CN113487233A - Intelligent management system for mountain fruit tree picking and operation method - Google Patents
Intelligent management system for mountain fruit tree picking and operation method Download PDFInfo
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Abstract
An intelligent management system for mountain fruit tree picking and an operation method thereof comprise: the fruit picking system comprises a central control processor, a fruit tree identification module, a storage module, an information acquisition module, a picking monitoring module, an intelligent reminding module, an environment perception module and execution equipment; the fruit tree condition is subjected to data acquisition and dynamic monitoring of the picking process by arranging the information acquisition module, the environment sensing module and the picking monitoring module, and the fed-back information is integrated, processed and analyzed by the central control processor and the storage module, so that the picking plan is formulated before picking, the maintenance scheme is formulated after picking is based on the data, uncertain problems occurring in the picking process are processed in a datamation manner, and the optimal planning of reasonable picking of fruits, reasonable distribution of personnel and reasonable storage of auxiliary tools is realized; design intelligence and remind the module convenience of management person to judge the management, select the optimum picking plan, realize picking the effect stable, recruitment efficiency promotion, picking cost reduction, the effect that orchard output increased substantially.
Description
Technical Field
The invention relates to the technical field of fruit tree picking, in particular to an intelligent management system for mountain fruit tree picking and an operation method.
Background
The solar coverage rate of hills and hills is sufficient, the temperature difference between day and night is large, the ventilation and drainage are good, the special advantage of producing high-quality fruits is achieved, and people hope to build an orchard on hills and mountains in most cases; however, most hilly and mountainous regions have thin soil layers, low nutrient content, barren soil, heavy viscosity and strong acidity, and have poor ventilation, water retention and fertilizer retention capabilities, so that the dynamic growth of fruit trees needs to be tracked and maintained in time; moreover, the landforms of hills and mountains are complex, the orchard is very inconvenient to construct and transport, most of the orchards are operated mainly by manual mode, and the orchard management is time-consuming and labor-consuming;
the difficulty of information acquisition is large and the information acquisition is not timely, so that the management scheme is unequal to the actual situation, and a vicious circle is formed; particularly, fruit setting and maturing time of fruit trees is not uniform, and after many fruits are mature, the optimal picking period is not found to be missed by workers in time, so that the mature and the yield are reduced; in addition, the mountain fruit tree picking work period is long, the working procedures are complicated, the personnel consumption is high, and uncertain factors are too many, which restrict the mastering degree of a manager on the actual situation of the orchard, so that the accurate judgment and the full management cannot be realized;
how to enable a picker to accurately position fruit trees to be picked, how to enable a manager to know the dynamic situation of an orchard at any time, perform personnel allocation comprehensively and reasonably, make an optimal picking scheme, and perform subsequent treatment according to the real fruit tree yield becomes a problem to be solved urgently.
For example, patent nos.: the chinese utility model patent of cn201420661131.x discloses a fruit tree management system, which comprises a concrete bracket, a steel wire rope, a floor, a pedal chair and a pesticide spraying vehicle, and solves the problems of inconvenient fruit tree trimming, low illumination utilization rate, low fruit quality and yield, inconvenient fruit picking and the like of the existing fruit tree management system; however, the system is complex in construction, is not suitable for terrains with complex terrain, such as mountains and hills, and cannot fundamentally solve the problems;
for example, patent nos.: the chinese utility model patent of CN201520918822.8 discloses a roof agricultural planting management system, which comprises a roof planting weather station, a decision device, a monitoring display, and a terminal user, and can collect basic information of environmental weather data and soil data planted on the roof, provide scientific, reasonable and efficient planting management decision information for growers, guide users to scientifically irrigate and fertilize, and improve the yield and quality of crops; the scheme monitors the plant from sowing to maturity to production, solves the problem of intelligent growth management, but does not make a high-quality plan on how to pick and process the plant after the plant is fruited;
therefore, it is urgently needed to invent an intelligent management system and an operation method for mountain fruit tree picking, which can process uncertain problems occurring in the picking process in a datamation manner, facilitate managers to make optimal choices, and achieve yield maximization, so as to solve the technical problems.
Disclosure of Invention
Aiming at the problems, the invention provides an intelligent management system for mountain fruit tree picking and an operation method thereof, which are characterized in that an information acquisition module, an environment sensing module and a picking monitoring module are arranged to carry out data acquisition and dynamic monitoring on the fruit tree condition in the picking process, and a central control processor and a storage module are used for integrating, processing and analyzing feedback information, so that the picking plan is made before picking and the maintenance scheme is made after picking according to the information, uncertain problems occurring in the picking process are processed in a datamation manner, the reasonable picking of fruits and the reasonable distribution of personnel are realized, and the optimal planning of the reasonable storage of auxiliary tools is realized; design intelligence and remind the module convenience of management person to judge the management, select the optimum picking plan, realize picking the effect stable, recruitment efficiency promotion, picking cost reduction, the effect that orchard output increased substantially.
The technical scheme adopted by the invention is as follows: an intelligent management system is picked to mountain fruit tree includes: the fruit tree picking system comprises a central control processor, a fruit tree identification module, a storage module, an information acquisition module, a picking monitoring module and an intelligent reminding module; the fruit tree identification module is used for marking each fruit tree; the picking monitoring module is used for positioning picking personnel and monitoring fruit tree picking conditions; the information acquisition module is arranged on the unmanned aerial vehicle, correspondingly collects the growth, fruit setting and picking conditions of all fruit trees in the mountainous region in a large range, identifies and positions the fruit trees by matching with the fruit tree identification module, and feeds back real-time information of the fruit trees to the storage module;
the storage module is used for storing scientific growth data of fruit trees in the garden and recording real-time information of the fruit trees fed back by the acquisition module and picking conditions monitored by the picking monitoring module in real time; the central control processor is used for comparing and analyzing the information of each unit in the storage module, making an optimal picking plan and transmitting processing information to the intelligent reminding module; the intelligent reminding module is arranged on the management platform or a mobile terminal carried by a manager and used for reminding the manager of the growth, fruit setting and picking conditions of the fruit trees in the mountain land to which the manager belongs and confirming the processing information.
Further, the picking monitoring module comprises: the fruit picking system comprises a positioning tag, a fruit identification module, a fruit measuring module, a scanning counter, a weighing sensor, a picking timing module, a signal emitter and an information matching tag; the positioning tag is carried by a picking person, is matched with the fruit tree identification module and is identified by the information acquisition module; the fruit identification module is used for identifying the positions of fruits when picking personnel pick the fruits, so that the picking personnel can judge picking conditions conveniently; the fruit measuring module is arranged on gloves of picking personnel and used for measuring the sizes of fruits and prompting the picking personnel to place the fruits in a classified mode; the scanning counter is arranged at an inlet of the fruit storage basket and is used for counting and counting fruits entering the basket in real time; the weighing sensor is arranged at the bottom of the fruit containing basket and used for calculating the picking weight in the fruit containing basket; the picking timing module is carried by a picking person, is matched with the positioning tag for use and is used for calculating the time consumed by the picking person during picking; the information matching tag is arranged on the fruit containing basket and used for being recognized by the fruit tree recognition module and matching the picked fruit information with the corresponding fruit tree; the signal emitter is used for emitting data information in the picking process of personnel, and the information collection module is convenient to collect.
Furthermore, a navigation display screen is arranged on the positioning label and used for displaying the position of the fruit identification module to be matched and a navigation route.
Furthermore, the fruit identification modules are arranged on the picking personnel.
Further, the information acquisition module comprises: the fruit tree management system comprises an image acquisition unit, a personnel identification unit, a fruit tree identification unit, an information receiving unit and an information transmission unit, wherein the image acquisition unit is used for shooting and scanning fruit trees in the whole mountain land through a camera and an infrared scanner and monitoring the growth condition, fruit setting condition and maturity condition of each fruit tree, picking dynamics and emergency condition of picking personnel in real time; the personnel identification unit is used for identifying and positioning the label, and the fruit tree identification unit is used for matching with the fruit tree identification module to identify and position the fruit tree; the information receiving unit is used for receiving data information transmitted by the signal transmitter; the information transmission unit is used for transmitting the information acquired by the information acquisition module to the storage module.
Further, the storage module mainly includes: the system comprises a storage unit, a log unit, a statistic unit, an optimization unit, a picking data unit and an emergency processing unit, wherein the storage unit is used for storing scientific growth periods of fruit trees in a park; the storage unit is set according to the types of mountain fruit trees, and the optimization unit is set according to mountain weather and picking requirements; the log unit, the statistical unit and the picking data unit are used for storing the information transmitted by the information transmission unit in a classified manner.
Further, the intelligent reminding module comprises: the fruit tree management unit, the picking guide unit, the plan confirmation unit, the emergency alarm unit, the data feedback unit and the daily reminding unit; the fruit tree management unit is used for displaying real-time growth conditions of fruit trees and comparison data of growth states and scientific growth states of the fruit trees to managers and pushing reasonable growth management suggestions obtained by the central control processor to the managers;
the picking guide unit is used for displaying fruit tree fruit setting information in the statistical unit to a manager, and pushing predicted orchard yield, predicted required labor distribution, predicted required storage basket number and predicted picking days counted by the central control processor to the manager; the plan confirmation unit is used for pushing an optimal picking plan planned by the central control processor to a manager, asking the manager for confirmation, and feeding back picking adjustment requirements of the manager to the optimization unit; the data feedback unit is used for displaying the picking condition in the picking data unit to a manager and pushing the actual yield and the picking work efficiency counted by the central control processor to the manager;
the daily reminding unit pushes the weather condition, the mountain security condition, the fruit market dynamic and the latest government policy related information of the last few days to the manager; the emergency alarm unit gives an alarm to a manager, displays the emergency situation in the emergency processing unit, meanwhile pushes the processing scheme prepared by the central control processor to the manager, and if the processing time of the manager is too long, the emergency alarm unit directly requests assistance to a local government and authorizes the most conservative processing according to a plan.
Furthermore, the invention also comprises an environment sensing module for sensing the growth environment of the fruit trees, the garden is divided into a plurality of sensing areas according to the mountain environment and the terrain, and each sensing area is provided with the environment sensing module; the environment sensing module is provided with a microprocessor and a sensing sensor module; the perception sensor module includes: the system comprises a temperature and humidity sensor, an air quality sensor, a soil analysis sensor, a light intensity sensor and an appearance identification sensor; the temperature and humidity sensor is used for sensing the temperature and humidity of the environment where the fruit tree is located, and the air quality sensor is used for sensing the content of oxygen and carbon dioxide in the environment where the fruit tree is located; the soil analysis sensor is used for monitoring the water oxygen content below the surface of the fruit tree and the content of various trace elements; the light intensity sensor is used for monitoring the sunlight coverage rate above the surface of the fruit tree; the appearance recognition sensor is used for recognizing the information of the height, the stem thickness, the fruits and the leaves of the fruit tree; the microprocessor processes and analyzes the appearance data of the appearance recognition sensor, preliminarily judges the health state of the fruit tree, transmits the data sensed by the temperature and humidity sensor, the air quality sensor, the soil analysis sensor and the light intensity sensor to the storage module and records the data into the log unit in a classified manner.
Further, the present invention also includes an execution device remotely controlled by a central control processor, comprising: the device comprises a water and fertilizer integrated machine, a fog gun machine and automatic cleaning equipment; the water and fertilizer all-in-one machine is used for executing instructions of watering and fertilizing the fruit trees; the fog gun machine is used for executing instructions of spraying and insecticide spraying for the fruit trees; the automatic cleaning equipment is used for executing an instruction for preliminarily cleaning the surrounding environment of the fruit tree.
An operation method for picking mountain fruit trees comprises the following steps:
fruit setting and maturity statistics of fruits before picking: carrying out regular information acquisition on each fruit tree in the mountain fruit tree park by using an unmanned aerial vehicle carrying information acquisition module, matching and identifying a fruit tree identification unit and a fruit tree identification module, and accurately positioning the fruit trees to obtain the fruit setting condition of each fruit tree at each stage and relevant data of fruit growth; the information transmission unit is used for storing the information into the log unit, and when the central control processor compares the information in the storage unit and the information in the log unit to obtain that the fruit enters a mature stage, the position, the maturity degree and the corresponding fruit setting amount integrated information of the mature fruit tree are stored into the statistical unit;
(II) formulating a picking plan; the central control processor makes an optimal picking plan according to the data stored by the statistical unit, the picking cautions stored by the optimization unit and the current picking requirement, and comprises the following steps: picking date, number of picking personnel, number of fruit containing baskets, plan of number of transport vehicles, picking personnel allocation, and optimal picking route; after the picking plan is formulated, the central control processor sends the picking plan to the management platform or the manager moving end through the picking guide unit and confirms the picking plan through the plan confirming unit, if the manager agrees to pick, the next picking plan is executed, if the manager does not agree to pick, the central control processor feeds back the picking adjustment requirement to the optimizing unit according to the input of the manager to reformulate until the manager agrees to execute the next picking plan;
(III) picking process and information processing: after the picking plan is determined to be executed, the central control processor marks the fruit tree identification modules of the mature fruit trees and distributes the picking plan to the corresponding positioning labels; after picking personnel enter the garden with the positioning tags, matching and picking are sequentially carried out according to the position information of the navigation display fruit trees and the planned route; when picking personnel carry the positioning tag to be matched with the fruit identification module, the picking timing module carries out time consumption statistics; in the picking process of picking personnel, the fruit measuring module reminds the picking personnel to put different fruit containing baskets in a classified mode by detecting the sizes of picked fruits, and meanwhile, the quantity of the fruits is counted by a scanning counter correspondingly arranged on the fruit containing baskets; repeating the picking work, and when the fruit recognition module and the picking personnel confirm that the fruit of the current fruit tree is picked completely, carrying out weight statistics by the weighing sensor; the signal emitter sends picking information corresponding to the current fruit tree to the picking data unit, the central control processor integrates and summarizes corresponding data, and the data are fed back to the management platform or the manager moving end through the data feedback unit;
(IV) emergency processing: in the picking process, the image acquisition unit and the personnel identification unit position and acquire images of picking personnel, so that the high efficiency of work and the monitoring of unexpected conditions are ensured; when the image acquisition unit finds that people fall into injury and fire disaster occur during the cruising process in daily life and picking processes, the acquired image is sent to the emergency processing unit through the information transmission unit, the central control processor carries out analysis and processing, and the condition description and processing scheme sends out alarm reminding through the emergency alarm unit; if the manager handles the emergency alarm unit in time, the emergency alarm unit is in contact with the emergency alarm unit to alarm; if the management personnel do not process in time, the emergency alarm unit directly asks for help from the related local government department and sends the processing scheme to the department;
(V) fruit tree maintenance management after picking: the central control processor sorts out maintenance management suggestions of pruning, water and fertilizer application, pest and disease treatment, gibberellin inhibitor spraying amount and next year vegetable and fruit amount according to the dynamic fruit tree growth condition fed back to the log unit by the environment sensing module and the information acquisition module and the data such as the whole fruit tree yield, average single fruit weight and the like provided by the picking data unit, the maintenance management suggestions are displayed on a management platform or a mobile terminal of a manager through the data feedback unit, and the manager selects an execution scheme and then remotely controls the execution equipment to carry out targeted maintenance treatment on each fruit tree by the central control processor.
Due to the adoption of the technical scheme, the invention has the following advantages:
(1) according to the invention, the information acquisition module is arranged to acquire data of growth, fruit setting and maturity of the fruit tree, so that the problem that the optimal picking time is missed due to untimely discovery of mature fruits is solved, and the yield of an orchard is ensured.
(2) The fruit tree picking device provided by the invention has the advantages that the picking monitoring module is arranged to dynamically monitor the picking process, the stable picking effect is ensured, the fruit tree picking device is matched with the fruit tree recognition module for use, the picking is carried out in a precise positioning manner, the unnecessary searching time is reduced, and the labor efficiency is improved.
(3) The central control processor and the storage module are arranged to integrate, process and analyze the feedback information, so that the picking plan is formulated before picking and the maintenance scheme is formulated after picking are based on the feedback information, uncertain problems in the picking process are processed in a data mode, an optimal picking plan is formulated for a manager, the work is more continuous, and the picking efficiency is improved.
(4) The intelligent reminding module is arranged, so that data can be clearly transmitted to a manager, the manager can easily know the information of the orchard at home, and the best judgment can be made.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a block diagram of the picking monitoring module structure of the present invention.
FIG. 3 is a block diagram of an information collection module according to the present invention.
FIG. 4 is a block diagram of a memory module according to the present invention.
FIG. 5 is a block diagram of an intelligent reminder module according to the present invention.
FIG. 6 is a block diagram of the context awareness module of the present invention.
FIG. 7 is a block diagram of an implementation of the present invention.
Fig. 8 is a data collection workflow diagram before picking plan making according to the present invention.
Fig. 9 is a flow chart of the present invention for confirming a picking plan.
Fig. 10 is a flow chart of the picking process of the present invention.
FIG. 11 is a flow chart of the process of the present invention for emergency situations during picking.
FIG. 12 is a flow chart of fruit tree maintenance management after picking according to the present invention.
Reference numerals: a central control processor-1; a fruit tree identification module-2; a storage module-3; an information acquisition module-4; a picking monitoring module-5; an intelligent reminding module-6; an environment sensing module-7; an execution device-8; a holding unit-301; log unit-302; a statistical unit-303; an optimization unit-304; picking data unit-305; an emergency processing unit-306; an image acquisition unit-401; person identification unit-402; fruit tree identification unit-403; an information receiving unit-405; an information delivery unit-406; positioning the tag-501; fruit identification module-502; fruit measurement module-503; scan counter-504; -505 a load cell; a picking timing module-506; a signal emitter-507; information match tag-508; fruit tree management unit-601; picking guide unit-602; plan validation unit-603; an emergency alarm unit-604; a data feedback unit-605; daily reminder unit-606; a temperature and humidity sensor-701; an air quality sensor-702; soil analysis sensor-703; a light intensity sensor-704; appearance recognition sensor-705; a microprocessor-707; a water and fertilizer integrated machine-801; fog gun machine-802; automatic cleaning equipment-803.
Detailed Description
The invention discloses an intelligent management system for mountain fruit tree picking and an operation method, wherein the system can perform data analysis and real-time monitoring of the picking process from the mature time and the number of fruit trees, process uncertain problems in picking in a data mode, achieve reasonable picking of fruits and reasonable distribution of personnel, optimally plan the reasonable storage of auxiliary tool materials, ensure stable picking effect, improved labor efficiency and reduced picking cost, and greatly improve the yield of an orchard; the technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In an embodiment, as shown in fig. 1, an intelligent management system for mountain fruit tree picking includes: the intelligent fruit tree picking system comprises a central control processor 1, a fruit tree recognition module 2, a storage module 3, an information acquisition module 4, a picking monitoring module 5 and an intelligent reminding module 6; the fruit tree identification module 2 is used for marking each fruit tree; the picking monitoring module 5 is used for positioning picking personnel and monitoring the fruit tree picking condition; the information acquisition module 4 is arranged on the unmanned aerial vehicle, correspondingly collects the growth, fruit setting and picking conditions of all fruit trees in the mountainous region in a large range, identifies and positions the fruit trees by matching with the fruit tree identification module 2, and feeds back real-time information of the fruit trees to the storage module 3;
the information acquisition module 4 is matched with the fruit tree identification module 2 to realize accurate positioning of each fruit tree and accurately acquire growth, fruit setting and maturity data of each fruit tree respectively, so that the problem that the optimal picking time is missed due to untimely discovery after the fruit is mature is solved, and the yield of an orchard is ensured;
in order to realize that data is relied on when a picking plan is made before picking and an optimal picking plan is obtained, the storage module 3 is used for storing scientific growth data of fruit trees in a garden and recording real-time information of the fruit trees fed back by the acquisition module 4 and picking conditions monitored by the picking monitoring module 5 in real time; the central control processor 1 is used for comparing and analyzing the information of each unit in the storage module 3, making an optimal picking plan and transmitting processing information to the intelligent reminding module 6; the intelligent reminding module 6 is arranged on the management platform or a mobile terminal carried by a manager and used for reminding the manager of the growth, fruit setting and picking conditions of the fruit trees in the mountainous region to which the manager belongs and confirming the processing information; set up intelligence and remind module 6, can clearly transmit the data for the administrator, let the management easily be in and just can fully know the information in orchard to best judgement is made to the problem of meetting in the picking process.
Referring to fig. 2, the embodiment provides an intelligent management system for mountain fruit picking, wherein the picking monitoring module 5 includes: positioning tag 501, fruit identification module 502, fruit measurement module 503, scanning counter 504, weighing sensor 505, picking timing module 506, signal emitter 507 and information matching tag 508; the positioning tag 501 is carried by a picking person, is used for matching with the fruit tree identification module 2, and is identified by the information acquisition module 4;
the fruit tree identification module 2 enables the collection module 4 to accurately position each fruit tree during cruising; when determining which fruit tree needs to be picked, the fruit tree identification module 2 can transmit a picking signal to match with the positioning tag 501 and wait for a picking person to pick;
the fruit identification module 502 is used for identifying the positions of fruits when picking personnel pick the fruits, so that the picking personnel can judge the picking conditions conveniently;
the design of the fruit identification module 502 reduces the situation of fruit leakage of the picking personnel, and when the picking personnel neglects the fruit leakage or the fruit is blocked, the fruit identification module 502 can remind the picking personnel of the non-picked fruit;
the fruit measuring module 503 is arranged on gloves of picking personnel and used for measuring the size of the fruits and prompting the picking personnel to place the fruits in a classified manner;
by designing the fruit measuring module 503, the fruits can be directly classified according to size in the picking process, and preparation work is provided for next selling, so that the working efficiency is improved;
the scanning counter 504 is arranged at the inlet of the fruit storage basket and counts fruits entering the basket in real time; the weighing sensor 505 is arranged at the bottom of the fruit containing basket and used for calculating the picking weight in the fruit containing basket;
after a fruit tree is picked, the scanning counter 504 and the weighing sensor 505 make statistics of results, and record data to the information matching tag 508;
picking timing module 506 is carried by picking personnel, is used in cooperation with positioning tag 501, and is used for calculating the time consumed by the picking personnel during picking;
by analyzing the fruit tree yield and picking time, the working efficiency of picking personnel is obtained, and managers are helped to find the best picking personnel;
the information matching label 508 is arranged on the fruit containing basket and is used for identifying the fruit tree identification module 2, matching the picked fruit information with the corresponding fruit tree,
further accurately obtaining the actual yield of each tree, the weight of various fruits and the average weight of single fruit;
the signal emitter 507 is used for emitting data information in the picking process of the personnel, so that the data information can be conveniently collected by the information acquisition module 4;
picking monitoring module 5 has reduced unnecessary seek time to the dynamic monitoring of picking process through the design, and picking is carried out in accurate location, and the complete record of data collection has guaranteed stable picking effect, has promoted recruitment efficiency.
In order to conveniently realize the quick matching of the positioning label 501 and the fruit tree identification module 2, a navigation display screen is arranged on the positioning label 501 and is used for displaying the position and the navigation route of the fruit identification module 502 to be matched; the picking personnel only need guide according to the navigation, just can find the fruit tree that needs to pick fast.
In order to ensure that fruits cannot leak in the picking process, a plurality of fruit identification modules 502 are arranged on the body of a picking person; the fruit recognition module 502 is provided with a voice reminding device, which can approximately remind the picking staff of missing the position of the fruit.
Referring to fig. 3, an embodiment provides an intelligent management system for mountain fruit tree picking, wherein the information collection module 4 includes: the system comprises an image acquisition unit 401, a personnel identification unit 402, a fruit tree identification unit 403, an information receiving unit 405 and an information transmission unit 406, wherein the image acquisition unit 401 shoots and scans fruit trees on a whole mountain land through a camera and an infrared scanner, and monitors the growth condition, the fruit setting condition and the maturity condition of each fruit tree, and the picking dynamic and emergency condition of picking personnel in real time; the image acquisition unit 401 regularly cruises in the hillside orchard along with the unmanned aerial vehicle, and acquires information transmission data; the personnel identification unit 402 is used for identifying and positioning the label 501, and the fruit tree identification unit 403 is used for matching with the fruit tree identification module 2 to identify and position a fruit tree; the designer identifying unit 402 can accurately position each picking worker, so that recording and searching are facilitated, and the design fruit tree identifying unit 403 can accurately position each fruit tree, so that practical statistics of data is facilitated; the information receiving unit 405 is configured to receive data information transmitted by the signal transmitter 507; the information transmission unit 406 is used for transmitting the information acquired by the information acquisition module 4 to the storage module 3; through the data collection of cruising of information acquisition module 4, make to have abundant data to rely on before formulating the picking plan, along with the shooting of cruising of picking in-process, can also be to warning effect and prevention effect of picking personnel, help personnel's management and the timely discovery after the incident takes place.
Referring to fig. 4, an embodiment provides an intelligent management system for mountain fruit tree picking, wherein the storage module 3 mainly includes: the storage unit 301 is used for storing the scientific growth period of the fruit trees in the garden and the log unit 302 is used for storing the dynamic growth condition of the fruit trees;
the information transmission unit 406 transmits the growth information of each fruit tree to the log unit 302 to generate a growth log of the fruit tree, and the central control processor 1 compares the growth log with the data in the storage unit 301 to analyze the growth condition of the fruit tree and the prejudgment on whether fruit can be set or not;
the statistical unit 303 for storing fruit bearing information of fruit trees and the optimization unit 304 for storing picking cautions are used for analyzing and integrating the data of the central control processor 1 to obtain the information of estimated output, estimated required labor distribution, estimated required number of storage baskets, estimated picking days and the like of an orchard, and an optimal picking plan is made;
the picking data unit 305 for storing fruit picking conditions and the emergency processing unit 306 for storing emergency conditions provide data support for the intelligent reminding module 6; the storage unit 301 is set according to the types of mountain fruit trees, and the optimization unit 304 is set according to the weather and the picking requirements of the mountains; the log unit 302, the statistical unit 303 and the picking data unit 305 store the information transmitted by the information transmission unit 406 in a classified manner;
the storage module 3 stores a large amount of set data and dynamic acquisition data, and realizes data processing of uncertain problems in picking by matching with the central control processor 1.
Referring to fig. 5, an embodiment provides an intelligent management system for mountain fruit tree picking, where the intelligent reminding module 6 includes: a fruit tree management unit 601, a picking guide unit 602, a plan confirmation unit 603, an emergency alarm unit 604, a data feedback unit 605 and a daily reminding unit 606; the fruit tree management unit 601 is used for displaying the real-time growth condition of the fruit tree and the comparison data of the growth state and the scientific growth state to the manager, and meanwhile pushing the reasonable growth management suggestion obtained by the central control processor 1 to the manager;
the picking guide unit 602 is configured to display fruit tree setting information in the statistical unit 303 to a manager, and push predicted orchard yield, predicted required labor allocation, predicted required number of storage baskets, and predicted picking days counted by the central control processor 1 to the manager; the plan confirming unit 603 is configured to push the preferred picking plan planned by the central control processor 1 to a manager, and ask the manager for confirmation, and meanwhile, the picking adjustment requirement of the manager is fed back to the optimizing unit 304; the data feedback unit 605 is used for displaying the picking situation in the picking data unit 305 to the manager, and pushing the actual yield and picking work efficiency counted by the central control processor 1 to the manager;
the daily reminding unit 606 pushes the weather condition, mountain security condition, fruit market dynamics and the latest government policy related information of the last day to the manager; the emergency alarm unit 604 gives an alarm to the manager and displays an emergency in the emergency processing unit 306, and simultaneously pushes the processing scheme prepared by the central control processor 1 to the manager, and if the processing time of the manager is too long, the emergency alarm unit 604 directly requests assistance from the local government and authorizes the most conservative processing according to the plan.
In an optional implementation manner of the embodiment of the invention, besides the same parts as those in the previous embodiment, the environment sensing module 7 for sensing the growth environment of the fruit tree is further included, the garden is divided into a plurality of sensing areas according to the mountain environment and the terrain, and each sensing area is provided with the environment sensing module 7; the design environment sensing module 7 can accurately record the growth environment of each fruit tree, so that the growth condition of the fruit trees can be accurately judged, and the fruit trees can be maintained and nutrition adjusted after being picked;
as shown in fig. 6, the environment sensing module 7 is provided with a microprocessor 707 and a sensing sensor module; the perception sensor module includes: a temperature and humidity sensor 701, an air quality sensor 702, a soil analysis sensor 703, a light intensity sensor 704, and an appearance recognition sensor 705; the temperature and humidity sensor 701 is used for sensing the temperature and humidity of the environment where the fruit trees are located, and the air quality sensor 702 is used for sensing the content of oxygen and carbon dioxide in the environment where the fruit trees are located; the soil analysis sensor 703 is used for monitoring the water oxygen content and content of various microelements below the surface of the fruit tree; the light intensity sensor 704 is used for monitoring the sunlight coverage rate above the surface of the fruit tree; the appearance recognition sensor 705 is used for recognizing the information of the plant height, the stem thickness, the fruit and the leaves of the fruit tree; the microprocessor 707 processes and analyzes the appearance data of the appearance recognition sensor 705, preliminarily judges the health state of the fruit tree, transmits the data sensed by the temperature and humidity sensor 701, the air quality sensor 702, the soil analysis sensor 703 and the light intensity sensor 704 to the storage module 3, and classifies and records the data in the log unit 302; the design environment awareness module 7 may make the growth log of each tree in the log unit 302 more clear and concrete.
As shown in fig. 7, in order to facilitate targeted automatic maintenance treatment of fruit trees after picking, an optional implementation manner of the embodiment of the present invention further includes an execution device 8, where the execution device 8 is remotely controlled by the central control processor 1, and includes: a water and fertilizer integrated machine 801, a fog gun machine 802 and an automatic cleaning device 803; the water and fertilizer integrated machine 801 is used for executing instructions of watering and fertilizing fruit trees; the fog gun machine 802 is used for executing instructions for spraying and insecticide spraying on fruit trees; the automatic cleaning equipment 803 is used for executing an instruction of performing preliminary cleaning on the surrounding environment of the fruit tree; after picking is completed, the central control processor 1 remotely controls the execution device 8 to perform targeted maintenance processing on each fruit tree through picking data in the picking data unit 305, and specific options are as follows:
starting the water and fertilizer integrated machine 801 to perform base fertilizer application treatment: 3-10 jin of AoTuo is applied to the base and matched with a proper amount of compound fertilizer and medium and trace element fertilizer to supplement nutrition and restore the tree vigor; 2-3 jin of"Yingnongle" with more fruits, weaker tree vigor, gummosis and yellowing, can condition the physical and chemical properties of soil and increase the air permeability of the soil;
starting the automatic cleaning equipment 803 to perform the garden cleaning treatment: after picking, cleaning diseased residual branches, dead branches, fallen leaves and the like in the orchard out of the orchard, intensively burning and destroying, and then spraying 300 times of ulceration rotten panacea, 1000 times of garlic oil and 1000 times of matrine to the whole orchard including the ground to kill imagoes and pathogenic bacteria;
starting the fog gun machine 802 for coating: the branches and trunks of fruit trees are smeared with the stock solution of the kukoufen which is convenient to smear, 1 bottle of the kukoufen which is not convenient to smear is mixed with 5 jin of water, and the trunks, especially the trunks with diseases such as gummosis, rot, ulcer and the like, are mainly smeared or sprayed for 2-3 times;
aiming at the fruit trees with weak tree vigor, yellowing and root rot, the root cultivation treatment is carried out, the water and fertilizer integrated machine 801 is started, and the roots are irrigated for 1-2 times by using 100 times of withered rick, 300 times of trichoderma harzianum and 1000 times of garlic oil, wherein the interval is 5-7 days.
Referring to fig. 8, the embodiment provides an operation method for mountain fruit tree picking, as shown in fig. 8-12:
1. fruit setting and maturity statistics of fruits before picking: carrying out regular information acquisition on each fruit tree in the mountain fruit tree park through an unmanned aerial vehicle carrying information acquisition module 4, matching and identifying a fruit tree identification unit 403 and a fruit tree identification module 2, and accurately positioning the fruit trees to obtain fruit setting conditions of each corresponding stage of each fruit tree and relevant data of fruit growth; then the information is stored in the log unit 302 through the information transmission unit 406, and when the central control processor 1 compares the information in the storage unit 301 and the log unit 302 to obtain that the fruit enters the mature stage, the position, the maturity degree and the corresponding fruit setting amount integrated information of the mature fruit tree are stored in the statistic unit 303;
2. making a picking plan; the central control processor 1 makes an optimal picking plan based on the data stored by the statistical unit 303 and the picking cautions and current picking demand stored by the optimization unit 304, including: picking date, number of picking personnel, number of fruit containing baskets, plan of number of transport vehicles, picking personnel allocation, and optimal picking route; after the picking plan is formulated, the central control processor 1 sends the picking plan to a management platform or a manager moving end through the picking guide unit 602, and confirms the picking plan through the plan confirmation unit 603, if the manager agrees to pick, the next picking plan is executed, if the manager does not agree to pick, the central control processor 1 feeds back the picking adjustment requirement in the optimization unit 304 according to the input of the manager to reformulate until the manager agrees to execute the next picking plan;
3. picking process and information processing: after the picking plan is determined to be executed, the central control processor 1 marks the fruit tree identification modules 2 of the mature fruit trees, and distributes the picking plan to the corresponding positioning labels 501; after the picking personnel enter the garden with the positioning tag 501, the fruit trees are sequentially matched and picked according to the position information of the navigation display fruit trees and the planning route; when picking personnel carry the positioning tag 501 to match with the fruit identification module 502, the picking timing module 506 performs time-consuming statistics; in the picking process of the picking personnel, the fruit measuring module 503 reminds the picking personnel to put different fruit containing baskets in a classified manner by detecting the sizes of picked fruits, and meanwhile, the number of the picked fruits is counted by a scanning counter 504 correspondingly arranged on the fruit containing baskets; repeating the picking operation, when the fruit identification module 502 and the picking personnel confirm that the fruit picking of the current fruit tree is finished, the picking timing module 506 stops timing to obtain the picking time, the scanning counter 504 stops counting to obtain the actual number of picked fruits, the weighing sensor 505 obtains the picking weight of the corresponding fruit containing basket, and the picking information corresponding to the current fruit tree is sent to the picking data unit 305 through the signal emitter 507, so that the picking data statistics of the current fruit tree is completed; when picking is finished, the central control processor 1 integrates and summarizes the corresponding data according to the picking data unit 305, and when all picking plan fruit trees are collected, the central control processor 1 feeds the data back to the management platform or the mobile terminal of the manager through the data feedback unit 605;
4. emergency processing: in the picking process, the image acquisition unit 401 and the personnel identification unit 402 carry out positioning and image acquisition on picking personnel, so that the high efficiency of work and monitoring of accidents are ensured; when the image acquisition unit 401 finds people falling into injury and fire disaster during daily and picking processes, the acquired image is sent to the emergency processing unit 306 through the information transmission unit 406, the central control processor 1 performs analysis processing, and sends out alarm reminding according to the situation description and processing scheme through the emergency alarm unit 604; if the manager handles the alarm in time, the emergency alarm unit 604 makes a contact alarm; if the manager does not timely process the information, the emergency alarm unit 604 directly asks for help from the relevant local government department and sends the processing scheme to the department;
5. and (3) maintenance management of the picked fruit trees: the central control processor 1 sorts out maintenance management suggestions of pruning, water and fertilizer application, pest and disease treatment, gibberellin inhibitor spraying amount and next year vegetable and fruit amount according to the dynamic fruit tree growth condition fed back to the log unit 302 by the environment sensing module 7 and the information acquisition module 4 and the data such as the whole fruit tree yield, average single fruit weight and the like provided by the picking data unit 305, and displays the maintenance management suggestions on a management platform or a mobile terminal of a manager through the data feedback unit 605, and the manager remotely controls the execution equipment 8 to perform targeted maintenance treatment on each fruit tree by the central control processor 1 after selecting an execution scheme;
specifically, taking apple trees as an example, when the total yield of each tree exceeds 150 jin, the tree yield is over-finished, branch pruning and gibberellin inhibitor spraying are needed, the situation that the branches grow excessively in the second year but the fruits do not sit is avoided, and meanwhile, a water and fertilizer implementation suggestion after the fruits are completely picked is given;
when the total yield of each tree is 150 jin at 100-;
when the total yield of each tree is lower than 100 jin, the yield of the tree is lower than an expected plan, suggestions for pest and disease damage investigation and twice fruit thinning for one flower thinning are given, and meanwhile, a water and fertilizer implementation suggestion after the fruits are completely picked is given.
Claims (8)
1. The utility model provides an intelligent management system is picked to mountain fruit tree which characterized in that includes: the fruit tree picking system comprises a central control processor (1), a fruit tree recognition module (2), a storage module (3), an information acquisition module (4), a picking monitoring module (5) and an intelligent reminding module (6); the fruit tree identification module (2) is used for marking each fruit tree; the picking monitoring module (5) is used for positioning picking personnel and monitoring the fruit tree picking condition; the information acquisition module (4) is arranged on the unmanned aerial vehicle, and is used for correspondingly collecting the growth, fruit setting and picking conditions of all fruit trees in the mountainous region in a large range, identifying and positioning the fruit trees by matching with the fruit tree identification module (2), and feeding back the real-time information of the fruit trees to the storage module (3);
the storage module (3) is used for storing scientific growth data of fruit trees in the garden and recording real-time information of the fruit trees fed back by the acquisition module (4) and picking conditions monitored by the picking monitoring module (5) in real time; the central control processor (1) is used for comparing and analyzing information of each unit in the storage module (3), making a preferred picking plan and transmitting processing information to the intelligent reminding module (6); the intelligent reminding module (6) is arranged on the management platform or a mobile terminal carried by a manager and used for reminding the manager of the growth, fruit setting and picking conditions of the fruit trees in the mountain land to which the manager belongs and confirming the processing information.
2. The mountain fruit picking intelligent management system according to claim 1, wherein the picking monitoring module (5) comprises: a positioning label (501), a fruit identification module (502), a fruit measuring module (503), a scanning counter (504), a weighing sensor (505), a picking timing module (506), a signal emitter (507) and an information matching label (508); the positioning tag (501) is carried by picking personnel, is matched with the fruit tree identification module (2), and is identified by the information acquisition module (4); the fruit identification module (502) is used for identifying the positions of fruits when picking personnel pick the fruits, so that the picking personnel can judge picking conditions conveniently; the fruit measuring module (503) is arranged on gloves of picking personnel and used for measuring the sizes of fruits and prompting the picking personnel to place the fruits in a classified manner; the scanning counter (504) is arranged at an inlet of the fruit storage basket and counts fruits entering the basket in real time; the weighing sensor (505) is arranged at the bottom of the fruit containing basket and used for calculating the picking weight in the fruit containing basket; the picking timing module (506) is carried by a picking person, is matched with the positioning tag (501) for use, and is used for calculating the time consumption of the picking person during picking; the information matching label (508) is arranged on the fruit containing basket and used for being recognized by the fruit tree recognition module (2) and matching the picked fruit information with the corresponding fruit tree; the signal emitter (507) is used for emitting data information in the picking process of personnel, and the data information is convenient to collect by the information collection module (4).
3. The mountain fruit tree harvesting intelligent management system as claimed in claim 2, wherein the positioning tag (501) is provided with a navigation display screen for displaying the position and navigation route of the fruit identification module (502) to be matched.
4. The mountain fruit tree picking intelligent management system as claimed in claim 2, wherein the fruit identification modules (502) are arranged on the picking personnel.
5. The mountain fruit tree picking intelligent management system as claimed in claim 1, wherein the information collection module (4) comprises: the fruit tree management system comprises an image acquisition unit (401), a personnel identification unit (402), a fruit tree identification unit (403), an information receiving unit (405) and an information transmission unit (406), wherein the image acquisition unit (401) shoots and scans fruit trees on a whole mountain land through a camera and an infrared scanner, and monitors the growth condition, fruit setting condition and maturation condition of each fruit tree, picking dynamic picking condition and emergency condition of picking personnel in real time; the personnel identification unit (402) is used for identifying and positioning the label (501), and the fruit tree identification unit (403) is used for matching with the fruit tree identification module (2) to identify and position the fruit tree; the information receiving unit (405) is used for receiving data information transmitted by the signal transmitter (507); the information transmission unit (406) is used for transmitting the information acquired by the information acquisition module (4) to the storage module (3).
6. The mountain fruit tree picking intelligent management system as claimed in claim 1, wherein the storage module (3) mainly comprises: the fruit tree management system comprises a storage unit (301) for storing scientific growth cycles of fruit trees in a garden, a log unit (302) for storing dynamic growth conditions of the fruit trees, a statistic unit (303) for storing fruit bearing information of the fruit trees, an optimization unit (304) for storing picking cautions, a picking data unit (305) for storing fruit picking conditions and an emergency processing unit (306) for storing emergency conditions; the storage unit (301) is set according to the types of mountain fruit trees, and the optimization unit (304) is set according to mountain weather and picking requirements; the log unit (302), the statistical unit (303) and the picking data unit (305) store the information transmitted by the information transmission unit (406) in a classified manner.
7. The mountain fruit tree picking intelligent management system as claimed in claim 1, wherein the intelligent reminding module (6) comprises: the fruit tree management system comprises a fruit tree management unit (601), a picking guide unit (602), a plan confirmation unit (603), an emergency alarm unit (604), a data feedback unit (605) and a daily reminding unit (606); the fruit tree management unit (601) is used for displaying real-time growth conditions of fruit trees and comparison data of growth states and scientific growth states to managers and pushing reasonable growth management suggestions obtained by the central control processor (1) to the managers;
the picking guide unit (602) is used for displaying fruit tree fruit setting information in the statistical unit (303) to a manager, and pushing predicted orchard yield, predicted required labor distribution, predicted required storage basket number and predicted picking days counted by the central control processor (1) to the manager; the plan confirmation unit (603) is used for pushing the optimal picking plan planned by the central control processor (1) to a manager, asking the manager to confirm, and feeding back picking adjustment requirements of the manager to the optimization unit (304); the data feedback unit (605) is used for displaying picking situations in the picking data unit (305) to a manager and pushing the actual yield and picking work efficiency counted by the central control processor (1) to the manager;
the daily reminding unit (606) pushes the weather condition, the mountain security condition, the fruit market dynamic and the latest government policy related information of the last few days to the manager; the emergency alarm unit (604) gives an alarm to a manager and displays an emergency situation in the emergency processing unit (306), meanwhile, a processing scheme prepared by the central control processor (1) is pushed to the manager, if the processing time of the manager is too long, the emergency alarm unit (604) directly requests assistance to a local government and authorizes the most conservative processing according to a plan.
8. An operation method for picking mountain fruit trees is characterized in that,
fruit setting and maturity statistics of fruits before picking: carrying out regular information acquisition on each fruit tree in the mountain fruit tree park through an unmanned aerial vehicle carrying information acquisition module (4), firstly matching and identifying a fruit tree identification unit (403) and a fruit tree identification module (2), and accurately positioning the fruit trees to obtain the fruit setting condition of each fruit tree corresponding to each stage and relevant data of fruit growth; then the information is stored in a log unit (302) through an information transmission unit (406), and when the central control processor (1) compares the information in the storage unit (301) and the information in the log unit (302) to obtain that the fruit enters a mature stage, the position, the maturity degree and the corresponding fruit setting amount integrated information of a mature fruit tree are stored in a statistical unit (303);
(II) formulating a picking plan; the central control processor (1) makes an optimal picking plan according to the data stored by the statistical unit (303), the picking cautions stored by the optimization unit (304) and the current picking demands, and comprises the following steps: picking date, number of picking personnel, number of fruit containing baskets, plan of number of transport vehicles, picking personnel allocation, and optimal picking route; after the picking plan is formulated, the central control processor (1) sends the picking plan to a management platform or a manager moving end through a picking guide unit (602), and confirms the picking plan through a plan confirmation unit (603), if the manager agrees to pick, the next picking plan is executed, if the manager does not agree to pick, the central control processor (1) feeds back the picking regulation requirement to the optimization unit (304) according to the input of the manager to reformulate until the manager agrees to execute the next picking plan;
(III) picking process and information processing: after the picking plan is determined to be executed, the central control processor (1) marks the fruit tree identification modules (2) of mature fruit trees, and meanwhile, the picking plan is distributed to the corresponding positioning labels (501); after the picking personnel enter the garden with the positioning tag (501), matching and picking are sequentially carried out according to the position information of the navigation display fruit tree and the planned route; when picking personnel carry the positioning tag (501) to be matched with the fruit identification module (502), the picking timing module (506) carries out time-consuming statistics; in the picking process of a picking person, a fruit measuring module (503) reminds the picking person to put different fruit containing baskets in a classified mode by detecting the sizes of picked fruits, and meanwhile, the quantity of the picked fruits is counted by a scanning counter (504) correspondingly arranged on the fruit containing baskets; repeating the picking work, and when the fruit identification module (502) and the picking personnel confirm that the fruit of the current fruit tree is picked completely, carrying out weight statistics by the weighing sensor (505); the signal emitter (507) sends picking information corresponding to the current fruit tree to the picking data unit (305), the central control processor (1) integrates and summarizes corresponding data, and the data are fed back to the management platform or the mobile end of a manager through the data feedback unit (605);
(IV) emergency processing: in the picking process, the image acquisition unit (401) and the personnel identification unit (402) position and acquire images of picking personnel, so that the high efficiency of work and the monitoring of unexpected conditions are ensured; when the image acquisition unit (401) finds people to be injured and fire disasters during daily and picking processes, the acquired image is sent to the emergency processing unit (306) through the information transmission unit (406), the central control processor (1) performs analysis and processing, and an alarm prompt is sent out by the emergency alarm unit (604) according to the situation description and processing scheme; if the manager handles the emergency alarm in time, the emergency alarm unit (604) is in contact with the alarm; if the management personnel do not process in time, the emergency alarm unit (604) directly asks for help from the related local government department and sends the processing scheme to the department;
(V) fruit tree maintenance management after picking: the central control processor (1) sorts out management suggestions of pruning, water and fertilizer implementation, pest and disease treatment, gibberellin inhibitor spraying amount and next year vegetable and fruit amount according to the dynamic growth condition of each tree corresponding to the log unit (302) and the whole class fruit tree yield and average single fruit weight data provided by the picking data unit (305), and displays the management suggestions on a management platform or a manager mobile terminal through a data feedback unit (605); after the manager selects the execution scheme, the central control processor (1) remotely controls the execution equipment (8) to perform targeted maintenance processing on each fruit tree.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113728806A (en) * | 2021-11-05 | 2021-12-03 | 季华实验室 | Fruit picking robot control method and device, electronic equipment and storage medium |
| CN114847005A (en) * | 2022-04-27 | 2022-08-05 | 赵继安 | Fruit picking system and operation method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113728806A (en) * | 2021-11-05 | 2021-12-03 | 季华实验室 | Fruit picking robot control method and device, electronic equipment and storage medium |
| CN113728806B (en) * | 2021-11-05 | 2022-01-18 | 季华实验室 | Fruit picking robot control method and device, electronic equipment and storage medium |
| CN114847005A (en) * | 2022-04-27 | 2022-08-05 | 赵继安 | Fruit picking system and operation method thereof |
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