Broccoli plus breeding method based on light environment regulation

Abstract

The present application relates to a broccoli plus generation breeding method based on light environment regulation applied to the field of broccoli breeding. In the process of broccoli plus generation breeding, special spectrum light supplement lamps are used to provide intelligent light supplement for broccoli, and image collectors are used to monitor the growth state of broccoli. After the image collector detects that the broccoli appears leaf growth interference flower ball recognition, the coordinate information of the corresponding broccoli is transmitted to the mobile trolley, and the mobile trolley and the multi-axis mechanical arm work cooperatively to insert the comb tooth rack into the leaf gap, drive the movable plate to open through the driving motor, expand the leaf, facilitate the image collection of broccoli flower ball, and then use the multi-axis mechanical arm to move the closed movable comb tooth unit to perform comb tooth operation, avoid leaf shading, ensure normal light illumination of flower ball, and promote early bolting and flowering. In the process of expanding the movable plate, identification and judgment are carried out to avoid squeezing damage to the flower ball and ensure early bolting and flowering of the flower ball under special light.

Description

TECHNICAL FIELD

[0001] The application relates to a broccoli plus generation breeding method, in particular to a broccoli plus generation breeding method based on light environment regulation and applied to the field of broccoli breeding. BACKGROUND

[0002] Broccoli is also known as Westland cauliflower, and a variety resistant to bolting needs to be bred during breeding, however, the breeding cycle needs to be accelerated, and early bolting and flowering are in urgent need. Therefore, it is of great significance to accelerate the breeding of broccoli by regulating the environment without changing the genetic traits of broccoli.

[0003] A greenhouse inside following enhancement light supplement system and method are disclosed in Chinese patent CN202410026379.7, the system comprises a displacement driving mechanism, a light supplement lamp and a displacement control circuit, a plurality of same photoresistors are arranged on the displacement control circuit; the displacement driving mechanism is connected and used for driving the light supplement lamp to translate; the light supplement lamp is used for radiating light downward; the plurality of photoresistors are dispersedly arranged in a plane below the light supplement lamp; the displacement control circuit is electrically connected to the displacement driving mechanism and is used for controlling the displacement driving mechanism to translate the light supplement lamp above the photoresistor with a large resistance value; the method controls the light supplement lamp to displace in real time according to the resistance value change of the photoresistor through the above system, so as to continuously move to the dark place for light supplement. The application realizes more reasonable light supplement, so that the illumination in the greenhouse is more uniform.

[0004] When the existing greenhouse light supplement equipment supplements light, a displacement mechanism is used to drive the light supplement lamp to move to realize uniform illumination, but in the greenhouse, the present budding time points of broccoli are different, so that the displaced light supplement lamp cannot meet the light supplement demand of the dispersed area when supplementing light, leading to the fact that the plus generation breeding operation of broccoli in the greenhouse still has defects, in addition, during the present budding process of broccoli, the phenomenon of leaf erecting and covering the flower ball cannot be avoided, which affects the identification of present budding, and further leads to inaccurate growth monitoring data of broccoli, which interferes with the provision of subsequent light duration. SUMMARY

[0005] In view of the above prior art, the technical problem to be solved by the application is that, during the plus generation breeding process of broccoli, not only comprehensive light supplement operation can be provided to ensure light supplement uniformity, but also the present budding situation of broccoli growth can be accurately monitored to provide accurate light duration.

[0006] To solve the above problems, the application provides a broccoli plus generation breeding method based on light environment regulation, which comprises a planting greenhouse for plus generation breeding, and further comprises the following steps:

[0007] S0, install a plurality of matrix arranged light supplement lamps and a mobile monitoring unit on the inner top wall of the planting greenhouse, the mobile monitoring unit comprises a plurality of lead screws connected by a conveying belt and an image collector for monitoring the growth state of the broccoli in the planting greenhouse threaded on the surface of the lead screw;

[0008] S1, establish a plane coordinate in the planting greenhouse, and set the coordinates of the plurality of light supplement lamps in the vertical plane one by one;

[0009] S2, during the breeding of the broccoli, the image collector reciprocally moves to monitor the growth state of the broccoli on the same axis, and judges whether the monitored broccoli below has a bud;

[0010] S3, when judging whether the broccoli has a bud, the auxiliary unit is used to assist in judging the growth state of the broccoli in the leaf straight-up state;

[0011] S4, if the broccoli is before the bud, the light supplement lamp has a light time of 20 hours per day, and if the broccoli is after the bud, the light supplement lamp has a light time of 22 hours per day.

[0012] In the above-mentioned broccoli breeding method based on light environment regulation, during the breeding of the broccoli, the light supplement lamp can intelligently provide light supplement operation, not only can provide comprehensive light supplement operation to ensure uniformity of light supplement, but also can accurately monitor the broccoli growth and bud situation to provide accurate light time.

[0013] As a further improvement of the present application, the auxiliary unit comprises a mobile trolley moving in the planting greenhouse, and the mobile trolley is signal connected with the image collector, a multi-axis mechanical arm is installed on the top of the mobile trolley, a movable comb unit is connected to the tail end of the multi-axis mechanical arm, the movable comb unit comprises a comb rack, a rectangular groove is arranged in the inside of the comb rack, a movable plate is connected to the inside of the rectangular groove through a shaft, the thickness value of the movable plate is less than that of the comb rack, a driving motor is installed on the top of the comb rack, and the output end of the driving motor is connected with the shaft.

[0014] As a further improvement of the present application, a comb plate is installed on one side surface of the movable plate through a connecting block, and the comb plate is in the same height with the comb rack, and the surfaces of the comb rack and the comb plate close to each other are provided with protruding racks.

[0015] As a further improvement of the present application, the cross-sectional length value of the comb plate is less than that of the comb rack, and the racks on the surfaces of the comb plate and the comb rack correspond one by one.

[0016] As a further improvement of the present application, the spectrum composition of the light supplement lamp is 20% of 6500k white light, 50% of 660nm red light and 30% of 730nm far red light.

[0017] As a further improvement of the present application, the light supplement lamp is signal connected with the image collector, and the step S4 further comprises the following steps:

[0018] S41, the image collector saves the image data of the broccoli at the same coordinate position, and marks the broccoli with growth abnormalities;

[0019] S42, arrange the image data of the broccoli at the same coordinate position saved in S41 in time sequence, compare and judge whether the growth speed of the broccoli at different coordinate positions is the same;

[0020] S43, if the same, the light intensity of the light supplement lamp does not change, if not the same, increase the light intensity of the light supplement lamp corresponding to the coordinate position with slow growth speed.

[0021] As a further improvement of the present application, S2 further comprises the following steps:

[0022] S21, during the movement of the image collector, image shooting is performed on the flower balls in the broccoli below to judge whether the flower buds appear, if the flower buds appear, the coordinates of the corresponding broccoli are transported to the light supplement lamp in the corresponding light supplement range, so that the light supplement time is changed from 20 hours / day before the appearance of the flower buds to 22 hours / day;

[0023] S22, in S21, the image collector shoots the broccoli below to appear the phenomenon that the leaves are straight and cover the flower balls, and the coordinates of the corresponding broccoli are transported to the moving trolley.

[0024] As a further improvement of the present application, S3 further comprises the following steps:

[0025] S31, the moving trolley moves to the broccoli with the phenomenon according to the coordinates sent by S21, and then the multi-axis mechanical arm inserts the flat active comb tooth unit into the gap between the shielding leaves;

[0026] S32, then start the driving motor to drive the active plate to expand, expand the shielding leaves, expose the inside, facilitate the image collector to collect images and further judge the flower ball situation of the shielding leaves;

[0027] S33, after the image collector acquires the images, the multi-axis mechanical arm places the shielding leaves in the middle of the expanded active plate and the comb tooth rack, then reversely rotates the driving motor to reset, after the active plate and the comb tooth rack restore to the flat state, the multi-axis mechanical arm moves upward to comb the shielding leaves, so that the shielding leaves lose the shielding effect on the flower balls, and ensure that the subsequent photosynthesis proceeds normally.

[0028] As a further improvement of the present application, the side surface of the comb plate away from the rack is provided with a pressure sensor and a displacement sensor connected with the multi-axis mechanical arm, and S32 further comprises the following working steps:

[0029] S321, before starting the multi-axis mechanical arm, the image collector photographs and identifies the cross-sectional horizontal size of the shielding area of the broccoli in the shielding state, and records the diameter of the shielding area as R;

[0030] S322, after the expansion of the comb plate driven by the motor, when the pressure sensor senses the pressure, the displacement sensor records the horizontal displacement distance of the comb plate at this moment, and records it as L;

[0031] S323, judge the size of R and L, if R is greater than L, it indicates that the flower ball in the shielding branches and leaves is encountered during the displacement of the comb plate, the driving motor stops driving the expansion of the comb plate, and directly enters S33;

[0032] S324, if R is not less than L, the image collector continues to photograph to check whether there is a flower ball in the shielding leaves, if there is, continue to S33, otherwise mark the broccoli at this coordinate position as abnormal.

[0033] In summary, in the process of broccoli breeding, the present application uses the light supplementing lamp to provide intelligent light supplementing operation for the broccoli, and uses the image collector to monitor the growth state of the broccoli. When the image collector detects that the broccoli appears shielding leaf state leading to recognition interference, the coordinate information of the corresponding broccoli is sent to the mobile trolley, the mobile trolley and the multi-axis mechanical arm work cooperatively, the comb rack is inserted into the gap between branches and leaves, the driving motor drives the expansion of the movable plate, the branches and leaves are expanded, the image collection is facilitated, then the multi-axis mechanical arm moves the closed movable comb unit to perform combing operation, the shielding leaves are damaged, the photosynthesis is ensured to be normal, and in the process of expansion of the movable plate, identification and judgment are performed to avoid damage to the flower ball caused by extrusion, and the flower ball is ensured to grow normally under normal light. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 The operation flowchart of the present application;

[0035] Figure 2 The overall structure schematic diagram of the first embodiment of the present application;

[0036] Figure 3 The installation diagram of the multi-axis mechanical arm and the movable comb unit of the first embodiment of the present application;

[0037] Figure 4 The assembly schematic diagram of the movable comb unit of the first embodiment of the present application;

[0038] Figure 5A partial top view of the movable comb tooth unit of the first embodiment of the present application;

[0039] Figure 6 A schematic diagram of the outward expansion state of the movable comb tooth unit of the first embodiment of the present application;

[0040] Figure 7 A schematic diagram of the outward expansion process of the broccoli shielding leaf of the first embodiment of the present application;

[0041] Figure 8 A state diagram of the comb tooth cleaning shielding leaf of the movable comb tooth unit of the first embodiment of the present application.

[0042] Explanation of the reference numerals in the drawings:

[0043] 1, mobile trolley; 2, multi-axis mechanical arm; 3, light supplement lamp; 4, lead screw; 5, conveying belt; 6, movable comb tooth unit; 61, comb tooth holder; 62, driving motor; 63, movable plate; 64, comb tooth plate. DETAILED DESCRIPTION

[0044] The two embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0045] First embodiment:

[0046] Figures 1-2 A broccoli plus generation breeding method based on light environment regulation is shown, which includes a planting greenhouse for plus generation breeding, and further includes the following steps:

[0047] S0, installing a plurality of matrix arranged light supplement lamps 3 on the inner top wall of the planting greenhouse and a mobile monitoring unit, the mobile monitoring unit including a plurality of lead screws 4 connected through a conveying belt 5 and an image collector threaded on the surface of the lead screw 4 for monitoring the growth state of the broccoli in the planting greenhouse;

[0048] S1, establishing a plane coordinate in the planting greenhouse, and setting the coordinates of the plurality of light supplement lamps 3 in the vertical plane one by one;

[0049] S2, during the broccoli plus generation breeding process, the image collector reciprocally moves to monitor the growth state of the broccoli on the same axis, and judges whether the monitored broccoli below is in the budding stage;

[0050] S3, when judging whether the broccoli is in the budding stage, an auxiliary unit is used to assist in judging the growth state of the broccoli in the shielding state;

[0051] S4, if the broccoli is before the budding stage, the light illumination time of the light supplement lamp 3 is 20 hours / day, and if the broccoli is after the budding stage, the light illumination time of the light supplement lamp 3 is 22 hours / day.

[0052] Specifically, the spectrum of the light supplement lamp 3 is composed of 20% white light of 6500k, 50% red light of 660nm, and 30% far-red light of 730nm, and the light intensity is 400μmol·m -2 ·s -1 , and the light intensity is intelligently adjusted according to the size of the plant;

[0053] During the growth of the broccoli plants, the image collector reciprocally moving on the surface of the lead screw 4 is used to take pictures to monitor the growth state of the broccoli plants, so as to determine the size of the plants and whether the plants have present buds, and then serve as the basis for subsequent adjustment of the working time of the light supplement lamp 3, and also send the coordinate information of the region where the present buds are present in a scattered manner to the position of the light supplement lamp 3 at the corresponding position, adjust the time of the light supplement lamp 3 in the corresponding region, and realize intelligent adjustment;

[0054] During the moving and shooting monitoring of the image collector, if the inside leaves of the plants are straight up and cause shielding, it will affect the determination of the present buds, at this time, the auxiliary unit is needed to pull apart the plants in the shielding state to expose the inside for the image collector to take pictures, and at the same time, the auxiliary unit can also be used to comb the shielding leaves to prevent shielding, which can facilitate the viewing of the growth state of the subsequent flower balls in the plants, and also ensure that the flower balls of the plants are regulated and promoted to bloom in advance by light signals.

[0055] Figures 3-5 The auxiliary unit is shown to include a moving trolley 1 moving in the planting greenhouse, and the moving trolley 1 is signal connected with the image collector, a multi-axis mechanical arm 2 is installed on the top of the moving trolley 1, a movable comb unit 6 is connected at the tail end of the multi-axis mechanical arm 2, the movable comb unit 6 includes a comb rack 61, a rectangular groove is arranged in the inside of the comb rack 61, a movable plate 63 is connected in the inside of the rectangular groove through a shaft, the thickness value of the movable plate 63 is less than the thickness value of the comb rack 61, a driving motor 62 is installed on the top of the comb rack 61, and the output end of the driving motor 62 is connected with the shaft.

[0056] A comb plate 64 is installed on one side surface of the movable plate 63 through a connecting block, and the comb plate 64 is in the same height with the comb rack 61, and the surfaces of the comb rack 61 and the comb plate 64 close to each other are both provided with protruding racks.

[0057] The cross-sectional length value of the comb plate 64 is less than the cross-sectional length value of the comb rack 61, and the racks on the surfaces of the comb plate 64 and the comb rack 61 are one-to-one corresponding.

[0058] Specifically, after the auxiliary unit receives the coordinate information of the broccoli with shading from the image acquisition unit, the moving trolley 1 moves to the corresponding coordinates. Then, the multi-axis robotic arm 2 moves the comb frame 61 to the position where the broccoli leaves are shading. Using its flat design, the comb frame 61 is inserted into the gaps in the shading. Subsequently, the drive motor 62 is activated, causing the movable plate 63 to open, which in turn causes the upright leaves to open, exposing the interior (e.g., ...). Figures 6-7 As shown), to facilitate image acquisition, the open movable comb unit 6 is then moved to both sides of the single covering leaf branch, allowing the comb frame 61 and movable plate 63 to clamp the single covering leaf. Then, the drive motor 62 resets, causing the movable plate 63 to reset as well. At this point, the racks move closer together, and the multi-axis robotic arm 2 moves upward, causing the closed movable comb unit 6 to move upward, performing a combing operation on the covering leaf to destroy the covered leaf. This prevents further shading and ensures that the cauliflower head at this coordinate position receives normal light (e.g., ...). Figure 8 (As shown).

[0059] Because leaves grow densely, cutting operations may damage other unrelated branches and leaves, affecting the plant's subsequent normal growth, or require high precision in machine cutting operations, leading to increased costs. Compared to cutting and covering leaves, using comb-tooth operations can achieve the effect of covering leaves with a hammer while requiring less precision, avoiding accidental damage, ensuring safety, and controlling costs.

[0060] The fill light 3 is connected to the image acquisition unit signal, and step S4 also includes the following steps:

[0061] S41. The image acquisition device saves the image data of broccoli at the same coordinate position and marks broccoli that show abnormal growth.

[0062] S42. Arrange the image data of broccoli at the same coordinate position saved in S41 in chronological order, compare them, and determine whether the growth rate of broccoli at different coordinate positions is the same.

[0063] S43. If they are the same, the light intensity of supplemental light 3 remains unchanged. If they are different, increase the light intensity of supplemental light 3 at the position corresponding to the broccoli with the slower growth rate.

[0064] Specifically, the supplemental light 3 can intelligently adjust the light intensity according to the growth status of the plants to ensure the synchronization of the growth status of the plants in that area and reduce the possibility of localized scattered bud formation.

[0065] S2 also includes the following steps:

[0066] S21, image shooting of the inner flower ball of the broccoli below during the movement of the image collector, judging whether the bud appears, if the bud appears, the coordinates of the broccoli at the corresponding position are transmitted to the light supplement lamp 3 in the corresponding light supplement range, so that the light supplement time is changed from 20 hours / day before the bud appears to 22 hours / day;

[0067] S22, in S21, the image collector shoots the broccoli below and the leaf shielding phenomenon occurs, the coordinates of the broccoli at the corresponding position are transmitted to the moving trolley 1.

[0068] S3 further comprises the following steps:

[0069] S31, the moving trolley 1 moves to the broccoli where the leaf shielding phenomenon occurs according to the coordinates sent by S21, and then the multi-axis mechanical arm 2 is used to insert the flat active comb tooth unit 6 into the gap of the shielding leaf;

[0070] S32, then the driving motor 62 is started to drive the active plate 63 to open, expand the shielding leaf, expose the inside, facilitate the image collector to collect images and judge the flower ball condition in the shielding leaf;

[0071] S33, after the image collector obtains the image, the multi-axis mechanical arm 2 is used to place the shielding leaf in the middle of the open active plate 63 and the comb tooth rack 61, then the driving motor 62 is reversely rotated to reset, after the active plate 63 and the comb tooth rack 61 restore the flat state, the multi-axis mechanical arm 2 moves upward to comb the shielding leaf, so that the shielding effect on the flower ball is lost, and the subsequent photosynthesis is ensured to be carried out normally.

[0072] Second embodiment:

[0073] The side surface of the comb tooth plate 64 away from the rack is provided with a pressure sensor and a displacement sensor in signal connection with the multi-axis mechanical arm 2, and the S32 further comprises the following working steps:

[0074] S321, before the multi-axis mechanical arm 2 is started, the image collector shoots and identifies the horizontal dimension of the shielding area of the broccoli in the shielding state, and records the diameter of the shielding area as R;

[0075] S322, after the driving motor 62 is started, the comb tooth plate 64 expands outward, in this process, when the pressure sensor senses the pressure effect, the displacement sensor records the horizontal displacement distance of the comb tooth plate 64 at this moment, and records it as L;

[0076] S323, judging the size of R and L, if R is greater than L, it indicates that the flower ball in the shielding leaf is encountered in the displacement process of the comb tooth plate 64, the driving motor 62 stops driving the comb tooth plate 64 to expand outward, and directly enters S33;

[0077] S324, if R is not less than L, the image collector continues to shoot to view whether there is a flower ball in the shielding leaf, if there is, continue to S33, otherwise mark the broccoli at the coordinate position as abnormal.

[0078] Different from the first embodiment, the present embodiment is improved for the situation of encountering flower ball in the expansion shielding process, thereby avoiding the extrusion damage to the surface of the flower ball when the comb plate 64 is forced to expand outward.

[0079] Specifically, after the flat active comb unit 6 is inserted into the shielding leaf, if the expansion distance is less than the size of the shielding area, it indicates that there is a flower ball in the shielding leaf, at this time, it is not suitable to continue to expand outward, and the comb cleaning operation of the shielding leaf can be directly performed.

[0080] If there is no flower ball in the shielding leaf, after being inserted into the shielding gap, the comb plate 64 may not encounter the obstruction of the flower ball during the expansion process, at this time, the image collector needs to perform supplementary identification, after the supplementary judgment, the broccoli with the flower ball is subjected to the comb cleaning operation of the shielding leaf, otherwise, it is marked as abnormal.

[0081] In summary, in the process of broccoli breeding, the present application uses the light supplementing lamp 3 to provide intelligent light supplementing operation for the broccoli, and uses the image collector to monitor the growth state of the broccoli, after the image collector detects that the broccoli appears shielding leaf state leading to recognition interference, the coordinate information of the corresponding broccoli is transmitted to the mobile trolley 1, the mobile trolley 1 and the multi-axis mechanical arm 2 work cooperatively, the comb rack 61 is inserted into the branch gap, the movable plate 63 is opened by driving the motor 62, the branches are expanded, the image collection is facilitated, then the multi-axis mechanical arm 2 moves the active comb unit 6 in the closed state to perform the comb operation, the shielding leaf is destroyed, the photosynthesis is ensured to be normal, and during the expansion process of the movable plate 63, the identification judgment is performed, the extrusion damage to the flower ball is avoided, and the safety of the flower ball is ensured.

[0082] In combination with the current actual demand, the above-mentioned embodiments adopted by the present application are not limited to this, various changes made within the knowledge range of those skilled in the art without departing from the concept of the present application still fall within the protection range of the present application.

Claims

1. A method for generation-increasing breeding of broccoli based on light environment regulation, comprising a planting greenhouse for generation-increasing breeding, characterized in that, It also includes the following steps: S0. Install several matrix-arranged supplementary lights (3) and a mobile monitoring unit on the inner top wall of the planting greenhouse. The mobile monitoring unit includes multiple lead screws (4) connected by a conveyor belt (5) and an image acquisition device threaded onto the surface of the lead screws (4) for monitoring the growth status of broccoli in the planting greenhouse. S1. Establish a plane coordinate system in the planting greenhouse, and set the coordinates of several supplementary lights (3) in the vertical plane one by one. S2. During the broccoli breeding process, the image acquisition device moves back and forth to monitor the growth status of broccoli on the same axis and to determine whether the broccoli monitored below has budded. S3. When determining whether broccoli has budded, an auxiliary unit is used to assist in judging the growth status of broccoli that is in a closed and concealed state. S4. If the broccoli is before budding, the illumination time of the supplemental light (3) is 20 hours / day. If the broccoli is after budding, the illumination time of the supplemental light (3) is 22 hours / day. The auxiliary unit includes a mobile trolley (1) that moves inside the planting greenhouse, and the mobile trolley (1) is connected to an image acquisition device. A multi-axis robotic arm (2) is mounted on the top of the mobile trolley (1). A movable comb unit (6) is connected to the tail end of the multi-axis robotic arm (2). The movable comb unit (6) includes a comb frame (61). A rectangular groove is provided inside the comb frame (61). A movable plate (63) is connected inside the rectangular groove through a shaft. The thickness of the movable plate (63) is less than the thickness of the comb frame (61). A drive motor (62) is mounted on the top of the comb frame (61), and the output end of the drive motor (62) is connected to the shaft.

2. The method for generation-adjusted breeding of broccoli based on light environment regulation according to claim 1, characterized in that: A comb plate (64) is installed on one side surface of the movable plate (63) via a connecting block, and the comb plate (64) is at the same height as the comb frame (61). The surfaces of the comb frame (61) and the comb plate (64) that are close to each other are provided with protruding teeth.

3. The method for generation-adjusted breeding of broccoli based on light environment regulation according to claim 2, characterized in that: The cross-sectional length of the comb plate (64) is less than that of the comb frame (61), and the comb plate (64) corresponds one-to-one with the toothed racks on the surface of the comb frame (61).

4. The method for generation-adjusted breeding of broccoli based on light environment regulation according to claim 1, characterized in that: The spectral composition of the supplementary light (3) consists of 20% white light at 6500k, 50% red light at 660nm, and 30% far-red light at 730nm.

5. The method for generation-adjusted breeding of broccoli based on light environment regulation according to claim 4, characterized in that: The supplementary light (3) is connected to the image acquisition device signal, and step S4 also includes the following steps: S41. The image acquisition device saves the image data of broccoli at the same coordinate position and marks broccoli that show abnormal growth. S42. Arrange the image data of broccoli at the same coordinate position saved in S41 in chronological order, compare them, and determine whether the growth rate of broccoli at different coordinate positions is the same. S43. If they are the same, the light intensity of the supplementary light (3) remains unchanged. If they are different, the light intensity of the supplementary light (3) at the position corresponding to the broccoli with the slower growth rate is increased.

6. The method for generation-adjusted breeding of broccoli based on light environment regulation according to claim 2, characterized in that: S2 further includes the following steps: S21. During the movement of the image acquisition device, the flower head inside the broccoli below is photographed to determine whether buds have appeared. If buds appear, the coordinates of the broccoli at the corresponding position need to be transmitted to the supplementary light (3) in the corresponding supplementary light range so that the supplementary light duration changes from 20 hours / day before buds appear to 22 hours / day. S22. In S21, the image acquisition device captures the phenomenon that the leaves of the broccoli below grow upright and cover the flower head. It is necessary to transmit the coordinates of the broccoli at the corresponding position to the moving trolley (1).

7. The method for generation-adjusted breeding of broccoli based on light environment regulation according to claim 6, characterized in that: S3 further includes the following steps: S31. The mobile trolley (1) moves to the broccoli where the leaves grow upright and cover the flower head according to the coordinates sent by S21. Then, the multi-axis robotic arm (2) inserts the flat movable comb unit (6) into the gap of the covering leaves. S32. Then start the drive motor (62) to open the movable plate (63), expand the upright blades, expose the interior, so that the image acquisition device can collect images and then judge the condition of the flower ball inside the upright blades. S33. After the image acquisition device acquires the image, the multi-axis robotic arm (2) is used to place the upright leaf between the open movable plate (63) and the comb frame (61). Then the drive motor (62) rotates in the opposite direction to reset. After the movable plate (63) and the comb frame (61) return to their flat state, the multi-axis robotic arm (2) moves upward to comb the upright leaf, so that it loses its shading effect on the flower ball, while ensuring that subsequent photosynthesis proceeds normally.

8. The method for generation-adjusted breeding of broccoli based on light environment regulation according to claim 7, characterized in that: The comb plate (64) has a pressure sensor and a displacement sensor mounted on the side facing away from the rack, which are connected to the multi-axis robotic arm (2) via signals. S32 also includes the following working steps: S321. Before starting the multi-axis robotic arm (2), the image acquisition device takes pictures and identifies the horizontal dimensions of the cross-section of the shaded area of ​​the broccoli in the shaded state, and records the diameter of the shaded area as R. S322. After the drive motor (62) starts, the comb plate (64) expands outward. During this process, when the pressure sensor senses the pressure, the displacement sensor records the horizontal displacement distance of the comb plate (64) at this moment and records it as L. S323. Determine the size of R and L. If R is greater than L, it indicates that the comb plate (64) encountered the flower ball inside the upright blade during the displacement process. The drive motor (62) stops driving the comb plate (64) to expand outward and directly enters S33. S324. If R is not less than L, the image acquisition device continues to take pictures to check whether there is a flower head inside the upright leaves. If it exists, continue to S33. Otherwise, mark the broccoli at that coordinate position as abnormal.

Images