Pollination method and pollination device for fruits and vegetables

Abstract

The invention relates to the technical field of agricultural equipment, in particular to a fruit and vegetable pollination method and pollination device which comprises a moving trolley, a pesticide spraying assembly, a flower coordinate obtaining assembly and a control assembly. The pesticide spraying assembly comprises a mounting base plate and a base plate driving module used for driving the mounting base plate to move in the advancing direction and the vertical direction of the moving trolley in parallel, and a plurality of telescopic nozzles are arrayed on the mounting base plate; the control assembly comprises a coordinate receiving module, a spray head matching module, a movement control module, a position confirmation module and a pesticide spraying control module, the pesticide spraying process is completely and automatically completed, the telescopic spray heads corresponding to the flowers are accurately matched for the flowers to execute the pesticide spraying action, meanwhile, each telescopic spray head is responsible for the pesticide spraying action of the flowers in the corresponding sub-area, and the pesticide spraying efficiency is improved. And the mounting substrate only needs to move within a small range in the subarea, so that the working stroke of the pesticide spraying assembly is greatly reduced, and the overall working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and in particular to a pollination method and a pollination device for fruits and vegetables. Background Art

[0002] In the process of fruit and vegetable planting, the fruit yield rate is related to many factors, but how to keep flowers and fruits is the basis. The methods used to keep flowers and fruits are generally dipping, spotting, and spraying. Some farmers are still using flower dipping, but the negative effects of flower dipping are very large. The anthers are systemic, and when they accumulate to a certain amount in the plant body, poisoning is likely to occur. In addition, the flowers that have not yet opened or are about to open are sometimes dipped, resulting in a large number of dead fruits and a low fruit yield rate. Spotting flowers generally does not have the negative effects of dipping flowers, but it is quite labor-intensive and inefficient, and it is easy to miss points or not point them in time, affecting the yield and quality. Spraying flowers usually involves manually spraying flowers with a handheld sprayer or atomizer. This method is also relatively inefficient and may cause repeated spraying, deformed or hollow fruits.

[0003] In the prior art, a Chinese invention patent with application number CN202110507706.7 discloses an airflow vibration type automatic pollination device for facility crops, comprising: a mobile chassis, a positioning and identification device, a pneumatic device and a control device; a pollination mechanical arm is provided on the mobile chassis; the positioning and identification device is used to identify and locate the flowers to be pollinated on the facility crops; the pneumatic device comprises a pneumatic nozzle, which is arranged at the execution end of the pollination mechanical arm; the control device is respectively communicatively connected with the mobile chassis, the pollination mechanical arm, the positioning and identification device and the pneumatic device. The pollination method includes: S1, controlling the movement of the mobile chassis, and identifying the physiological period of the flowers of the facility crops. When the flowers in the full-open period are identified, the position information of the flowers in the full-open period is determined, and the mobile chassis is controlled to stop; S2, according to the position information, the posture control of the pollination mechanical arm is started, so that the spraying direction of the pneumatic nozzle is toward the flowers in the full-open period; S3, starting the pneumatic device, controlling the spraying airflow output by the pneumatic nozzle, so that the flowers in the full-open period can achieve vibration pollination under the action of the spraying airflow. When the scheme is pollinating the flowers, the pollination mechanical arm will move to the next flower for pollination after pollinating one flower. In this case, the stroke of the mechanical arm will be longer, especially for climbing fruits and vegetables, such as cucumbers, loofahs, beans, etc., the flowers are usually on a side with a certain height in the vertical direction. If this mechanical arm is used to spray pesticides, the stroke of the mechanical arm will be greatly lengthened, thereby affecting work efficiency. Summary of the invention

[0004] Based on this, the present application provides a pollination method and a pollination device for fruits and vegetables to solve the technical problem in the prior art that the stroke of the robotic arm will be greatly lengthened, thereby affecting the work efficiency.

[0005] The technical solution of this application to solve the above technical problems is as follows:

[0006] A pollination device for fruits and vegetables, comprising:

[0007] A mobile trolley, wherein a medicine box is arranged on the mobile trolley;

[0008] A medicine spraying assembly comprises a mounting base plate, a base plate driving module for driving the mounting base plate to move parallel to the moving direction of the moving vehicle and in a vertical direction, and a plurality of telescopic spray heads are arrayed on the mounting base plate; the plurality of telescopic spray heads are all connected to the medicine box;

[0009] A flower coordinate acquisition component is provided on the mobile trolley and is used to acquire the flower coordinates when the mobile trolley is stationary;

[0010] A control component, the control component includes a coordinate receiving module, a nozzle matching module, a movement control module, a position confirmation module and a spray control module, the coordinate receiving module is used to receive the flower coordinates obtained by the flower coordinate acquisition component; the nozzle matching module is used to match the flower with the designated telescopic nozzle according to the flower coordinates to obtain a matching result; the movement control module is used to output a first instruction to control the action of the mounting substrate according to the matching result, the substrate driving module executes the first instruction, so that the mounting substrate drives at least one of the telescopic nozzles to move to the flower coordinates matched with the telescopic nozzle; the position confirmation module is used to output a second instruction when at least one of the telescopic nozzles moves to the flower coordinates matched with the telescopic nozzle; the spray control module controls the matched telescopic nozzle to perform the spraying task according to the second instruction.

[0011] A fruit and vegetable pollination method, applied to the above-mentioned fruit and vegetable pollination device, the method comprising:

[0012] S10, controlling the movement of the mobile trolley, wherein the mounting base is parallel to the area to be sprayed during the movement of the mobile trolley, and when the distal spraying boundary of the spraying assembly is flush with the starting boundary of the spraying area, the mobile trolley continues to move a preset distance;

[0013] S20, the mobile vehicle continues to move a preset distance;

[0014] S30, the flower coordinate acquisition component acquires the flower coordinates in the current spraying area, where the current spraying area is the projection area of ​​the mounting base facing the flower when the moving vehicle stops;

[0015] S40, the coordinate receiving module receives the flower coordinates acquired by the flower coordinate acquiring component;

[0016] S50, the nozzle matching module matches the designated telescopic nozzle for the flower according to the flower coordinates to obtain a matching result;

[0017] S60, the movement control module outputs a first instruction for controlling the movement of the installation substrate according to the matching result, and the substrate driving module executes the first instruction, so that the installation substrate drives at least one of the telescopic nozzles to move to the flower coordinates that match the telescopic nozzle;

[0018] S70, when at least one of the telescopic nozzles moves to the flower coordinates that match the telescopic nozzle, the position confirmation module outputs a second instruction;

[0019] S80: The spraying control module controls the matching telescopic nozzle to perform the spraying task according to the second instruction.

[0020] The above technical solution adopted in this application has at least the following effects:

[0021] The present application discloses a pollination device for fruits and vegetables, comprising a mobile trolley, a spraying component, a flower coordinate acquisition component and a control component. The pollination method for fruits and vegetables applied to the above-mentioned pollination device for fruits and vegetables is as follows: the mobile trolley moves to the spraying area, the flower coordinate acquisition component acquires the flower coordinates, after the coordinate receiving module in the control component receives the flower coordinates acquired by the flower coordinate acquisition component, the nozzle matching module matches the flower with the designated telescopic nozzle and obtains the matching result, the mobile control module controls the substrate driving module to drive the mounting substrate to drive at least one telescopic nozzle to move to the flower coordinates matched with the telescopic nozzle according to the matching result, and the spraying control module controls the matched telescopic nozzle to perform the spraying task according to the second instruction issued by the position confirmation module. The entire process is fully automated, accurately matching the flowers with the corresponding telescopic nozzles to perform the spraying action on them, rather than having the same nozzle complete the spraying action on all flowers. At the same time, each telescopic nozzle is responsible for the spraying action of the flowers in its sub-area. The installation baseplate only needs to move a small range in the sub-area to move the matching telescopic nozzle to the flower coordinates. When spraying a current spraying area, the travel of the installation baseplate is greatly reduced, which greatly reduces the working travel of the spraying component, thereby improving the overall work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a three-dimensional schematic diagram of the pollination device for fruits and vegetables in this application.

[0023] Figure 2 This is a schematic diagram of the critical spraying distance of the telescopic nozzle and the straight-line horizontal distance between the telescopic nozzle and the flowers.

[0024] Figure 3 This is the front view of the pollination device for fruits and vegetables in this application.

[0025] Figure 4 This is the left view of the pollination device for fruits and vegetables in this application.

[0026] Figure 5 This is a partial view of the hose bracket.

[0027] Figure 6 This is a schematic diagram of the area to be sprayed when the pollination device for fruits and vegetables in this application is spraying. The arrow in the figure indicates the direction of travel of the mobile vehicle.

[0028] In the figure: a mobile trolley 100, a medicine box 110, a mounting frame 120, a horizontal drive assembly 131, a horizontal guide groove 1311, a horizontal transmission screw 1312, a horizontal guide rod 1313, a first drive motor 1314, a vertical drive assembly 132, a vertical drive screw 1321, a vertical guide rod 1322, a second drive motor 1323, a mounting base plate 133, a telescopic nozzle 134, a nozzle 1341, a hard pipe 1342, a hose 1343, an electric telescopic rod 1344, a hose bracket 135, a guide wheel 1351, a support arm 1352, a flower coordinate acquisition assembly 200, an area to be sprayed 310, and a distal spraying boundary 320. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The technical solution of the present invention will be further described below in conjunction with the drawings of the embodiments of the present invention, and the present invention is not limited to the following specific implementation methods.

[0030] It should be understood that the same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "front", "rear", "left", "right", "top", "bottom" and the like indicating an orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0031] In a specific embodiment of the present invention, please refer to Figures 1 to 6A pollination device for fruits and vegetables, comprising: a mobile trolley 100, on which a medicine box 110 is arranged; a spraying component, comprising a mounting substrate 133, a substrate driving module for driving the mounting substrate 133 to move along the moving direction and vertical direction of the mobile trolley 100, and a plurality of telescopic nozzles 134 are arrayed on the mounting substrate 133; the plurality of telescopic nozzles 134 are all connected to the medicine box 110; a flower coordinate acquisition component 200, which is arranged on the mobile trolley 100 and is used to acquire flower coordinates when the mobile trolley 100 is stationary; a control component, which comprises a coordinate receiving module, a nozzle matching module, a movement control module, a position confirmation module and a spraying control module, and the coordinate receiving module is used to receive the flower coordinate acquisition module. The flower coordinates obtained by the component 200; the nozzle matching module is used to match the flower with the designated telescopic nozzle 134 according to the flower coordinates to obtain a matching result; the movement control module is used to output a first instruction to control the action of the mounting substrate 133 according to the matching result, and the substrate driving module executes the first instruction so that the mounting substrate 133 drives at least one of the telescopic nozzles 134 to move to the flower coordinates that match the telescopic nozzle 134; the position confirmation module is used to output a second instruction when at least one of the telescopic nozzles 134 moves to the flower coordinates that match the telescopic nozzle 134; the spraying control module controls the matched telescopic nozzle 134 to perform the spraying task according to the second instruction.

[0032] When planting climbing fruits and vegetables, usually a frame is set up on the soil ridge to guide the vines, and a passage is left between the soil ridges. The mobile car 100 can travel and move in the passage, and the nozzle on the mounting substrate 133 should face the side of the flower to be sprayed. When the mobile car 100 stops, at this time, the projection area of ​​the mounting substrate 133 facing the flower is the current spraying area. At this time, the flower coordinate acquisition component 200 can obtain the coordinate information of all flowers in the current spraying area. In this solution, the flower coordinate acquisition component 200 is preferably a binocular recognition camera device. Then the flower coordinate information is fed back to the coordinate receiving module. After the coordinate receiving module receives the flower coordinate information, the nozzle matching module matches the corresponding telescopic nozzle 134 for the flower according to the flower coordinate information; at this time, the mobile control module outputs a first instruction to the substrate drive module according to the matching result, and controls the substrate drive module to drive the mounting substrate 133 to move, so that the telescopic nozzle 134 moves to the flower coordinates. For example, there are several flowers in the current spraying area, and the flower coordinate acquisition component 200 can obtain the coordinate information of these flowers and feed the flower coordinate information back to the coordinate receiving module. At the same time, there are n nozzles on the mounting substrate 133, and the telescopic nozzle 134 is marked as 1, 2...n. Then the current spraying area is divided into n sub-areas according to the number of nozzles, and the nozzle matching module can match the flowers falling into each sub-area according to the flower coordinate information. For example, assuming that the number of flowers falling into the nth sub-area is 10, then after the coordinate information of these 10 flowers is fed back to the coordinate receiving module, the nozzle matching module matches these 10 flowers with the nth sub-area according to the flower coordinate information, and the telescopic nozzle 134 corresponding to the nth sub-area is telescopic nozzle n, then the telescopic nozzle 134 matched by these 10 flowers is the telescopic nozzle n in the nth sub-area, and at this time, the telescopic nozzle n performs the spraying action on the 10 flowers in the sub-area. The coordinates of one of the 10 flowers in the sub-area are (X1, Y1), and the coordinates of the matching telescopic nozzle n are (x n ,y n ), the mobile control module outputs a first instruction to the substrate drive module according to the matching result, and controls the substrate drive module to drive the mounting substrate 133 to move, so that the telescopic nozzle n moves to x n =X1,y n-1 =Y1, at this time, the position confirmation module confirms x n Located at X1 and y nWhen it is at Y1, the second instruction is output to the spraying module, and the spraying control module controls the matching telescopic nozzle n to spray the flowers matched thereto, completing the spraying action on one flower. Repeat the above steps until the spraying of 10 flowers in the nth sub-area is completed, that is, the spraying of the nth sub-area is completed. Similarly, when all the telescopic nozzles 134 in the current spraying area complete the spraying action on the sub-areas corresponding to them, the spraying of the current spraying area is completed. Then the mobile cart 100 moves a preset distance, which is the length of the mounting substrate 133 in the direction of travel of the mobile cart 100. After moving to the preset distance, the mobile cart 100 stops moving. At this time, the projection area of ​​the mounting substrate 133 facing the flowers is the next area that needs to be sprayed.

[0033] In this process, since multiple telescopic nozzles 134 are arranged on the mounting substrate 133, each telescopic nozzle is responsible for spraying the flowers in its sub-area. The mounting substrate only needs to move a small range in the sub-area to move the matching telescopic nozzle to the flower coordinates. When spraying a current spraying area, the stroke of the mounting substrate 133 is greatly reduced, thereby improving the overall work efficiency.

[0034] In a preferred embodiment, the nozzle matching module includes an area determination unit, an area division unit, and a matching unit; the area determination unit obtains the boundary function of the mounting substrate 133, and the boundary function and the flower coordinates are in the same coordinate system, the area division unit divides the area formed by the boundary function according to the number and arrangement of the telescopic nozzles 134 on the mounting substrate 133, obtains sub-areas corresponding one-to-one to the several telescopic nozzles 134, and obtains the sub-area boundary function, the matching unit obtains the flower coordinates falling within the sub-area boundary function, and the flower coordinates are matched with the telescopic nozzle 134 corresponding to the sub-area.

[0035] The projection area of ​​the mounting substrate 133 facing the flowers is the current spraying area. The area determination unit obtains the boundary function of the mounting substrate 133, that is, obtains the boundary function of the current spraying area. A plurality of telescopic nozzles 134 are arranged on the mounting substrate 133. If the area formed by the boundary function of the mounting substrate 133 is marked as T, its area is S. T According to the number and arrangement of the telescopic nozzles 134, the telescopic nozzles 134 are marked as 1, 2, ... n, and the area of ​​the sub-area corresponding to each telescopic nozzle 134 is marked as a1, a 2…… a n , and (a1+a2+……a n )=S TThe area division unit obtains the boundary function of each sub-area according to the area of ​​the sub-area and the arrangement of the telescopic nozzles 134. For example, the boundary function of sub-area n is f(x)=x n , f(y)=y n , and a n =x n ×y n , if the coordinates of a flower are (X m , Y m ), the coordinate falls within the boundary function f(x)=x n , f(y)=y n In, and X1 <x n , Y m <y n , then the matching unit obtains the flower coordinates, and the flower coordinates correspond to the telescopic nozzle n corresponding to the sub-area n. In this way, all flowers falling within the boundary function of the sub-area n are obtained, and the coordinates of these flowers are obtained, and then these flower coordinates are matched with the telescopic nozzle n. In this way, the telescopic nozzle n only needs to move within the sub-area n to spray the flowers falling within the boundary function of the sub-area.

[0036] The spraying control module includes a distance determination unit, a distance judgment unit, a first control unit and a second control unit. The distance determination unit is used to determine whether the straight-line horizontal distance between the telescopic nozzle 134 and the flowers matched with the telescopic nozzle 134 is ≥ the spraying critical distance according to the second instruction, and output a third instruction when the straight-line horizontal distance is ≥ the spraying critical distance, and output a fourth instruction when the straight-line horizontal distance is < the spraying critical distance. The first control unit is used to control the matched telescopic nozzle 134 to perform the spraying task according to the third instruction, and the second control unit is used to control the telescopic nozzle 134 to extend the spraying distance according to the fourth instruction, and output a fifth instruction, wherein the spraying distance = straight-line horizontal distance - spraying critical distance + compensation distance, and the first control unit is used to control the matched telescopic nozzle 134 to perform the spraying task according to the fifth instruction.

[0037] In the above steps, after the telescopic nozzle 134 is matched for the flowers to be sprayed, since the position of the flowers is not fixed, the straight-line distances between each flower and the mounting substrate 133 vary, and the critical spraying distance of the telescopic nozzle 134, i.e., the farthest distance that the sprayed medicine from the telescopic nozzle 134 reaches, is also limited, then it is necessary to determine, judge and adjust the straight-line distance between the flowers and the telescopic nozzle 134. Please refer to Figure 2, the straight-line horizontal distance between the telescopic nozzle 134 and the flower matched with the telescopic nozzle 134 is L, and the critical distance for spraying of the telescopic nozzle 134 is D. When the position confirmation module outputs the second instruction, the distance determination unit determines the straight-line horizontal distance L, and then the distance judgment unit judges the straight-line horizontal distance L and the critical distance for spraying: when L<D, the flower coordinates are located within the critical distance for spraying sprayed by the telescopic nozzle 134, and the telescopic nozzle 134 does not need to continue to extend to spray the medicine on the flower. At this time, the distance judgment unit outputs the third instruction, i.e., the spraying instruction, to the first control unit, and the first control unit controls the matched telescopic nozzle 134 to perform the spraying task; when L≥D, the flower coordinates are located within the critical distance for spraying sprayed by the telescopic nozzle 134. Beyond the critical distance for spraying, the telescopic nozzle 134 needs to continue to extend a certain distance before it can spray the medicine on the flowers. The distance that the telescopic nozzle 134 extends is the spraying distance l. At this time, the distance judgment unit outputs the fourth instruction, namely the spraying instruction, to the second control unit. The second control unit controls the telescopic nozzle 134 to extend the spraying distance according to the fourth instruction. In theory, the spraying distance = straight horizontal distance - critical distance for spraying. However, in this way, after the telescopic nozzle 134 extends the spraying distance l, the sprayed medicine just reaches the flowers but does not fall on the flowers. Therefore, a certain compensation distance should be added. This compensation distance can make the medicine sprayed by the telescopic nozzle 134 fall on the flowers, that is, l = L-D + compensation distance. For example, the straight horizontal distance L between a telescopic nozzle 134 and the flowers matched with the telescopic nozzle 134 is 50 cm, and the critical spraying distance D of the telescopic nozzle 134 is 30 cm. If the telescopic nozzle 134 extends 20 cm, the medicine will just reach the flowers after being sprayed from the telescopic nozzle 134, but there is no pressure at the end, and it cannot be sprayed on the flowers. At this time, a compensation distance can be set according to the actual situation, such as 5 cm. Then the spraying distance at this time is l = 50-30+5 = 25 cm, and the telescopic nozzle 134 can spray the medicine on the flowers as long as it extends 25 cm. After the telescopic nozzle 134 extends to the spraying distance, the distance judgment unit outputs the fifth instruction, and the first control unit controls the matching telescopic nozzle 134 to perform the spraying task according to the fifth instruction.

[0038] The substrate driving module drives the mounting substrate 133 to move, so that when at least one telescopic nozzle 134 moves to the flower coordinates that match the telescopic nozzle 134, the movement of the telescopic nozzle 134 in the x-coordinate and the y-coordinate is mainly achieved by the movement of the mounting substrate 133. Therefore, in a specific embodiment of the present application, the mobile trolley 100 is provided with a mounting frame 120, and the mounting frame 120 can move in a horizontal direction parallel to the trolley, and the mounting substrate 133 is arranged on the mounting frame 120 and can move in a vertical direction along the mounting frame 120. When the mounting frame 120 moves in a horizontal direction along the trolley, the mounting substrate 133 also moves in a horizontal direction along the trolley, and at the same time, the mounting substrate 133 can also move in a vertical direction along the mounting frame 120, thereby realizing the movement of the telescopic nozzle 134 on the mounting substrate 133 in the horizontal and vertical directions, that is, the movement in the x-coordinate and the y-coordinate.

[0039] Furthermore, the substrate driving module includes a horizontal driving component 131 and a vertical driving component 132, the horizontal driving component 131 includes a horizontal guide groove 1311 arranged on the moving trolley 100 and parallel to the traveling direction of the moving trolley 100, a horizontal transmission screw rod 1312 is arranged in the horizontal guide groove 1311, and a first driving motor 1314 is provided on the moving trolley 100 and is transmission-connected to the horizontal transmission screw rod 1312, the mounting frame 120 is guided and matched with the horizontal guide groove 1311, and is transmission-connected to the horizontal transmission screw rod 1312; the vertical driving component 132 includes a vertical driving screw rod 1321 and a vertical guide rod 1322 vertically passing through the mounting frame 120, the vertical driving screw rod 1321 is transmission-connected to a second driving motor 1323 arranged outside the mounting frame 120, and the mounting substrate 133 is transmission-connected to the vertical driving screw rod 1321, and is guidance-matched with the vertical guide rod 1322.

[0040] When the installation base plate 133 needs to be moved to a horizontal position, the first drive motor 1314 is started to drive the horizontal transmission screw 1312 to rotate. At this time, since the installation frame 120 is connected to the horizontal transmission screw 1312 by transmission, the installation frame 120 moves along the horizontal guide groove 1311 in a horizontal direction parallel to the travel direction of the mobile vehicle 100 as the horizontal transmission screw 1312 rotates. The horizontal movement of the installation frame 120 drives the installation base plate 133 set thereon to move horizontally. Furthermore, a horizontal guide rod 1313 can also be set in the horizontal guide groove 1311. The horizontal guide rod 1313 is parallel to the horizontal transmission screw 1312. The installation frame 120 can move in the horizontal direction along the horizontal guide rod 1313. The function of the horizontal guide rod 1313 is to assist in guiding, so that the movement of the installation frame 120 in the horizontal guide groove 1311 is more stable. When the mounting base plate 133 needs to be moved in the vertical direction, the second drive motor 1323 is started to drive the vertical drive screw 1321 to rotate, and the mounting base plate 133 moves in the vertical direction as the vertical drive screw 1321 rotates. In order to make the connection and vertical transmission of the mounting base plate 133 more stable, the vertical guide rod 1322 and the vertical transmission screw are in the same plane and parallel to each other, so that the mounting base plate 133 can move vertically in a plane perpendicular to the moving vehicle 100. In this way, the horizontal and vertical movement of the mounting base plate 133 is realized, that is, the movement of the telescopic nozzle 134 in the horizontal and vertical directions, that is, the movement in the x-coordinate and the y-coordinate.

[0041] From the above, it can be seen that after adjusting the coordinates of the telescopic nozzle 134 in the horizontal and vertical directions to match it to the corresponding flowers, it is also necessary to adjust the spraying distance of the telescopic nozzle 134, that is, to extend the telescopic nozzle 134, or to reset / retract the telescopic nozzle 134. Therefore, in a preferred embodiment, the telescopic nozzle 134 includes a nozzle 1341, a hard tube 1342, a hose 1343 and an electric telescopic rod 1344, the telescopic nozzle 134 is arranged at one end of the hard tube 1342, the other end of the hard tube 1342 is connected to the hose 1343, the hose 1343 is connected to the medicine box 110, the fixed end of the electric telescopic rod 1344 is arranged on the mounting 133 substrate, the telescopic end of the electric telescopic rod 1344 is perpendicular to the mounting substrate 133 and horizontally arranged in a direction away from the mounting substrate 133, and the telescopic end is connected to one end of the hard tube 1342 where the nozzle 1341 is arranged, the extension direction of the hard tube 1342 is parallel to the telescopic direction of the electric telescopic rod 1344, the telescopic end can drive the nozzle 1341 to move horizontally in a direction away from the mounting substrate 133, and the electric telescopic rod 1344 is electrically connected to the spraying control module. When the spraying control module outputs the second instruction to control the matching telescopic nozzle 134 to perform the spraying task and the telescopic nozzle 134 needs to be extended, the electric telescopic rod 1344 extends, and the telescopic end drives the hard tube 1342 to extend, that is, it moves in the direction away from the mounting base plate 133. Since the other end of the hard tube 1342 is connected to the hose 1343, the length of the hose 1343 can be set with a large margin, and the hose 1343 can be placed on the mobile cart 100 in a coiled or bent manner. When the hard tube 1342 is extended, the hose 1343 is stretched to achieve the extension of the telescopic nozzle 134. Similarly, when the electric telescopic tube is shortened, the telescopic end drives the hard tube 1342 to retract, thereby achieving the reset / retraction of the telescopic nozzle 134. Please refer to Figure 5Since the mounting base 133 is located higher than the medicine box 110, the hose 1343 is in a drooping state after being connected to the hard tube 1342. In order to prevent the bending part of the hose 1343 from affecting the circulation of the medicine liquid and to support and guide the hose 1343 at the same time, a hose bracket 135 is provided on the side of the mounting base 133 away from the telescopic nozzle 134. The hose bracket 135 includes a guide wheel 1351 and a support arm 1352. One end of the support arm 1352 is connected to the mounting base 133, and the other end is connected to the guide wheel 1351. The hose 1343 can slide in the guide wheel 1351. In this solution, the guide wheel 1351 is preferably a pulley, so that when the telescopic nozzle 134 is extended and retracted, the hose 1343 can slide flexibly on the pulley along with the extension and retraction of the telescopic nozzle 134. At the same time, when the mounting base 133 moves greatly in the horizontal direction, in order to prevent the hose 1343 from having a large relative displacement in the horizontal direction in the pulley and affecting the guiding effect of the pulley on the hose 1343, the support arm 1352 is hingedly connected to the mounting base 133. When the mounting base 133 moves in the horizontal position, the support arm 1352 can swing in the horizontal plane accordingly, so that the direction of the pulley is also adjusted at the same time, ensuring that the hose 1343 does not have a relative deviation in the pulley.

[0042] In another specific embodiment of the present application, a pollination method for fruits and vegetables is applied to the above-mentioned pollination device for fruits and vegetables, and the method comprises:

[0043] S10, the moving trolley 100 moves, and during the movement of the moving trolley 100, the mounting base 133 is parallel to the area to be sprayed 310, and when the far-end spraying boundary 320 of the spraying assembly is flush with the starting boundary of the spraying area, the moving trolley 100 continues to move a preset distance;

[0044] The mobile vehicle 100 moves in the passage between the soil ridges, and the telescopic nozzle 134 on the mounting base 133 faces the side of the flowers to be sprayed, that is, the mounting base 133 is parallel to the area 310 to be sprayed, see Figure 6 The moving direction of the mobile cart 100 is from left to right, and it moves to the far spraying boundary 320 of the mounting substrate 133 in the figure, that is, the position where the right boundary in the figure is flush with the starting boundary of the spraying area, as the starting position of the spraying operation. At this time, the mobile cart 100 is controlled to move a preset distance, which is the length of the mounting substrate 133 in the moving direction of the mobile cart 100. After moving to the preset distance, the mobile cart 100 stops moving. At this time, the projection area of ​​the mounting substrate 133 facing the flowers is the current spraying area, and the spraying component sprays the above-mentioned current spraying area.

[0045] S20, the flower coordinate acquisition component 200 acquires the flower coordinates in the spraying area;

[0046] The flower coordinate acquisition component 200 can acquire the coordinate information of all flowers in the spraying area, specifically by using binocular recognition technology to calculate the distance and angle between two cameras to determine the three-dimensional position and shape of the object. In this solution, binocular recognition technology is used to determine the three-dimensional coordinates of the flowers in the spraying area.

[0047] S30, the coordinate receiving module receives the flower coordinates acquired by the flower coordinate acquiring component 200;

[0048] After the flower coordinate acquisition component 200 acquires the three-dimensional coordinate information of the flower, it transmits the information to the coordinate receiving module.

[0049] S40, the nozzle matching module matches the designated telescopic nozzle 134 for the flower according to the flower coordinates to obtain a matching result;

[0050] After the coordinate receiving module receives the flower coordinate information, the nozzle matching module matches the corresponding telescopic nozzle 134 for the flower according to the flower coordinate information. For example, if there are several flowers in a current spraying area, the flower coordinate acquisition component 200 can obtain the coordinate information of these flowers and feed the flower coordinate information back to the coordinate receiving module. At the same time, there are n nozzles on the mounting substrate 133, and the telescopic nozzle 134 is marked as 1, 2...n. Then, the current spraying area is divided into n sub-areas according to the number of nozzles. The nozzle matching module can match the flowers falling into each sub-area according to the flower coordinate information. For example, assuming that the number of flowers falling into the nth sub-area is 10, then after the coordinate information of these 10 flowers is fed back to the coordinate receiving module, the nozzle matching module matches these 10 flowers with the nth sub-area according to the flower coordinate information, and the telescopic nozzle 134 corresponding to the nth sub-area is telescopic nozzle n, then the telescopic nozzle 134 matched by these 10 flowers is the telescopic nozzle n in the nth sub-area.

[0051] S50, the movement control module outputs a first instruction for controlling the movement of the mounting substrate 133 according to the matching result, and the substrate driving module executes the first instruction, so that the mounting substrate 133 drives at least one of the telescopic nozzles 134 to move to the flower coordinates that match the telescopic nozzle 134;

[0052] According to the matching result of the previous step, the mobile control module outputs a first instruction to the control substrate driving module, and the control substrate driving module drives the mounting substrate 133 to move, so that the matching telescopic nozzle 134 moves to the coordinates of the flower. For example, the coordinates of one of the 10 flowers in the above sub-area are (X1, Y1), and the coordinates of the matching telescopic nozzle n are (x n ,y n), the mobile control module outputs a first instruction to the substrate drive module according to the matching result, and controls the substrate drive module to drive the mounting substrate 133 to move, so that the telescopic nozzle n moves to x n =X1,y n-1 =Y1.

[0053] S60, when at least one of the telescopic nozzles 134 moves to the flower coordinates that match the telescopic nozzle 134, the position confirmation module outputs a second instruction;

[0054] S70, the spraying control module controls the matching telescopic nozzle 134 to perform the spraying task according to the second instruction.

[0055] Location confirmation module confirmation x n Located at X1 and y n When it is at Y1, the spraying module outputs the second instruction, i.e., the spraying instruction, and the spraying control module controls the matched telescopic nozzle n to spray the flowers matched thereto, completing the spraying action for one flower. Repeat the above steps until the spraying of 10 flowers in the nth sub-area is completed, i.e., the spraying of the nth sub-area is completed. Similarly, when all the telescopic nozzles 134 in the current spraying area complete the spraying action for the corresponding sub-areas, the spraying of the current spraying area is completed.

[0056] In a preferred embodiment, the nozzle matching module includes a region determination unit, a region division unit, and a matching unit; in the fruit and vegetable pollination method, step S40 is specifically as follows:

[0057] S41, the area determination unit obtains a boundary function of the mounting substrate 133, and the boundary function and the flower coordinates are in the same coordinate system;

[0058] The area determination unit obtains the boundary function of the mounting substrate 133, that is, obtains the boundary function of the current spraying area. Since the current spraying area is the projection area of ​​the mounting substrate 133 facing the flowers, the flower coordinates and the boundary function of the mounting substrate 133 are in the same coordinate system.

[0059] S42, the area division unit divides the area formed by the boundary function according to the number and arrangement of the telescopic nozzles 134 on the mounting substrate 133, obtains sub-areas corresponding to the plurality of telescopic nozzles 134, and obtains the sub-area boundary function;

[0060] A plurality of telescopic nozzles 134 are arranged on the mounting substrate 133. If the region formed by the boundary function of the mounting substrate 133 is marked as T, the area of ​​the region is S. TAccording to the number and arrangement of the telescopic nozzles 134, the telescopic nozzles 134 are marked as 1, 2, ... n. Then, the area of ​​the sub-area corresponding to each telescopic nozzle 134, that is, the spraying range area, is marked as a1, a2, ... 2…… a n , then (a1+a2+…a n )=S T , for example, the boundary function of sub-region n is f(x)=x n , f(y)=y n , and a n =x n ×y n , if the coordinates of a flower are (X m , Y m ), the coordinate falls within the boundary function f(x)=x n , f(y)=y n and X1≦x n , Y m ≦y n , then the matching unit obtains the flower coordinates, and the flower coordinates correspond to the telescopic nozzle n corresponding to the sub-area n.

[0061] S43, the matching unit obtains the flower coordinates that fall within the sub-region boundary function, and the flower coordinates are matched with the telescopic nozzle 134 corresponding to the sub-region.

[0062] In this way, the matching unit obtains all the flowers that fall within the boundary function of sub-area n, obtains the coordinates of these flowers, and then matches these flower coordinates with the telescopic nozzle n. In this way, the telescopic nozzle n only needs to move within the sub-area n to spray the flowers that fall within the boundary function of the sub-area.

[0063] In a preferred embodiment, the spraying control module includes a distance determination unit, a distance judgment unit, a first control unit and a second control unit; in the pollination method for fruits and vegetables, the step S80 is specifically: the distance determination unit is used to determine the straight-line horizontal distance between the telescopic nozzle 134 and the flower matched with the telescopic nozzle 134 according to the second instruction, the distance judgment unit is used to judge whether the straight-line horizontal distance is ≥ the spraying critical distance, and output a third instruction when the straight-line horizontal distance is < the spraying critical distance, and output a fourth instruction when the straight-line horizontal distance is ≥ the spraying critical distance. The first control unit controls the matched telescopic nozzle 134 to perform the spraying task according to the third instruction, and the second control unit controls the telescopic nozzle 134 to extend the spraying distance according to the fourth instruction, the spraying distance = straight-line horizontal distance - spraying critical distance + compensation distance, and outputs a fifth instruction, and the first control unit is used to control the matched telescopic nozzle 134 to perform the spraying task according to the fifth instruction.

[0064] After the telescopic nozzle 134 is matched to the flowers to be sprayed, since the position of the flowers is not fixed, the straight-line distance between each flower and the mounting substrate 133 varies, and the critical spraying distance of the telescopic nozzle 134 (i.e., the farthest distance that the spray from the telescopic nozzle 134 reaches) is also limited, then it is necessary to determine, judge and adjust the straight-line distance between the flowers and the telescopic nozzle 134. Please refer to Figure 2, the straight-line horizontal distance between the telescopic nozzle 134 and the flower matched with the telescopic nozzle 134 is L, and the critical distance for spraying of the telescopic nozzle 134 is D. When the position confirmation module outputs the second instruction, the distance determination unit determines the straight-line horizontal distance L, and then the distance judgment unit judges the straight-line horizontal distance L and the critical distance for spraying: when L<D, the flower coordinates are located within the critical distance for spraying sprayed by the telescopic nozzle 134, and the telescopic nozzle 134 does not need to continue to extend to spray the medicine on the flower. At this time, the distance judgment unit outputs the third instruction, i.e., the spraying instruction, to the first control unit, and the first control unit controls the matched telescopic nozzle 134 to perform the spraying task; when L≥D, the flower coordinates are located within the critical distance for spraying sprayed by the telescopic nozzle 134. Beyond the critical distance for spraying, the telescopic nozzle 134 needs to continue to extend a certain distance before it can spray the medicine on the flowers. The distance that the telescopic nozzle 134 extends is the spraying distance l. At this time, the distance judgment unit outputs the fourth instruction, namely the spraying instruction, to the second control unit. The second control unit controls the telescopic nozzle 134 to extend the spraying distance according to the fourth instruction. In theory, the spraying distance = straight horizontal distance - critical distance for spraying. However, in this way, after the telescopic nozzle 134 extends the spraying distance l, the sprayed medicine just reaches the flowers but does not fall on the flowers. Therefore, a certain compensation distance should be added. This compensation distance can make the medicine sprayed by the telescopic nozzle 134 fall on the flowers, that is, l = L-D + compensation distance. For example, the straight horizontal distance L between a telescopic nozzle 134 and the flowers matched with the telescopic nozzle 134 is 50 cm, and the critical spraying distance D of the telescopic nozzle 134 is 30 cm. If the telescopic nozzle 134 extends 20 cm, the medicine sprayed from the telescopic nozzle 134 just reaches the flowers, but there is no pressure at the end, and it cannot be sprayed on the flowers. At this time, a compensation distance can be set according to the actual situation, such as 5 cm. Then the spraying distance at this time is l = 50-30+5 = 25 cm, and the telescopic nozzle 134 can spray the medicine on the flowers as long as it extends 25 cm. After the telescopic nozzle 134 extends to the spraying distance, the distance judgment unit outputs the fifth instruction, and the first control unit controls the matching telescopic nozzle 134 to perform the spraying task according to the fifth instruction.

[0065] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pollination device for fruits and vegetables, characterized in that: include: A mobile trolley, wherein a medicine box is arranged on the mobile trolley; A medicine spraying assembly comprises a mounting base plate, a base plate driving module for driving the mounting base plate to move parallel to the moving direction of the moving vehicle and in the vertical direction, and a plurality of telescopic spray heads are arrayed on the mounting base plate; the plurality of telescopic spray heads are all connected to the medicine box; A flower coordinate acquisition component is provided on the mobile trolley and is used to acquire the flower coordinates when the mobile trolley is stationary; A control component, the control component includes a coordinate receiving module, a nozzle matching module, a movement control module, a position confirmation module and a spray control module, the coordinate receiving module is used to receive the flower coordinates obtained by the flower coordinate obtaining component; The nozzle matching module is used to match the designated telescopic nozzle for the flower according to the flower coordinates to obtain a matching result; the movement control module is used to output a first instruction to control the action of the mounting substrate according to the matching result, and the substrate driving module executes the first instruction so that the mounting substrate drives at least one of the telescopic nozzles to move to the flower coordinates that match the telescopic nozzle; the position confirmation module is used to output a second instruction when at least one of the telescopic nozzles moves to the flower coordinates that match the telescopic nozzle; the spraying control module controls the matched telescopic nozzle to perform the spraying task according to the second instruction.

2. The pollination device for fruits and vegetables according to claim 1, characterized in that: The nozzle matching module includes an area determination unit, an area division unit, and a matching unit; the area determination unit obtains the boundary function of the mounting substrate, and the boundary function and the flower coordinates are in the same coordinate system, the area division unit divides the area formed by the boundary function according to the number and arrangement of the telescopic nozzles on the mounting substrate, obtains sub-areas corresponding to the several telescopic nozzles one by one, and obtains the sub-area boundary function, the matching unit obtains the flower coordinates falling within the sub-area boundary function, and the flower coordinates are matched with the telescopic nozzle corresponding to the sub-area.

3. The pollination device for fruits and vegetables according to claim 1, characterized in that: The spraying control module includes a distance determination unit, a distance judgment unit, a first control unit and a second control unit. The distance determination unit is used to determine the straight-line horizontal distance between the telescopic nozzle and the flower matched with the telescopic nozzle according to the second instruction. The distance judgment unit is used to judge whether the straight-line horizontal distance is ≥ the critical distance for spraying, and output a third instruction when the straight-line horizontal distance is < the critical distance for spraying, and output a fourth instruction when the straight-line horizontal distance is ≥ the critical distance for spraying. The first control unit is used to control the matched telescopic nozzle to perform the spraying task according to the third instruction. The second control unit is used to control the telescopic nozzle to extend the spraying distance according to the fourth instruction, and output a fifth instruction. The spraying distance = straight-line horizontal distance - critical distance for spraying + compensation distance. The first control unit is used to control the matched telescopic nozzle to perform the spraying task according to the fifth instruction.

4. The pollination device for fruits and vegetables according to claim 1, characterized in that: The movable trolley is provided with a mounting frame, and the mounting frame can move in a horizontal direction parallel to the trolley. The mounting substrate is arranged on the mounting frame, and can move in a vertical direction along the mounting frame.

5. The pollination device for fruits and vegetables according to claim 4, characterized in that: The substrate driving module includes a horizontal driving component and a vertical driving component. The horizontal driving component includes a horizontal guide groove which is arranged on the moving trolley and parallel to the moving direction of the moving trolley. A horizontal transmission screw is arranged in the horizontal guide groove. A first driving motor which is transmission-connected to the horizontal transmission screw is arranged on the moving trolley. The mounting frame is guided and matched with the horizontal guide groove and is transmission-connected to the horizontal transmission screw. The vertical driving component includes a vertical driving screw and a vertical guide rod which vertically penetrate the mounting frame. The vertical driving screw is transmission-connected to a second driving motor which is arranged outside the mounting frame. The mounting substrate is transmission-connected to the vertical driving screw and is guidance-matched with the vertical guide rod.

6. The pollination device for fruits and vegetables according to claim 1, characterized in that: The telescopic nozzle comprises a nozzle, a hard tube, a soft tube and an electric telescopic rod, the nozzle is arranged at one end of the hard tube, the other end of the hard tube is connected to the soft tube, the soft tube is connected to the medicine box, the fixed end of the electric telescopic rod is arranged on the mounting base plate, the telescopic end of the electric telescopic rod is perpendicular to the mounting base plate and horizontally arranged in a direction away from the mounting base plate, and the telescopic end is connected to one end of the hard tube where the nozzle is arranged, the extension direction of the hard tube is parallel to the telescopic direction of the electric telescopic rod, the telescopic end can drive the nozzle to move horizontally in a direction away from the mounting base plate, and the electric telescopic rod is electrically connected to the spraying control module.

7. A pollination method for fruits and vegetables, characterized in that: Applied to the fruit and vegetable pollination device according to any one of claims 1 to 6, the method comprising: S10, controlling the movement of the mobile trolley, during which the mounting base is parallel to the area to be sprayed, until the far-end spraying boundary of the spraying assembly is flush with the starting boundary of the spraying area; S20, the mobile vehicle continues to move a preset distance; S30, the flower coordinate acquisition component acquires the flower coordinates in the current spraying area, where the current spraying area is the projection area of ​​the mounting base facing the flower when the moving vehicle stops; S40, the coordinate receiving module receives the flower coordinates acquired by the flower coordinate acquiring component; S50, the nozzle matching module matches the designated telescopic nozzle for the flower according to the flower coordinates to obtain a matching result; S60, the movement control module outputs a first instruction for controlling the movement of the installation substrate according to the matching result, and the substrate driving module executes the first instruction, so that the installation substrate drives at least one of the telescopic nozzles to move to the flower coordinates that match the telescopic nozzle; S70, when at least one of the telescopic nozzles moves to the flower coordinates that match the telescopic nozzle, the position confirmation module outputs a second instruction; S80: The spraying control module controls the matching telescopic nozzle to perform the spraying task according to the second instruction.

8. The method for pollination of fruits and vegetables according to claim 7, characterized in that: The nozzle matching module includes an area determination unit, an area division unit, and a matching unit; in the fruit and vegetable pollination method, the step S40 is specifically: S41, the area determination unit obtains a boundary function of the installation substrate, and the boundary function and the flower coordinates are in the same coordinate system; S42, the area division unit divides the area formed by the boundary function according to the number and arrangement of the telescopic nozzles on the mounting substrate to obtain sub-areas corresponding to the plurality of telescopic nozzles one by one, and obtains the sub-area boundary function; S43, the matching unit obtains the flower coordinates that fall within the sub-region boundary function, and the flower coordinates are matched with the telescopic nozzle corresponding to the sub-region.

9. The pollination method for fruits and vegetables according to claim 7, characterized in that: The spray control module includes a distance determination unit, a distance judgment unit, a first control unit and a second control unit; in the fruit and vegetable pollination method, the step S80 is specifically: The distance determination unit is used to determine the straight-line horizontal distance between the telescopic nozzle and the flowers matched with the telescopic nozzle according to the second instruction, and the distance judgment unit is used to judge whether the straight-line horizontal distance is ≥ the critical distance for spraying, and output a third instruction when the straight-line horizontal distance is < the critical distance for spraying, and output a fourth instruction when the straight-line horizontal distance is ≥ the critical distance for spraying. The first control unit controls the matched telescopic nozzle to perform the spraying task according to the third instruction, and the second control unit controls the telescopic nozzle to extend the spraying distance according to the fourth instruction, and outputs a fifth instruction, wherein the spraying distance = the straight-line horizontal distance - the critical distance for spraying + the compensation distance, and the first control unit is used to control the matched telescopic nozzle to perform the spraying task according to the fifth instruction.

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