Tomato Artificial Pollination Robot System

Abstract

The present invention relates to a tomato artificial pollination robot control system that can effectively perform artificial pollination by autonomously determining the growth state of a tomato tree and automatically spraying an artificial pollination solution when there are two or more fully bloomed flowers in the 1st and 2nd flower clusters where artificial pollination with pollen is not effective, thereby preventing tone damage. The system comprises a robot (10) that moves between tomato trees and sprays an artificial pollination solution; and a controller (20) that controls the robot. The robot (10) includes a camera (11) that photographs the tomato tree and a water solution sprayer (12) that sprays a water solution onto fully bloomed flowers. The controller (20) includes a camera control unit (21) that controls the camera; a robot judgment unit (22) that determines the movement and operation of the robot; and a robot control unit (23) that controls the operation of the robot according to the operating state of the robot determined by the robot judgment unit.

Description

Technology Field

[0001] The present invention relates to a tomato artificial pollination system, and more specifically, to an artificial pollination robot system capable of autonomously determining the growth state of a plant and automatically spraying an artificial pollination solution.

[0002] In particular, the present invention relates to a tomato artificial pollination robot system that can help in labor-scarce agriculture by automating the artificial pollination process, which involves capturing real-time images of plants through a camera to identify plant components, determining whether artificial pollination is necessary, and controlling a robot to control a robot arm so that an electric sprayer is aligned with the blooming flowers and spraying an artificial pollination solution onto the blooming flowers.

[0003] Furthermore, the present invention relates to an artificial pollination robot system that recognizes 1st and 2nd flower clusters through image learning and sprays an artificial pollination solution only when there are 2 or more fully bloomed flowers in each flower cluster. Background Technology

[0004] Pollination is the process in seed plants where pollen from the stamen attaches to the stigma; if pollination does not occur, not only are seeds not formed, but problems such as failure to set fruit or the formation of deformed fruit also arise.

[0005] Generally, pollination is carried out by insects such as bees and butterflies, and by wind, where pollen is transported by the wind.

[0006] However, as the plant cultivation environment changes, there is a problem with natural pollination becoming difficult.

[0007] In other words, as plant cultivation technology has shifted to artificial facilities such as vinyl greenhouses and greenhouses, and plant cultivation takes place in limited spaces, there are limitations to insect and wind pollination; consequently, artificial pollination technology is widely used.

[0008] Artificial pollination technology is being developed in various ways, and examples of this include Patent Documents 1 to 4.

[0009] Patent Document 1 describes an artificial pollination pollen acclimatization device comprising: a main body; an ultraviolet sterilization lamp formed on the upper interior of the main body to generate ultraviolet rays and sterilize internal air; an exhaust fan formed on one side of the upper part of the main body to discharge air; a rotating fan formed on the other side of the upper part of the main body; a temperature and humidity sensor unit formed below the rotating fan; a pollen dish capable of receiving pollen below the temperature and humidity sensor unit; a shelf supporting the pollen dish and having grooves formed at regular intervals; a base formed below the shelf and a concave portion provided in the center of the base to receive liquid for humidification, a humidification spray module formed in the concave portion; and a control unit below the humidification spray module for controlling temperature and humidity using a detection signal output from the temperature and humidity sensor unit, thereby enabling the pollen acclimatization process to be completed in a short period of time, thus increasing the time and economic benefits for farmers, and providing the optimal temperature and humidity required for pollen acclimatization.

[0010] Patent Document 2 describes a moisture management system for an agricultural area, comprising: a) a moisture module, the moisture module including a pollen collection element configured to collect pollen and a pollen application element configured to release pollen; b) a data acquisition module operably coupled to the moisture module, the data acquisition module including at least one sensor; c) a server communicating with the moisture module and the data acquisition module, the server configured to process data acquired by the data acquisition module; d) an operation module including a controller communicating with the server and the moisture module, the operation module including the controller configured to provide commands to the moisture module; and e) an artificial pollination method and apparatus for artificially pollinating an agricultural area or a part thereof, the method comprising a user interface.

[0011] Patent Document 3 describes a drone comprising a main body and a plurality of legs extending downward from the main body and maintaining mutual spacing, a main body portion fixedly installed on the drone, a pollen storage portion installed on the main body portion for receiving pollen, a pollen transport portion installed on the pollen storage portion for transporting pollen, a pollen suction portion installed on the main body portion for sucking in pollen transported by the pollen transport portion, and a pollen spraying portion for discharging and spraying pollen sucked in by the pollen suction portion, wherein the pollen storage portion is provided with a pollen storage container that is seated on the upper part of the main body portion, with a storage space formed on the inner side with an open top and a transport passage formed on the inner lower side, and the pollen transport portion is provided with a driving motor installed in the transport passage formed in the pollen storage container of the pollen storage portion, wherein a screw shaft is provided such that one side protrudes outward from the pollen storage container and is provided with a reduction gear provided that is coupled and fixed to the main body portion and coupled to the screw shaft, and a transport member is provided with one side coupled and fixed to the coupling hole of the pollen storage container and the other side positioned in the through hole of the main body portion. It is an artificial pollination drone equipped with a pollen spraying device that is artificially formed into the shape of pollen during the flowering period to spray pollen from the sky in order to increase the fertilization rate of fruit trees such as pears and peaches in fruit orchards, and

[0012] Patent Document 4 is an artificial pollination device for plants that can increase the success rate of pollination without additional costs or inconvenience by a pollination method in which the stamens of an artificial pollination target are blown by wind and landed on the stigma without using separate pollen. The device comprises a movable carriage; and a pollination unit installed on the movable carriage. The pollination unit includes a camera for recognizing an image of an artificial pollination target, an air injection nozzle installed in correspondence with the camera and spraying air toward the artificial pollination target to cause the stamens to be blown away from the artificial pollination target, an air compressor for supplying compressed air to the air injection nozzle, and a controller that controls the air injection nozzle to spray air toward the artificial pollination target when the artificial pollination target is recognized by the camera. The camera, the air injection nozzle, and the controller are each provided in multiple numbers and configured to be driven individually.

[0013] Although various artificial pollination technologies have been developed as described above, they have the disadvantage of not being able to perform effective pollination tailored to the characteristics of plants.

[0014] In particular, in the case of plants that grow vertically upward and bear fruit sequentially, such as the tomato shown in Fig. 1, flower clusters form sequentially as they grow, and after they have grown sufficiently, artificial pollination can be performed by spraying an artificial pollination solution using a conventional artificial pollination method, for example, by spraying. However, when artificial pollination is performed in this way, there is a problem that the first and second flower clusters formed at the bottom of the plant cannot be artificially pollinated.

[0015] In other words, although artificial pollination is performed using pollen or other means because natural pollination is difficult in smart farms or greenhouses, the first and second flower clusters are in the early stages of plant growth and are located at a low position, making artificial pollination with pollen difficult. Therefore, a method is used in which a worker applies an artificial pollination solution directly to the blooming flowers with a brush. However, this method of pollination requires a lot of time and labor, resulting in low productivity. Furthermore, since the worker must work while squatting, it places an excessive physical burden on the worker, which can harm their health. Prior art literature

[0016] Republic of Korea Registered Patent No. 10-1390216 (Published May 7, 2014) Republic of Korea Published Patent No. 10-2022-0164544 (Published December 13, 2022) Republic of Korea Published Patent No. 10-2024-0136639 (Published September 19, 2024) Republic of Korea Published Patent No. 10-2024-0176221 (Published December 24, 2024) The problem to be solved

[0017] The present invention was developed to solve the problems of the prior art described above, and aims to provide a tomato artificial pollination robot system capable of autonomously determining the growth status of a tomato plant and automatically spraying an artificial pollination solution.

[0018] In particular, the present invention aims to provide a tomato artificial pollination robot system that can help in labor-scarce agriculture by automating the artificial pollination process, which involves capturing real-time images of plants through a camera to identify pollination components, determining whether artificial pollination is necessary, and controlling a robot to control a robot arm so that an electric sprayer is aligned with the blooming flower and spraying an artificial pollination solution onto the blooming flower.

[0019] Furthermore, the present invention aims to provide a tomato artificial pollination robot system that recognizes 1st and 2nd flower clusters through image learning and sprays an artificial pollination solution only when there are 2 or more fully bloomed flowers in each flower cluster. means of solving the problem

[0020] A tomato artificial pollination robot system according to the present invention for solving the above-mentioned purpose is a tomato artificial pollination robot control system that enables artificial pollination by moving between tomato trees being cultivated in a cultivation facility including a smart farm or a vinyl greenhouse and spraying an artificial pollination solution onto the tomato trees. The system comprises: a robot that moves between the tomato trees and sprays the artificial pollination solution; and a controller that controls the robot. The robot includes a camera that captures images of the tomato trees and a water solution sprayer that sprays the water solution onto the blooming flowers. The controller is characterized by including: a camera control unit that controls the camera; a robot judgment unit that determines the movement and operation of the robot; and a robot control unit that controls the driving of the robot according to the operating state of the robot determined by the robot judgment unit.

[0021] The above-mentioned water solution sprayer is operated by the driving of a servo motor installed on one side of the robot.

[0022] The above controller is installed on the robot, and the robot control unit further includes a spray control unit that controls the operation of the sprayer.

[0023] The above robot system is linked to a server comprising an image analysis unit that analyzes real-time image information transmitted from the camera, and an operation judgment unit that transmits robot control signals and moisture solution sprayer control signals to a controller according to the information analyzed by the image analysis unit.

[0024] The above robot is installed on a cart, and the robot system has a cart path for providing a path for the robot to move, and the controller further has a cart judgment unit for determining the operating state of the cart and a cart control unit for controlling the movement of the cart.

[0025] The spray control unit of the above controller recognizes the first and second flower clusters formed from the bottom of the tomato plant based on the image information analyzed by the image analysis unit, and sprays an artificial pollination solution when there are two or more fully bloomed flowers among the flowers of the first and second flower clusters. Effects of the invention

[0026] The artificial pollination robot system for tomato trees according to the present invention has the effect of significantly improving productivity by autonomously determining the growth status of the tomato tree and automatically spraying an artificial pollination solution onto the first and second flower clusters, which are difficult to artificially pollinate through pollen, thereby enabling the production of tomatoes even from the first and second flower clusters.

[0027] The present invention has the effect of protecting the worker by enabling artificial pollination of the first and second flower clusters formed on the lower part of the tomato plant, thereby eliminating the need for the worker to perform artificial pollination while bending over or squatting.

[0028] In particular, the present invention has the effect of preventing tomato damage caused when artificial pollination is not properly performed and increasing productivity by allowing artificial pollination to occur only when there are two or more fully bloomed flowers in each of the first and second flower clusters of a tomato plant. Brief explanation of the drawing

[0029] Figure 1 is an image of a typical tomato plant. FIG. 2 is a configuration diagram of a tomato artificial pollination robot system according to the present invention. FIG. 3 is a configuration diagram of a robot constituting an artificial pollination robot system according to the present invention. FIG. 4 is a configuration diagram of a robot controller constituting an artificial pollination robot system according to the present invention. FIG. 5 is a photograph of an example of a cart constituting an artificial pollination robot system according to the present invention. FIG. 6 is a use case diagram of an artificial pollination robot system according to the present invention. FIG. 7 is a diagram of the robot position adjustment process in an artificial pollination robot system according to the present invention. FIG. 8 is a flowchart of the flower bed information distribution in the artificial pollination robot system according to the present invention. FIG. 9 is a flowchart for identifying fully bloomed flowers in an artificial pollination robot system according to the present invention. FIG. 10 is a flowchart of the artificial moisture solution spraying in an artificial moisture robot system according to the present invention. FIG. 11 is a diagram of the robot control direction according to the flower chamber inside the frame window in the artificial pollination robot system according to the present invention. FIG. 12 is an original image for explaining the data collection and processing process in an artificial pollination robot system according to the present invention. FIG. 13 is an image labeled using LabelMe to explain the data collection and processing process in an artificial pollination robot system according to the present invention. FIG. 14 is an original image for explaining the data collection and processing process in an artificial pollination robot system according to the present invention. Specific details for implementing the invention

[0030] The present invention can be implemented with various modifications, and specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the invention to specific embodiments, and it should be understood that the invention includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0031] In describing each drawing, similar reference numerals have been used for similar components. In describing the present invention, detailed descriptions of related prior art are omitted if it is determined that such detailed descriptions could obscure the essence of the invention.

[0032] The present invention can facilitate artificial pollination by autonomously determining the growth status of a tomato tree and automatically spraying an artificial pollination solution.

[0033] The present invention is a tomato artificial pollination robot control system that moves between tomato plants grown in a cultivation facility including a smart farm or a vinyl greenhouse and sprays an artificial pollination solution onto the plants to achieve artificial pollination, and as illustrated in FIG. 2, includes a robot (10) that moves between tomato plants and sprays an artificial pollination solution; and a controller (20) that controls the robot.

[0034] The above robot (10) moves among the tomato trees and detects the condition of the tomato trees and, as a means of spraying artificial pollination solution onto the tomato trees, includes a camera (11) for taking images of the tomato trees and a pollination solution sprayer (12) for spraying pollination solution onto the blooming flowers.

[0035] The above camera (11) is installed on the robot and sends images in real time to the server (30) described later to identify stems, flower buds, and fully bloomed flowers.

[0036] As shown in FIG. 3, the robot above is composed only of a robot arm part without a body, and can rotate and adjust its height up and down, allowing for adjustment of the camera's height and direction.

[0037] Of course, the direction and height of the water solution sprayer (12) can also be adjusted.

[0038] In addition, the robot is equipped with a servo motor (11m), and this servo motor controls the operation button of the water solution sprayer (12), which is installed on one side of the robot.

[0039] That is, the control of the above-mentioned water solution sprayer is achieved by controlling the sprayer's button with a servo motor installed on one side, and the servo motor is operated through serial communication between the Jetson Nano and the Arduino Uno.

[0040] Serial communication is one of the technologies used by Arduino to transmit data between different devices. It primarily involves transmitting a single bit between two devices, and since bidirectional communication is possible, it is possible to transmit data while simultaneously receiving data from another device.

[0041] The above-mentioned water solution sprayer is installed with the spray target aligned at the focal point of the camera (11) to enable the water solution to be sprayed onto the flame of the image captured by the camera.

[0042] The above controller (20) is a means for controlling a robot and is integrally installed in the robot and includes a camera control unit (21) for controlling the camera; a robot judgment unit (22) for determining the movement and operation of the robot; and a robot control unit (23) for controlling the operation of the robot according to the operating state of the robot determined by the robot judgment unit.

[0043] The above camera control unit (21) controls the operation of the camera to photograph the tomato tree, and adjusts the direction and focus of the camera to obtain a clear image.

[0044] The robot judgment unit (22) determines the position or direction in which the robot has moved, and the determined state of the robot is used as information for controlling the robot by the robot control unit (23).

[0045] The above robot control unit (23) controls the movement and direction of the robot based on the state of the robot determined by the robot judgment unit and the image captured by the camera.

[0046] The above controller (20) is composed of a part that controls a robot as shown in FIG. 1 and a cart control part that controls a cart described later, and the camera control part (21), robot judgment part (22) and robot control part (23) are composed of a Jetson Nano, and the cart control part can be composed of an Arduino, but is not limited thereto.

[0047] As shown in FIG. 3, the Jetson Nano is installed on the lower part of the robot, and the Arduino is installed on the cart (40) described later.

[0048] The above controller (20) is further equipped with a spray control unit (23a), and this spray control unit may be composed of another Arduino, and this Arduino is installed on one side of the upper part of the robot and the water solution sprayer as shown in FIG. 3.

[0049] In addition, as shown in FIG. 4, it is preferable to further provide a remote control (23r) and a segment (23s) for controlling the robot.

[0050] The above remote control (23r) is a means for remotely controlling the robot and can control the operation of the robot itself as well as the operation of the water solution sprayer and the camera.

[0051] The above segment (23s) is activated whenever artificial water solution is sprayed from the water solution sprayer to inform the user of the number of sprays.

[0052] In addition, the controller is equipped with a water level sensor, an LED, and a buzzer. After the spraying is finished, the amount of artificial moisture solution is measured via the water level sensor, and if the solution is insufficient, the LED and buzzer are activated.

[0053] As shown in FIG. 1, the artificial watering robot system of the present invention configured as described above is linked to a server (30) that includes an image analysis unit (31) that analyzes real-time image information transmitted from the camera and an operation judgment unit that transmits a robot control signal and a water solution sprayer control signal to a controller according to the information analyzed by the image analysis unit, so that all information is analyzed and managed on the server.

[0054] That is, based on the operation signal sent from the above server to the Jetson Nano constituting the robot control unit, the Jetson Nano transmits a signal to the Arduino (constituting the spray controller), and when a solution needs to be sprayed on a tomato tree that requires artificial pollination, the Arduino operates a servo motor based on the signal received from the Jetson Nano to spray the artificial pollination solution.

[0055] As shown in FIG. 1, the above server (30) includes a pattern analysis unit (31) and an operation judgment unit (32).

[0056] As described above, the image analysis unit (31) analyzes the image coming through the camera to identify the stem, flower cluster, and full bloom of the tomato plant, as well as detect the flower cluster and distinguish the flower cluster order through its own algorithm.

[0057] When the above operation judgment unit (32) recognizes a tomato tree requiring artificial pollination from the server, it sends a signal to the robot and the cart control unit below to adjust the robot arm so that the flower bud is positioned in the center of the camera, and then operates the servo motor of the water solution sprayer to spray the artificial pollination solution.

[0058] As described above, the robot is installed on a cart (40), and the robot system is provided with a cart path (50) for providing a path for the robot to move along, and the controller (20) further comprises a cart judgment unit (24) for determining the operating state of the cart and a cart control unit (25) for controlling the movement of the cart.

[0059] The cart (40) is a means of transport in which the robot is carried, and as shown in FIG. 5, a storage container in which an artificial moisture solution is stored is installed, and a water level sensor (41) is provided on one side of the storage container so that an alarm can be generated according to the water level detected by the water level sensor through the controller.

[0060] In addition, an infrared sensor (42) is further installed on the cart.

[0061] The above infrared sensor (42) enables the robot to move straight and change direction depending on whether or not light is reflected, thereby allowing the cart to drive along a pre-installed cart path (50).

[0062] The spray control unit of the above controller (20) recognizes the first and second flower clusters formed from the bottom of the tomato plant based on the image information analyzed by the image analysis unit, and sprays an artificial pollination solution when there are two or more fully bloomed flowers among the flowers of the first and second flower clusters.

[0063] In this way, by restricting the conditions for spraying the artificial watering solution, sufficient artificial watering can be achieved, thereby preventing the problems that occur when artificial watering is not properly performed.

[0064] It is desirable that the artificial pollination robot system configured as described above allows the user to check system operation, display of the number of sprays, initialize the number of sprays, turn off the spray solution overflow alarm and spray solution shortage alarm, stop the system, automatically spray artificial pollination solution to flower heads requiring artificial pollination, and check robot operation, and for this purpose, it is desirable to have functions as shown in FIG. 6.

[0065] Representative functions include a system activation function to turn on the power of the artificial pollination robot, a robot driving function that allows the artificial pollination robot to travel along a predetermined path, an automatic artificial pollination solution spraying function that automatically sprays artificial pollination solution onto tomato trees requiring artificial pollination, a spray count check function to verify the number of tomato trees worked on by the artificial pollination robot, a spray count reset function to reset the spray count to zero, a spray solution shortage alarm function that notifies with sound and LED when the spray solution is insufficient, a spray solution shortage alarm off function to turn off the spray solution shortage alarm, and a system stop function to turn off the power of the artificial pollination robot. Other functions are explained in the table below.

[0066]

[0067] The artificial pollination robot position adjustment in the artificial pollination robot system according to the present invention is performed by the steps as shown in FIG. 7.

[0068] The robot identifies tomato stems while driving along the path, and stops the robot when an identified tomato stem is located in the center of the frame window. The frame window is set to (640, 480), and the position of the stem within the frame is set to stop as shown in the table below.

[0069]

[0070] As illustrated in FIG. 8, the process of analyzing flower bud information in the artificial pollination robot system according to the present invention begins by starting the analysis of flower bud information at the bottom of the tomato tree stem, and detects flower buds by raising the camera upward from the bottom of the stem to the maximum height of the robot. At this time, the number of frames analyzing the flower bud information of one tree is 300 frames, and if the number of times two flower buds are detected within a frame exceeds 30, it is determined that the current tomato tree stem has two flower buds, and the full bloom is identified starting from the first flower bud.

[0071] If the number of detections of 2 flower clusters is less than 15 and the number of detections of 1 flower cluster exceeds 90, it is determined that the current tomato tree stem has 1 flower cluster, and a 1-flower cluster full bloom is identified; if the number of detections of 2 or fewer flower clusters is less than 15 and the number of detections of 0 flower clusters in the frame exceeds 150, it is determined that the current tomato tree stem has 0 flower clusters, and the path is returned.

[0072] As illustrated in FIG. 9, the process of identifying fully bloomed flowers in the artificial pollination robot system according to the present invention is such that when the identification of fully bloomed flowers begins, if there are two or more fully bloomed flowers in a flower cluster, it is selected as an artificial pollination flower cluster. At this time, it is determined that there are fully bloomed flowers in the flower cluster only if the center coordinates of the fully bloomed flower bounding box fall within the flower cluster bounding box. If the number of flower cluster variables are 1, the artificial pollination solution is sprayed only on 1 flower cluster and the process returns; if the number of flower cluster variables are 2, the process proceeds to spraying on 2 flower clusters after spraying on 1 flower cluster. Once the artificial pollination solution spraying on 2 flower clusters is completed, the process returns to path driving.

[0073] The solution spraying process performed in the artificial pollination robot system according to the present invention controls the robot according to the position of the flame inside the frame window based on the central frame of Fig. 11, as illustrated in Fig. 10.

[0074] The artificial pollination robot system of the present invention described above requires the identification of components of a tomato tree, and requires a process of data collection and processing for identification.

[0075] Intelligent smart farm integrated data (tomato) was utilized for data collection and processing. The original image is shown in Fig. 12.

[0076] LabelMe was used for data preprocessing, and to use it, enter the following command in the Anaconda Prompt.

[0077] conda create ??name = labelme python = 3.6

[0078] conda activate labelme

[0079] pip install labelme

[0080] As shown in Figure 13, labeling was performed by dividing the data into three classes: truss, stem, and tom_flower using Lebelme. Subsequently, training was started using the YOLOv8 model, and the amount of data used is as shown in the table below.

[0081]

[0082] The model training was set to 500 epochs, and YOLOv8 has an early stop feature enabled, which automatically terminates training if the loss rate and accuracy do not increase for a certain period. Due to the early stop setting, the final model was trained at 192 epochs.

[0083] The configuration for model training is as shown in FIG. 14.

[0084] As described above, the tomato tree data consists of three sets of data: training, validation, and test. The model structure and training class settings were defined by declaring a system YAML file.

[0085] Model training was performed in the Google ColabPro environment, and the 80 classes originally set in YOLOv8 were changed to 3 classes via the yaml file, and the number of filters in the ModuleList layer was changed from 256 to 128.

[0086] The tomato artificial pollination robot system of the present invention configured as described above can facilitate artificial pollination by autonomously determining the growth status of the tomato tree and automatically spraying the artificial pollination solution.

[0087] In particular, the first and second flower clusters formed at the bottom of the tomato plant are difficult to artificially pollinate using conventional pollen. However, by ensuring that artificial pollination occurs only when there are at least two fully bloomed flowers in each of the first and second flower clusters, it is possible to prevent the problems that occur when artificial pollination is not properly carried out and to effectively pollinate the first and second flower clusters as well, thereby significantly improving the productivity of the tomato.

[0088] This project (result) is the result of the Phase 3 Leading University Industry-Academic Cooperation Project (LINC 3.0), which was funded by the Ministry of Education and the National Research Foundation of Korea. Explanation of the symbols

[0089] 10: Robot 11: Camera 12: Water solution sprayer 12m: Servo motor 20: Controller 21: Camera control unit 22: Robot Judgment Unit 23: Robot Control Unit 23a: Spray control unit 23r: Remote control 23s: Segment 24: Cart Judgment Unit 25: Cart control unit 30: Server 31: Video Analysis Department 32: Action Judgment Unit 40: Cart 50: Cart route

Claims

Claim 1 A tomato artificial pollination robot control system installed in a cultivation facility including a smart farm or a vinyl greenhouse, which moves between tomato trees being cultivated and sprays an artificial pollination solution onto the tomato trees to achieve artificial pollination, comprising: a robot (10) that moves between tomato trees and sprays the artificial pollination solution; and a controller (20) that controls the robot, wherein the robot (10) includes a camera (11) that captures images of the tomato trees and a water solution sprayer (12) that sprays the water solution onto the blooming flowers, and the controller (20) includes a camera control unit (21) that controls the camera; a robot judgment unit (22) that determines the movement and operation of the robot; and a robot control unit (23) that controls the operation of the robot according to the operating state of the robot determined by the robot judgment unit. Claim 2 A tomato artificial pollination robot system characterized in that, in claim 1, the above-mentioned water solution sprayer (12) is operated by the driving of a servo motor (12m) installed on one side of the robot. Claim 3 A tomato artificial pollination robot system according to claim 1, wherein the controller (20) is installed on the robot, and the robot control unit (23) further includes a spray control unit (23a) that controls the operation of the sprayer. Claim 4 A tomato artificial pollination robot system according to claim 1, characterized in that the robot system is linked to a server (30) which includes an image analysis unit (31) that analyzes real-time image information transmitted from the camera and an operation judgment unit that transmits a robot control signal and a water solution sprayer control signal to a controller according to the information analyzed by the image analysis unit. Claim 5 A tomato artificial pollination robot system according to claim 1, wherein the robot is installed on a cart (40), the robot system has a cart path (50) for providing a path for the robot to move, and the controller (20) further has a cart judgment unit (24) for determining the operating state of the cart and a cart control unit (25) for controlling the movement of the cart. Claim 6 A tomato artificial pollination robot system according to claim 1, wherein the spray control unit of the controller (20) recognizes the first and second flower clusters formed from the bottom of the tomato plant based on image information analyzed by the image analysis unit, and sprays an artificial pollination solution when there are two or more fully bloomed flowers among the flowers of the first and second flower clusters.

Images