CN110419443A - A kind of unmanned plane auxiliary seed production and pollination operational method and system - Google Patents
A kind of unmanned plane auxiliary seed production and pollination operational method and system Download PDFInfo
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- CN110419443A CN110419443A CN201910833542.XA CN201910833542A CN110419443A CN 110419443 A CN110419443 A CN 110419443A CN 201910833542 A CN201910833542 A CN 201910833542A CN 110419443 A CN110419443 A CN 110419443A
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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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Abstract
This application discloses a kind of unmanned plane auxiliary seed production and pollination operational method and systems, this method comprises: according to pollination operating area, the quantity of unmanned plane needed for planning, the operating area of every frame unmanned plane and a plurality of default course line；According to natural wind speed and wind direction, the wind field whirlpool that can guarantee unmanned plane in a plurality of default course line is selected to fall in real time job course line of the correspondence course line on male parent compartment as every frame unmanned plane；The real-time flowering dynamics information for obtaining male parent in pollination operating area judges whether to meet pollination operating condition；When meeting pollination operating condition, then unmanned plane completes pollination operation according to the real time job airline operation of work planning.Therefore, unmanned plane pollination operational method and system provided by the invention, can in operating area male parent bloom satisfaction pollination operating condition when, using the full autonomous flight of unmanned plane and cluster operation function, pollination operation is completed in intelligence, the operating efficiency for improving supple-mentary pollination, reduces the operating cost of pollination.
Description
Technical field
This application involves agriculture kind of industry technical field, in particular to a kind of unmanned plane assists seed production and pollination operational method and is
System.
Background technique
The self-pollination mode of reproduction of rice has been changed to cross-pollination mode of reproduction by breeding of hybrid rice, in seed farm
Male parent and maternal alternate plantation, control male parent and maternal different time sowing, make male parent and maternal while heading bloom, by auxiliary
Help pollination that female parent is made to receive the solid production hybrid seed of paternal pollen.Florescence due to rice and shorter, florescence about 10 when flower
It, the flowering time for there was only 1-2 hours daily, therefore rice production of hybrid seeds supple-mentary pollination must be completed within the limited time.
In the prior art, the mode for generalling use manual mode pollination or mechanically pollinating carries out supple-mentary pollination.Manual mode
Pollination shakes male parent spike of rice as pulled rope or sweeping bamboo and wood bar, and paternal pollen is propagated to female parent, this Pollination Modes recruitment
It is more, labor intensity is larger, operating efficiency is lower, and pollen transmission distance is close, constrains the row ratio of the alternate plantation of Parent, parent
Current row ratio is (1~2): (8~12) are unfavorable for Parent mechanized cultivation and harvesting.Mechanical pollination includes that backpack is mechanical
Formula pollination, highland gap type Mechanical pollination and unmanned plane pollination can substantially expand the capable of the alternate plantation of Parent and compare to (6~8):
(30~50), to facilitate the mechanized cultivation for realizing Parent and harvesting.But the operating efficiency of backpack Mechanical pollination is still
Low, large labor intensity；Highland gap type Mechanical pollination is influenced by field conditions, using being restricted；And existing unmanned plane pollination
One operation group can only manipulate a frame unmanned plane, can be only done 60-80 mus of pollination operation daily, low efficiency, at high cost.
Summary of the invention
In order to solve the above technical problems, the application provides a kind of unmanned plane auxiliary seed production and pollination operational method and system, energy
The operating efficiency for enough improving unmanned plane auxiliary seed production and pollination, reduces the operating cost of pollination.
First aspect present invention provides a kind of unmanned plane auxiliary seed production and pollination operational method, comprising:
According to pollination operating area, the quantity of unmanned plane needed for planning, the operating area of unmanned plane described in every frame and a plurality of
Default course line；
According to natural wind speed and wind direction, the wind field whirlpool that can guarantee the unmanned plane in a plurality of default course line is selected
Fall in real time job course line of the correspondence course line on male parent compartment as unmanned plane described in every frame；
The real-time flowering dynamics information for obtaining male parent in the pollination operating area judges whether to meet pollination operation item
Part；
Meet pollination operating condition when, then the unmanned plane according to work planning the real time job airline operation, it is complete
At pollination operation.
Preferably, described according to pollination operating area, the operation of the quantity of unmanned plane needed for planning, unmanned plane described in every frame
Region and a plurality of default course line, comprising:
According to pollination operating area, the operating area of the quantity of unmanned plane needed for planning, unmanned plane described in every frame；
Obtain with the consistent main shipping track of male parent compartment center line, and in main shipping track two sides and in parallel attached
If course line, every compartment male parent plans a plurality of default course line.
Preferably, the real-time flowering dynamics information for obtaining male parent in the pollination operating area, judges whether to meet
Pollination operating condition, comprising:
The real-time flowering dynamics information for obtaining male parent in the pollination operating area, calculates dynamically opening in real time for the male parent
Flower density；
It is bloomed density based on the real-time dynamic, judges whether to meet pollination operating condition.
Preferably, when satisfaction pollination operating condition, then the unmanned plane according to work planning the real time job
Airline operation completes pollination operation, comprising:
When meeting pollination operating condition, then the unmanned plane makes according to the real time job airline operation of work planning
The pollen in the male parent compartment is flown upward under the wind-force of the unmanned plane during flying to maternal compartment, completes pollination operation.
Preferably, the unmanned plane according to work planning the real time job airline operation, wherein flying height is nothing
1.0-2.0 meters of fringe layer of the man-machine rotor apart from the male parent.
Preferably, the unmanned plane according to work planning the real time job airline operation, wherein flying speed is every
4.0-4.5 meters of second.
Preferably, the unmanned plane is single rotor unmanned plane of the rotor diameter within 200cm.
Preferably, the unmanned plane is quadrotor drone or six rotor wing unmanned aerial vehicles of the rotor diameter within 90cm.
Second aspect of the present invention provides a kind of unmanned plane auxiliary seed production and pollination operating system, and the unmanned plane auxiliary production of hybrid seeds is awarded
Powder operating system is for executing the auxiliary seed production and pollination operational method of unmanned plane described in above-mentioned any one.
Unmanned plane auxiliary seed production and pollination operational method provided by the invention and system, unmanned plane assist seed production and pollination operator
Method includes: the quantity of unmanned plane needed for planning, the operating area of unmanned plane described in every frame and a plurality of pre- according to pollination operating area
If course line；According to natural wind speed and wind direction, the wind field whirlpool that can guarantee the unmanned plane in a plurality of default course line is selected
Fall in real time job course line of the correspondence course line on male parent compartment as unmanned plane described in every frame；It obtains in the pollination operating area
The real-time flowering dynamics information of male parent judges whether to meet pollination operating condition；Meet pollination operating condition when, then it is described nobody
Machine completes pollination operation according to the real time job airline operation of work planning.Therefore, unmanned plane pollination provided by the invention
Operational method and system, can in operating area male parent bloom satisfaction pollination operating condition when, independently fly entirely using unmanned plane
Capable and cluster operation function, intelligence complete pollination operation, improve the operating efficiency of supple-mentary pollination, reduce the operation of pollination at
This.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow diagram that a kind of unmanned plane provided in an embodiment of the present invention assists seed production and pollination operational method；
Fig. 2 is the operation itinerant map that a kind of unmanned plane provided in an embodiment of the present invention assists seed production and pollination.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in example is applied, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described implementation
Example is merely a part but not all of the embodiments of the present application.
It should be noted that it can directly exist when element is referred to as on " being fixed on " or " being set to " another element
On another element or indirectly setting on the other element；When an element is known as " being connected to " another element,
It can be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of description the application and simplifies description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.It is multiple in the description of the present application ", " several " be meant that two or
Two or more, unless otherwise specifically defined.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not limited to the enforceable qualifications of the application so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the application
Under the effect of can be generated and the purpose that can reach, the model that can cover of techniques disclosed in this application content should all be still fallen in
In enclosing.
Referring to Fig. 1, a kind of process signal of unmanned plane auxiliary seed production and pollination operational method provided in an embodiment of the present invention
Figure.This method comprises:
S100, according to pollination operating area, the quantity of unmanned plane needed for planning, the operating area of every frame unmanned plane and a plurality of
Default course line.
In the embodiment of the present invention, unmanned plane auxiliary seed production and pollination operational method is mainly used in rice seed farm, male parent
With maternal alternate plantation, control male parent and maternal different time sowing make male parent and maternal while heading bloom, supple-mentary pollination.
Wherein, Parent can be using big row than plantation, and 6-8 row male parent is a male parent compartment, and 30-50 row female parent is a maternal compartment.
Since the florescence of rice is shorter, the activity duration for being able to carry out supple-mentary pollination is limited, operation of pollinating in the region that fulfil assignment
Words, need to set out multiple UAVs simultaneously and carry out pollination operation.According to the size of pollination operating area and every frame unmanned plane in water
The pollination working area that can be completed in the rice florescence, the quantity of unmanned plane needed for capable of calculating pollination operation, then divides every frame
The operating area of unmanned plane.The influence of natural wind speed wind direction when simultaneously in view of pollination, it is a plurality of default for the planning of every frame unmanned plane
Course line.By planning a plurality of default course line of the required quantity of unmanned plane, the operating area of every frame unmanned plane and every frame unmanned plane,
When pollinating operation, unmanned plane can complete pollination operation according to the setting regions and course line.Pass through application plant protection drone
Full autonomous flight and cluster are turned into one operation group of industry function and can manipulate multiple UAVs, every frame unmanned plane autonomous flight simultaneously
Respective pollination operation is completed, the working efficiency of unmanned plane operating personnel is greatly improved, substantially reduces the operating cost of pollination.
S200, according to natural wind speed and wind direction, select to guarantee that the wind field whirlpool of unmanned plane is fallen in a plurality of default course line
Real time job course line of the correspondence course line as every frame unmanned plane on male parent compartment.
In the embodiment of the present invention, since the wind-force that rotor generates when unmanned plane pollination relies primarily on unmanned plane during flying makes pollen
It flies upward, completes pollination operation, so the variation of pollination period natural wind speed wind direction influences whether pollination operation effectiveness, it is contemplated that pollination
When natural wind speed wind direction influence, every frame unmanned plane planned a plurality of default course line.It in the specific implementation, can be using measurement
Device detection pollination operation when natural wind wind speed and wind direction, select setting a plurality of default course line in one can guarantee nobody
The wind field whirlpool of machine falls in corresponding default course line on male parent compartment, the real time job course line as every frame unmanned plane.Wherein, different
Natural wind wind speed and wind direction and corresponding default course line between have preset corresponding relationship.It in the specific implementation, can be according to
Several classifications are arranged in different natural wind wind speed and wind direction, and the corresponding default course line of each classification makes unmanned plane according to right
When the default airline operation answered, the wind field whirlpool of unmanned plane can be fallen on male parent compartment.Enable adaptation to various natural vanes
Border more intelligently carries out unmanned plane pollination operation.
S300, the real-time flowering dynamics information for obtaining male parent in pollination operating area judge whether to meet pollination operation item
Part.
Male parent is generally bloomed daily around noon, opens time spent 90min or so daily, and pollination must bloom in male parent
Shi Jinhang not can be carried out supple-mentary pollination before male parent is not bloomed, once and daily male parent bloom into full blossom state, then
It needs to start supple-mentary pollination as early as possible, to complete supple-mentary pollination operation in limited flowering time.In the embodiment of the present invention, lead to
The real-time flowering dynamics information for obtaining male parent in pollination operating area is crossed, determines that male parent is bloomed and whether comes into full blossom state,
To judge whether the pollination operating area meets pollination operating condition.In the specific implementation, figure can be set in seed farm
As acquisition device such as high-definition camera head etc., the flowering dynamics information of male parent is acquired in real time, and father is determined by image recognition technology etc.
Originally it blooms and whether comes into full blossom state, meet pollination operating condition.
When S400, satisfaction pollination operating condition, then unmanned plane is completed to award according to the real time job airline operation of work planning
Powder operation.
In the embodiment of the present invention, if male parent blooms and comes into full blossom state in pollination operating area, meet pollination operation
Condition, then unmanned plane can complete pollination operation according to real time job airline operation according to work planning.Specifically, when sentencing
When disconnected pollination region meets pollination operating condition, the instruction for carrying out unmanned plane pollination can be sent to by network etc. corresponding
Unmanned plane, corresponding unmanned plane is according to the real time job course line of the operating area and selection being responsible in setting, Quan Zizhu and collection
Group's operation flight, intelligently completes pollination operation.If judgement is unsatisfactory for pollination operating condition, continue to obtain in operating area
Male parent is bloomed information, pollinate until meeting operating condition until.Adopting said method, a daily energy of operation group 4-5 frame unmanned plane
The pollination operation for enough completing 400 mu or so, substantially increases the working efficiency of unmanned plane operating personnel, to reduce pollination operation
Cost.
Unmanned plane provided by the invention assists seed production and pollination operational method, comprising: according to pollination operating area, needed for planning
The operating area and a plurality of default course line of the quantity of unmanned plane, every frame unmanned plane；According to natural wind speed and wind direction, select a plurality of pre-
If one can guarantee that the wind field whirlpool of unmanned plane falls in reality of the correspondence course line on male parent compartment as every frame unmanned plane in course line
The course line Shi Zuoye；The real-time flowering dynamics information for obtaining male parent in pollination operating area judges whether to meet pollination operating condition；
When meeting pollination operating condition, then unmanned plane completes pollination operation according to the real time job airline operation of work planning.Therefore,
Unmanned plane provided by the invention pollination operational method and system male parent can bloom satisfaction pollination operating condition in operating area
When, using the full autonomous flight of unmanned plane and cluster operation function, pollination operation is completed in intelligence, improves the operation effect of supple-mentary pollination
Rate reduces the operating cost of pollination.
Optionally, in some embodiments of the present invention, step S100 is specifically included:
According to pollination operating area, the quantity of required unmanned plane, the operating area of every frame unmanned plane are planned；Acquisition and male parent
The consistent main shipping track of compartment center line, and main shipping track two sides and it is in parallel set up course line, every compartment male parent planning is a plurality of pre-
If course line.
In the embodiment of the present invention, it can be completed within the rice florescence according to the size of pollination operating area and every frame unmanned plane
Pollination working area, the quantity of unmanned plane needed for capable of calculating pollination operation, then divides the operating area of every frame unmanned plane.
By obtaining with the consistent course line of each male parent compartment center line as main shipping track, while considering natural wind speed wind direction when pollination
It influences, obtains several course lines in parallel as course line is set up in main shipping track two sides, traverse the pollination operating area, every compartment father
This completes the planning in a plurality of default course line.In the specific implementation, flight course planning can be carried out by man-hour manually hand-held mapping equipment,
It can choose mapping unmanned plane and carry out flight course planning.When unmanned plane carries out pollination operation according to operation course line, every frame unmanned plane
It requires along each male parent compartment along the pollination operating area that is each responsible for and the consistent main shipping track of its center line or in main shipping track two
Side and it is in parallel set up airline operation, after completing a male parent compartment pollination operation, continue along next male parent compartment with wherein
The consistent main shipping track of heart line or main shipping track two sides and it is in parallel set up airline operation, make until completing whole pollinations
Industry.
Specifically, referring to Fig. 2, a kind of operation course line of unmanned plane auxiliary seed production and pollination provided in an embodiment of the present invention
Figure.In the present embodiment, every frame unmanned plane needs to be responsible for respective pollination operating area, presets a main shipping track and each two of left and right
Set up course line.In pollination operating area, the plantation alternate with male parent compartment 2 of maternal compartment 1, A3~H3The respectively two sides of operating area
Intersection point between boundary and the main shipping track in each male parent compartment, A1~H1、A2~H2、A4~H4、A4~H4Respectively the two of operating area
Each two intersection points set up between course line at left and right sides of lateral boundaries and each male parent compartment.It is right when needing to carry out pollination operation
The unmanned plane answered takes off according to operation course line, the master in unmanned plane first male parent compartment out of operating area boundary and operating area
Intersection point A between course line3The boundary of place or operating area and set up the point of intersection A between course line1、A2、A4、A5Place, along male parent compartment
Main shipping track A3B3Or set up course line A1B1、A2B2、A4B4、A5B5Autonomous flight, when another lateral boundaries and master for reaching operating area
Intersection points B between course line3Place or with set up the point of intersection B between course line1、B2、B4、B5Behind place, adjacent male parent compartment is changed to, continues edge
The main shipping track C in second male parent compartment3D3Or set up course line C1D1、C2D2、C4D4、C5D5Flight, until in the region that fulfils assignment all
Pollination job task.
In the present embodiment, after completing the planning in a plurality of default course line of every frame unmanned plane, made according to the pollination detected
The wind speed and wind direction of natural wind when industry select to guarantee that the wind field whirlpool of unmanned plane falls in father in a plurality of default course line of setting
Corresponding default course line on this compartment, the real time job course line as every frame unmanned plane.Specifically, as shown in Fig. 2, working as environment apoplexy
When speed is smaller, the wind-force that unmanned plane generates is substantially unaffected, and can will be made with the consistent main shipping track of each male parent compartment center line
For the real time job course line of unmanned plane pollination operation, i.e. A3B3Section, C3D3Section, E3F3Section and G3H3Section, at this time the wind field whirlpool of unmanned plane
Whirlpool can be fallen on male parent compartment, and the wind-force that unmanned plane rotor generates can make the pollen in male parent compartment more equal to the maternal compartment of two sides
Even disperses, and reaches optimal Pollination Effect；And wind speed is larger in the environment, and when wind direction is from left to right, in order to eliminate from
The influence of right wind, can will be on the left of the center line of male parent compartment and in parallel one is set up course line as unmanned plane pollination operation
Real time job course line, i.e. A1B1Section, C1D1Section, E1F1Section and G1H1Section or A2B2Section, C2D2Section, E2F2Section and G2H2Section, this
When unmanned plane wind field whirlpool still be able to fall on male parent compartment, remain to make the maternal compartment of the downward wind direction of the pollen in male parent compartment more
It uniformly disperses, reaches optimal Pollination Effect；When wind direction is turned left from the right side, principle is similar, and details are not described herein.
Optionally, in some embodiments of the present invention, step S300 is specifically included:
The real-time flowering dynamics information for obtaining male parent in pollination operating area calculates the density of dynamically blooming in real time of male parent；
It is bloomed density based on real-time dynamic, judges whether to meet pollination operating condition.
In the embodiment of the present invention, obtain pollination operating area in male parent real-time flowering dynamics information after, pass through image
Identification technology etc. can determine the real-time flowering dynamics distributed image of male parent, and then calculate the density of dynamically blooming in real time of male parent.
Calculate dynamically being bloomed after density in real time for male parent, with the preset male parent for being able to carry out pollination operation it is minimum bloom density into
Row comparison, that is, can determine whether the quantity of blooming of male parent meets pollination conditions, and then judge whether the pollination operating area meets
Pollination operating condition.
Optionally, in some embodiments of the present invention, step S400 is specifically included:
When meeting pollination operating condition, then unmanned plane makes male parent compartment according to the real time job airline operation of work planning
Pollen is flown upward under the wind-force of unmanned plane during flying to maternal compartment, completes pollination operation.Specifically, according to natural wind when pollination
Wind speed and wind direction select one unmanned plane wind field whirlpool can be made to fall in the default course line on male parent compartment and pollinate as unmanned plane and make
The real time job course line of industry, unmanned plane is along the center line or two sides off center line a distance in male parent compartment and consistent with its direction
Parallel flying, fly upward the pollen in male parent compartment under the wind-force of unmanned plane during flying to maternal compartment, complete pollination operation.
Optionally, in some embodiments of the present invention, real time job airline operation of the unmanned plane according to work planning, selection
Single rotor unmanned plane of the rotor diameter within 200cm, or quadrotor drone of the rotor diameter within 90cm and six rotations
When wing unmanned plane, flying height is 1.0-2.0 meters of fringe layer of the rotor of unmanned plane apart from male parent, and flying speed is 4.0- per second
4.5 rice.In the present embodiment, unmanned plane selects single rotor unmanned plane or rotor diameter of the rotor diameter within 200cm to exist
Quadrotor drone and six rotor wing unmanned aerial vehicles within 90cm, every frame unmanned plane keep flying when according to operation airline operation
Row height is in 1.0-2.0 meters of range of fringe layer of the rotor apart from male parent, and flying speed is maintained in 4.0-4.5 meters of range per second,
The wind-force that unmanned plane rotor generates at this time can make the pollen of male parent disperse to the maternal compartment of two sides, preferably complete pollination and make
Industry.
The embodiment of the present invention also provides a kind of unmanned plane auxiliary seed production and pollination operating system, for executing above-mentioned any implementation
Unmanned plane in example assists seed production and pollination operational method.Seed production and pollination operating system is assisted using the unmanned plane, it can be in operation
In region male parent bloom satisfaction pollination operating condition when, it is intelligent complete using the full autonomous flight of unmanned plane and cluster operation function
At pollination operation, the operating efficiency of supple-mentary pollination is improved, the operating cost of pollination is reduced.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (9)
1. a kind of unmanned plane assists seed production and pollination operational method characterized by comprising
According to pollination operating area, the quantity of unmanned plane needed for planning, the operating area of unmanned plane described in every frame and a plurality of default
Course line；
According to natural wind speed and wind direction, select to guarantee that the wind field whirlpool of the unmanned plane is fallen in a plurality of default course line
Real time job course line of the correspondence course line as unmanned plane described in every frame on male parent compartment；
The real-time flowering dynamics information for obtaining male parent in the pollination operating area judges whether to meet pollination operating condition；
When meeting pollination operating condition, then the unmanned plane is completed to award according to the real time job airline operation of work planning
Powder operation.
2. unmanned plane according to claim 1 assists seed production and pollination operational method, which is characterized in that described to be made according to pollination
Industry region, the operating area and a plurality of default course line of the quantity of unmanned plane needed for planning, unmanned plane described in every frame, comprising:
According to pollination operating area, the operating area of the quantity of unmanned plane needed for planning, unmanned plane described in every frame；
Obtain with the consistent main shipping track of male parent compartment center line, and in the main shipping track two sides and in parallel set up boat
Line, every compartment male parent plan a plurality of default course line.
3. unmanned plane according to claim 1 assists seed production and pollination operational method, which is characterized in that awarded described in the acquisition
The real-time flowering dynamics information of male parent in powder operating area judges whether to meet pollination operating condition, comprising:
The real-time flowering dynamics information for obtaining male parent in the pollination operating area, it is close to calculate dynamically blooming in real time for the male parent
Degree；
It is bloomed density based on the real-time dynamic, judges whether to meet pollination operating condition.
4. unmanned plane according to claim 1 assists seed production and pollination operational method, which is characterized in that the satisfaction pollination is made
When industry condition, then the unmanned plane completes pollination operation according to the real time job airline operation of work planning, comprising:
When meeting pollination operating condition, then the unmanned plane makes described according to the real time job airline operation of work planning
The pollen in male parent compartment is flown upward under the wind-force of the unmanned plane during flying to maternal compartment, completes pollination operation.
5. unmanned plane according to claim 4 assists seed production and pollination operational method, which is characterized in that the unmanned plane according to
The real time job airline operation of work planning, wherein flying height is fringe layer of the rotor of unmanned plane apart from the male parent
1.0-2.0 rice.
6. unmanned plane according to claim 4 assists seed production and pollination operational method, which is characterized in that the unmanned plane according to
The real time job airline operation of work planning, wherein flying speed is 4.0-4.5 meters per second.
7. assisting seed production and pollination operational method according to claim 5 or unmanned plane as claimed in claim 6, which is characterized in that institute
Stating unmanned plane is single rotor unmanned plane of the rotor diameter within 200cm.
8. assisting seed production and pollination operational method according to claim 5 or unmanned plane as claimed in claim 6, which is characterized in that institute
Stating unmanned plane is quadrotor drone or six rotor wing unmanned aerial vehicles of the rotor diameter within 90cm.
9. a kind of unmanned plane assists seed production and pollination operating system, which is characterized in that the unmanned plane assists seed production and pollination operation system
System is for executing the unmanned plane auxiliary seed production and pollination operational method as described in claim 1 to claim 8 any one.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112021174A (en) * | 2020-09-15 | 2020-12-04 | 石家庄中皇尚品农业发展有限公司 | Agricultural unmanned aerial vehicle with automatic pollination function and use method |
| CN114431140A (en) * | 2022-03-09 | 2022-05-06 | 张家口市农业科学院(河北省高寒作物研究所) | Hybrid millet unmanned aerial vehicle supplementary pollination technology |
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