to dip in flower, vibration pollination and bumblebee pollination, and hormone dips in flower and vibration pollination human cost is higher, and
Hormone, which dips in spend, may bring hormone residues, and bumblebee Pollination Effect is superior but more sensitive to pesticide, and cannot be recycled, cost
It is higher.
Summary of the invention
In order to solve the above technical problems, the invention proposes a kind of greenhouse wind spraying aid type automatic target detection pollination trolleies, and
The operational method of a kind of pair of target pollination is proposed, specific technical solution is as follows:
A kind of greenhouse is pollinated trolley with wind spraying aid type automatic target detection, including self propelled chassis, direction controlling rack, pollination system with
And control system for identifying, direction controlling rack is installed on the self propelled chassis, pollination system is installed on direction controlling rack top,
Control system for identifying also by being analyzed and processed to crop image, is known for realizing trolley autonomous, control system for identifying
The spatial position of other flower, controlled pollination system realize target precision pollination.
In above scheme, the pollination system includes protective net, air duct, blower, heating module and nozzle ring bracket, is prevented
Protective net and direction controlling rack are connected, and air duct is caught in inside protective net and fixes, and blower is fixed on inside protective net, air duct outlet air
It is equipped with nozzle ring bracket at mouthful, is uniformly provided with several nozzles on nozzle ring bracket circumferencial direction, heating module is fixed on wind
Cylinder is internal.
In above scheme, the air duct is tapered cylinder, and the big one end of diameter is air inlet, and the small one end of diameter is outlet air
Mouthful.
In above scheme, the nozzle slopes inwardly 40~60 °.
In above scheme, the heating module includes more electrothermal tubes and heat-insulated cylinder, and heat-insulated cylinder is fixed in air duct
Wall, electrothermal tube are fixed on heat-insulated cylinder inner wall.
In above scheme, the pollination system further includes being sequentially connected water tank, filter, electric diaphragm pump, check valve, electricity
Magnetic reversal valve, flow sensor, external accumulator between check valve and solenoid directional control valve, external liquid between diaphragm pump and check valve
Control sequence valve.
In above scheme, the flow sensor is connected with nozzle.
A kind of operational method of greenhouse wind spraying aid type automatic target detection pollination trolley, comprising the following steps:
Step 1), upper computer selecting operation mode, and row spacing and row spacing are inputted, when carrying out liquid pollination operation, open
Electric diaphragm pump；
Step 2), trolley start to move, and two sides ultrasonic sensor is carried out apart from detection, when one of sensor is continuous
When detecting crop twice, trolley stops movement, and blower is opened, and rotating basis rotation makes camera and the ultrasonic sensor
Direction is identical, and camera is taken pictures and passes image back host computer；
Step 3), host computer handle image to obtain flower position, according to the sequence of flower position from bottom to top, obtain
The control flow of designated position and angle is successively reached to direction controlling rack, and is transferred to stm32 microcontroller, to control
The position and direction of direction controlling rack change pollination system；
Step 4) opens heating module when that need to be heated, and according to temperature requirements, controls electrothermal tube and opens quantity, and
Reduce fan speed, certain time；If carry out liquid pollination, solenoid directional control valve is powered and certain time, repeats
Step 2) -4).
The beneficial effects of the present invention are:
1, trolley provided by the invention can realize that the automatically walk under greenhouse with to target pollination work, is dipped in compared to hormone
Flower, vibration pollination, labor intensity is low and without hormone residues, pollinates compared to bumblebee, swift to operate simple, agronomy management requirement
It is low.
2, the blower of pollination system can continue working before operation, and crop is made to shake, to make inside crop
Flower is exposed, and realizes flower accurate pollination inside crop.
3, the heating module of pollination system can carry out different degrees of heating to the air-flow of injection, pass through suitable thermal current
Change flower Partial little climate, builds best pollination environment.
4, the present invention is for Different Crop, the pollination demand of Different climate, it can be achieved that wind-force supple-mentary pollination and liquid are awarded
Powder.
Detailed description of the invention
Fig. 1 is the overall structure diagram of wind spraying aid type automatic target detection in greenhouse of the present invention pollination trolley.
Fig. 2 is the partial structural diagram of pitching adjusting mechanism of the present invention and rotating basis.
Fig. 3 is bradyseism drive module partial structural diagram of the present invention.
Fig. 4 is the hydraulic scheme of pollination system of the present invention.
Fig. 5 is control system for identifying flow chart of the present invention.
In figure: 1-1- protective net, 1-2- air duct, 1-3- blower, 1-4- heating module, 1-5- nozzle ring bracket, 2- bow
Regulating mechanism is faced upward, 2-1- rotary shaft, 2-2-U type bracket, 2-3- pitching stepper motor, for 2-4- from synchronous pulley, 2-5- is synchronous
Band, the main synchronous pulley of 2-6-, 3- rotating basis, 3-1- stand connection, 3-2- base seat lid, 3-3- pedestal, 3-4- thrust bearing,
3-5-, which rotates, uses stepper motor, 4-1- upper mounting plate, 4-2- expansion bracket, 4-3- electric pushrod, 4-4- mobile connection axis, puts down under 4-5-
Platform, 5-1- bradyseism drive module, the fixed bracket of 5-1-1-, 5-1-2- damping spring, 5-1-3- connecting rod, 5-1-4- direct current slow down
Motor, 5-1-5- electric machine support, 5-2- vehicle frame, 5-3- wheel.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
As shown in Figure 1, a kind of greenhouse wind spraying aid type automatic target detection pollination trolley, including self propelled chassis 5, direction controlling machine
Frame, pollination system 1 and control system for identifying are equipped with direction controlling rack, direction controlling rack top on the self propelled chassis 5
It holds and pollination system 1 is installed on platform, control system for identifying shoots ground image by the camera of the front vehicle frame 5-2, in conjunction with vehicle
The ranging information of the ultrasonic sensor in three directions of frame 5-2 front left and right realizes trolley autonomous；Meanwhile on rotating basis
Camera acquires crop image, and control system for identifying identifies the spatial position of flower by being analyzed and processed to crop image
Information, control direction controlling rack drive pollination system 1 to realize target precision pollination operation.
Self propelled chassis 5 includes bradyseism drive module 5-1, vehicle frame 5-2, wheel 5-3 and battery, and the vehicle frame 5-2 is metal plate
Part, quadrangle indent, for installing bradyseism drive module 5-1, bradyseism drive module 5-1 is by fixing bracket 5-1-1, damping spring 5-
1-2, connecting rod 5-1-3, DC speed-reducing 5-1-4 and electric machine support 5-1-5 composition, as shown in figure 3, fixed bracket 5-1-
1 is inverted U, is connect by bolt with recess in vehicle frame 5-2 at the top of fixed bracket 5-1-1, and the fixed two sides bracket 5-1-1 are symmetrically lived
The other end of dynamic one end for being connected with one group of connecting rod 5-1-3, connecting rod 5-1-3 is flexibly connected electric machine support 5-1-5, subtracts simultaneously
Shake one end spring 5-1-2 is connected with fixed bracket 5-1-1, and the other end is connected with electric machine support 5-1-5, on electric machine support 5-1-5
DC speed-reducing 5-1-4 is installed, wheel 5-3 is connect by shaft coupling with DC speed-reducing 5-1-4；It is inside vehicle frame 5-2
Hollow storehouse, the element inside hollow storehouse includes battery, water tank, filter, electric diaphragm pump, check valve, solenoid directional control valve, flow
Sensor, pilot sequencing valve, accumulator, Wi-Fi module, stm32 microcontroller, stepper motor driver, motor drive module,
Light coupling relay, the rear portion vehicle frame 5-2 are rotary cabin door, are connected by a hinge with vehicle frame, and door is openable, are conveniently replaceable inside
Element.According to supply object, adjusting cell voltage by DC decompression module is DC speed-reducing 5-1-4, electric pushrod 4-
3, pitching stepper motor 2-3, rotation stepper motor 3-5, blower 1-3, heating module 1-4, electric diaphragm pump, electromagnetic switch
Valve, flow sensor, ultrasonic sensor, camera, stm32 microcontroller, stepper motor driver, motor drive module with
And light coupling relay is powered.
The direction controlling rack includes pitching adjusting mechanism 2, rotating basis 3 and elevating mechanism 4, as shown in Fig. 2, bowing
Face upward regulating mechanism 2 include rotary shaft 2-1, u-bracket 2-2, pitching stepper motor 2-3, from synchronous pulley 2-4, synchronous belt 2-5
And main synchronous pulley 2-6, u-bracket 2-2 and stand connection 3-1 are connected, the upper end u-bracket 2-2 is equipped with rotary shaft 2-1,
Rotary shaft 2-1 is connected by key with from synchronous pulley 2-4, and the fixed pitching stepper motor 2-3 in the bottom u-bracket 2-2, pitching is used
Stepper motor 2-3 is connected by screw to main synchronous pulley 2-6, passes through synchronous belt from synchronous pulley 2-4 and main synchronous pulley 2-6
2-5 V belt translation, main synchronous pulley 2-6, from the gear ratio of synchronous pulley 2-4 be 1:2~1:4；Rotating basis 3 is connected including bracket
Part 3-1, base seat lid 3-2, pedestal 3-3, thrust bearing 3-4 and rotation are solid with stepper motor 3-5, pedestal 3-3 and upper mounting plate 4-1
Even, pedestal 3-3 is hollow cylinder, and the fixed rotation stepper motor 3-5 in inside, the center base seat lid 3-2 is equipped with through-hole, for installing
Thrust bearing 3-4, rotation stepper motor 3-5 output shaft and stand connection 3-1 are connected；Elevating mechanism 4 by upper mounting plate 4-1,
Expansion bracket 4-2, electric pushrod 4-3, mobile connection axis 4-4, lower platform 4-5 are constituted, electronic on the fixed vehicle frame 5-2 of lower platform 4-5
Push rod 4-3 is horizontal positioned, and lower platform 4-5 is fixed in one end, and the electric pushrod 4-3 other end connects mobile connection axis 4-4, mobile to connect
The both ends spindle 4-4 connect the one end expansion bracket 4-2, and the expansion bracket 4-2 other end is connect with upper mounting plate 4-1, and electric pushrod 4-3 control moves
Dynamic connecting shaft 4-4 horizontal direction is mobile, so that controlling expansion bracket 4-2 changes adjustable height.
The pollination system 1 includes protective net 1-1, air duct 1-2, blower 1-3, heating module 1-4, nozzle, nozzle ring
Bracket 1-5, water tank, filter, electric diaphragm pump, check valve, solenoid directional control valve, flow sensor, pilot sequencing valve and storage
Energy device, the tail portion protective net 1-1 and rotary shaft 2-1 are connected, and air duct 1-2 is caught in inside protective net 1-1 and fixes, and blower 1-3 is fixed
Inside protective net 1-1, air duct 1-2 is tapered cylinder, and the big one end of diameter is air inlet, and the small one end of diameter is air outlet,
Be equipped with nozzle ring bracket 1-5 at air outlet, be uniformly provided with several nozzles on nozzle ring bracket 1-5 circumferencial direction, nozzle to
Tilted 40~60 °, heating module 1-4 is fixed on inside air duct 1-2, heating module 1-4 include more circular electrothermal tubes and
Heat-insulated cylinder, heat-insulated cylinder are fixed on air duct 1-2 inner wall, and circular electrothermal tube is fixed on heat-insulated cylinder inner wall.Blower 1-3 is in operation
It can continue working before, crop is made to shake, so that the flower inside crop be made to be exposed, realize flower essence inside crop
Really pollination.As shown in figure 4, water tank, filter, electric diaphragm pump, check valve, solenoid directional control valve, flow sensor, nozzle are successively
It is connected, accumulator is external between check valve and solenoid directional control valve, and pilot sequencing valve is external between diaphragm pump and check valve, liquid
Sequence valve is controlled to be controlled by the pressure of accumulator.
The control system for identifying includes ultrasonic sensor, camera, Wi-Fi module, stm32 microcontroller, stepping
Motor driver, motor drive module, light coupling relay, DC decompression module and host computer, ultrasonic sensor and stm32
Microcontroller carries out serial communication, range information is passed to stm32 microcontroller, there are two ultrasounds for installation on upper mounting plate 4-1
Wave sensor is respectively facing the left and right sides of direction of advance, for detecting in two ridge spacing distances whether have crop, lower platform 4-
One ultrasonic sensor is installed on 5, is identified towards upper mounting plate 4-1 for being measured to the distance between upper lower platform
The range information that control system is returned according to ultrasonic sensor controls the movement of upper mounting plate；Vehicle frame 5-2 is left and right, preceding
It is respectively equipped with two ultrasonic sensors on three directions, and is greater than 20cm with the spacing of side senser, for detecting vehicle body week
Enclose crop and the distance of other obstacles.Camera is arranged in vehicle frame 5-2 direction of advance, for shooting the image of small front of the host,
Cooperate machine vision navigation information, realizes autonomous；It also is provided with a camera on rotating basis, is obtained for crop image
It takes, when operating efficiency is more demanding, is set on rotating basis there are two camera, be respectively facing the left and right sides of direction of advance.
Stm32 microcontroller controls pitching stepper motor 2-3, rotation stepper motor 3-5 by stepper motor driver；stm32
Microcontroller controls blower 1-3, DC speed-reducing 5-1-4 by motor drive module；Stm32 microcontroller by optocoupler after
Electrical equipment control electric diaphragm pump, solenoid directional control valve and heating module 1-4；Host computer and stm32 microcontroller pass through Wi-Fi mould
Block is communicated.
A kind of course of work of greenhouse wind spraying aid type automatic target detection pollination trolley:
When direction controlling rack works, electric pushrod 4-3 controls the movement of mobile connection axis 4-4 horizontal direction, to control
Expansion bracket 4-2 changes air duct height；Rotation drives u-bracket 2-2 rotation by stand connection 3-1 with stepper motor 3-5, from
And air duct horizontal direction is driven to rotate；Pitching with stepper motor 2-3 successively drive main synchronous pulley 2-6, from synchronous pulley 2-4,
Rotary shaft 2-1 rotation, so that 1 vertical direction of air duct be driven to rotate, when being 1:3 from the gear ratio of, main synchronous pulley, pitching is used
Stepper motor 2-3 main shaft is rotated by 360 °, and air duct rotates 120 °.
When pollination system is heated, stm32 microcontroller is according to Current Temperatures and the target temperature of input, to circular electric
The quantity and time that heat pipe is opened are controlled, and different degrees of heating is carried out to flower ambient enviroment.Pollination system carries out liquid
Body pollinate work when, electric diaphragm pump open, pass through solenoid directional control valve realize liquid pollination operation frequent opening and closing, it may be assumed that not into
When row liquid pollination, the work of solenoid directional control valve left position, energy storage pressure constantly rises, when pressure reaches the setting of pilot sequencing valve
When pressure, pilot sequencing valve is opened, electric diaphragm pump off-load；When liquid pollination, the right position of solenoid directional control valve works, accumulator and electricity
Dynamic diaphragm pump works together.While the invention be can be achieved using low capacity hydraulic pump, realize that short-term big flow is spraying, simultaneously
Energy loss in the hydraulic system is only caused by the pressure loss on pilot sequencing valve, is substantially reduced frequently opening and closing and is caused
Energy loss.
As shown in figure 5, passing through upper computer selecting operation mode, packet according to crop pollination feature and greenhouse factor
It includes wind-force pollination/liquid pollination, heating/not heat, and input row spacing and row spacing, when carrying out liquid pollination operation, opens electricity
Dynamic diaphragm pump；Trolley starts to move, and the ultrasonic sensor on upper mounting plate is constantly carried out apart from detection, when one of sensor
When detecting distance twice in succession less than two ridge intervals, trolley stop movement, open blower, rotating basis rotation make camera with
The direction of the ultrasonic sensor is identical, and camera is constantly taken pictures and passes host computer back, and host computer carries out crop image
Analysis processing, obtains colored spatial position, and the sequence according to flower from bottom to top, show that direction controlling rack successively reaches and refer to
Positioning is set and (the vertical direction rotation of vertical direction movement, pitching adjusting mechanism including elevating mechanism of the control flow of angle
And the horizontal direction rotation of rotating basis), which passes to stm32 microcontroller, stm32 by Wi-Fi module
Microcontroller controls rotation with stepper motor 3-5, pitching with stepper motor 2-3 by stepper motor driver, passes through
Electric pushrod adjusts upper mounting plate height, so as to adjust air duct position and angle；When that need to be heated, heating module, root are opened
According to greenhouse Current Temperatures and crop pollination preference temperature, quantity is opened to circular electrothermal tube and is controlled, and reduces blower speed
Degree, certain time (according to test, wind send pollination time to continue 30s or so), if need to carry out liquid pollination later, electromagnetism is changed
Electric and certain time (according to test, liquid pollination is directly sprayed crop, spray time 10s or so) is obtained to valve,
It is final to realize operation purpose.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (8)
1. a kind of greenhouse with wind spraying aid type automatic target detection pollinate trolley, which is characterized in that including self propelled chassis, direction controlling rack,
Pollination system and control system for identifying are equipped with direction controlling rack, direction controlling rack top peace on the self propelled chassis
Pollination system is filled, control system for identifying is for realizing trolley autonomous, and control system for identifying is also by carrying out crop image
Analysis processing, identifies the spatial position of flower, and controlled pollination system realizes target precision pollination.
2. greenhouse according to claim 1 wind spraying aid type automatic target detection pollination trolley, which is characterized in that the pollination system
Including protective net (1-1), air duct (1-2), blower (1-3), heating module (1-4) and nozzle ring bracket (1-5), protective net
(1-1) and direction controlling rack are connected, and air duct (1-2) is caught in protective net (1-1) inside and fixes, and blower (1-3) is fixed on anti-
Protective net (1-1) is internal, is equipped with nozzle ring bracket (1-5) at air duct (1-2) air outlet, the circumference side nozzle ring bracket (1-5)
It is uniformly provided with several nozzles upwards, it is internal that heating module (1-4) is fixed on air duct (1-2).
3. greenhouse according to claim 2 wind spraying aid type automatic target detection pollination trolley, which is characterized in that the air duct (1-
It 2) is tapered cylinder, the big one end of diameter is air inlet, and the small one end of diameter is air outlet.
4. greenhouse according to claim 2 wind spraying aid type automatic target detection pollination trolley, which is characterized in that the nozzle is inside
40~60 ° of inclination.
5. greenhouse according to claim 2 wind spraying aid type automatic target detection pollination trolley, which is characterized in that the heating module
(1-4) includes more electrothermal tubes and heat-insulated cylinder, and heat-insulated cylinder is fixed on air duct (1-2) inner wall, and electrothermal tube is fixed on heat-insulated circle
Cylinder inner wall.
6. greenhouse according to claim 2 wind spraying aid type automatic target detection pollination trolley, which is characterized in that the pollination system
It further include being sequentially connected water tank, filter, electric diaphragm pump, check valve, solenoid directional control valve, flow sensor, check valve and electricity
External accumulator between magnetic reversal valve, external pilot sequencing valve between diaphragm pump and check valve.
7. greenhouse according to claim 6 wind spraying aid type automatic target detection pollination trolley, which is characterized in that the flow sensing
Device is connected with nozzle.
8. a kind of greenhouse operational method of wind spraying aid type automatic target detection pollination trolley, which comprises the following steps:
Step 1), upper computer selecting operation mode, and row spacing and row spacing are inputted, when carrying out liquid pollination operation, open electronic
Diaphragm pump；
Step 2), trolley start to move, and two sides ultrasonic sensor is carried out apart from detection, when one of sensor twice in succession
When detecting crop, trolley stops movement, and blower is opened, and rotating basis rotates the direction for making camera Yu the ultrasonic sensor
Identical, camera is taken pictures and passes image back host computer；
Step 3), host computer handle image to obtain flower position, according to the sequence of flower position from bottom to top, the side of obtaining
The control flow of designated position and angle is successively reached to control rack, and is transferred to stm32 microcontroller, to control direction
Control position and direction that rack changes pollination system；
Step 4) opens heating module when that need to be heated, and according to temperature requirements, controls electrothermal tube and opens quantity, and reduces
Fan speed, certain time；If carry out liquid pollination, solenoid directional control valve is powered and certain time, repeats step
2)-4)。
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112568118A (en) * | 2020-10-21 | 2021-03-30 | 郑州云启工业设备技术有限公司 | A pollination equipment for agriculture and forestry fruit tree |
| CN113207675A (en) * | 2021-05-10 | 2021-08-06 | 北京农业智能装备技术研究中心 | Airflow vibration type facility crop automatic pollination device and method |
| CN116849113A (en) * | 2023-07-05 | 2023-10-10 | 浙江理工大学 | Kiwi fruit precision targeted pollination robot based on visual identification and double-flow spraying |
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