Intelligent castration robot system for corn for seed production and control method

Abstract

The invention relates to the technical field of intelligent agriculture, and provides an intelligent castration robot system for seed corn and a control method. The intelligent castration robot system for the corn for seed production comprises an intelligent castration robot vehicle body; the unmanned aerial vehicle is used for collecting field image information; the control and planning system is used for receiving the field image information collected by the unmanned aerial vehicle, identifying field feature information from the field image information, generating a castration operation path and controlling the intelligent castration robot vehicle body to move along the castration operation path; the visual detection unit is used for identifying spatial position information of corn female parent tassels in the field; the multi-degree-of-freedom operation mechanical arm is used for adjusting the castration end effector to an operation position matched with corn female parent tassels; and the castration end executor is used for removing the corn female parent tassels. According to the intelligent castration robot system for seed production corn and the control method, the castration efficiency can be improved, and high hybrid corn seed purity and seed production efficiency are achieved.

Description

Technical Field

[0001] This invention relates to the field of smart agriculture technology, and in particular to a smart detasseling robot system and control method for seed corn. Background Technology

[0002] Currently, the emasculation of the female parent in hybrid maize seed production usually relies on manual labor, such as manual emasculation or manual operation of ground-based agricultural machinery. These methods are inefficient and require repeated manual checks to remove any missed female parent tassels, making it difficult to effectively guarantee seed purity.

[0003] Therefore, with the continuous expansion of seed production scale, these methods are unable to meet the demand for emasculation operations within a short time window for emasculation of the maternal parent, thus restricting the development of maize seed production. Summary of the Invention

[0004] This invention provides an intelligent demasting robot system and control method for seed maize, which solves the problem of low demasting efficiency in the prior art and supports the realization of high purity and seed production efficiency of hybrid maize seeds.

[0005] This invention provides an intelligent detasseling robot system for seed maize, comprising: an intelligent detasseling robot body, an unmanned aerial vehicle, a control and planning system, a vision inspection unit, a multi-degree-of-freedom robotic arm, and a detasseling end effector; Among them, the drone is mounted on the top of the intelligent demaleation robot and is used to collect field image information; The control and planning system, located inside the intelligent detasseling robot, receives field image information collected by the drone, identifies field feature information from the field image information, generates a detasseling operation path, and controls the intelligent detasseling robot to move along the detasseling operation path; the field feature information includes field boundaries, row direction, and parent row ratio information; The visual detection unit, installed on the lower part of the intelligent detasseling robot, is used to identify the spatial location information of the male ears of maize female plants in the field; A multi-degree-of-freedom robotic arm is fixed to the lower part of the intelligent detasseling robot body and is used to adjust the detasseling end effector to the working position that matches the male tassel of the maize female parent. The detasseling end effector is located at the bottom end of a multi-degree-of-freedom robotic arm and is used to remove the male ears of maize female plants.

[0006] According to the present invention, a seed corn intelligent detasseling robot system is provided, wherein the detasseling end effector includes a front cutting device and a rear extraction detasseling device; The front cutting device is used to cut the top of the corn plant in a horizontal direction; The rear-extraction detasseling device is used to extract the male ears of maize female plants.

[0007] According to the present invention, a seed-producing maize intelligent detasseling robot system, including a control and planning system, is specifically used to control the front cutting device to cut the top of the maize plant in a horizontal direction in batch detasseling mode, and to control the rear extraction detasseling device to continuously extract the male ears of the maize female parent.

[0008] According to the present invention, a seed-producing maize intelligent detasseling robot system, including a control and planning system, is specifically used to identify the spatial location information of the maize female parent's male ears through a visual detection unit in the missing removal and detasseling mode, and control the rear extraction detasseling device to extract the male ears of the maize female parent.

[0009] According to the present invention, a seed corn intelligent detasseling robot system has a multi-degree-of-freedom robotic arm with three positional degrees of freedom and two orientational degrees of freedom. The three positional degrees of freedom correspond to position adjustment in the X, Y, and Z axes, respectively, and the two orientational degrees of freedom correspond to orientation adjustment of rotation around the Z axis and tilting around the Y axis, respectively.

[0010] According to the present invention, a seed corn intelligent detasseling robot system is provided, wherein the multi-degree-of-freedom working robotic arm and the detasseling end effector adopt an upper and lower combination structure.

[0011] According to the present invention, a smart detasseling robot system for seed maize includes a visual detection unit comprising a camera and an image recognition module. Cameras are used to capture images of the fields below as the intelligent demasting robot moves. The image recognition module is used to identify the spatial location information of the maize female tassels from the field image below.

[0012] The intelligent detasseling robot system for seed corn provided by the present invention further includes: an energy and lighting guarantee unit, which is used to provide the energy and light required for continuous day and night operation.

[0013] The energy and lighting protection unit includes a night lighting module, which is used to provide supplemental lighting for the detection area of ​​the visual inspection unit.

[0014] The intelligent detasseling robot system for seed maize provided by the present invention further includes: a tassel recovery and storage unit; The male ear recovery and storage unit includes a recovery module and a storage module; The demasting end effector is also used to transfer the removed maize female male ears to the recycling module; The recycling module is used to import the removed maize female tassels into the storage module.

[0015] The present invention also provides a control method applied to any of the above-described intelligent detasseling robot systems for seed maize, the method comprising: Acquire field image information collected by drones; Identify field image information to obtain field feature information, which includes field boundaries, row direction, and parent row ratio information; Generate a demaleation operation path and control the intelligent demaleation robot to move along the demaleation operation path; In the batch detasseling mode, the front cutting device is controlled to cut the top of the corn plant in a horizontal direction, and the rear extraction detasseling device is controlled to continuously extract the male ears of the maternal corn plant. In the detassel removal mode, the spatial location information of the maize female parent's male ears is identified by the visual detection unit, and the rear extraction detassel removal device is controlled to extract the maize female parent's male ears.

[0016] The present invention also provides a control device, comprising the following modules: The acquisition module is used to acquire field image information collected by the drone; The processing module is used to identify field image information and obtain field feature information, which includes field boundaries, row direction and parent row ratio information. The processing module is also used to generate demaleation operation paths; The control module is used to control the movement of the intelligent male emasculation robot along the male emasculation operation path; The control module is also used to control the front cutting device to cut the top of the corn plant in the horizontal direction in the batch detasseling mode, and to control the rear extraction detasseling device to continuously extract the male ears of the maize female parent. The control module is also used to identify the spatial location information of the maize female tassels through the visual detection unit in the detasseling and tassel removal mode, and control the rear extraction detasseling device to extract the maize female tassels.

[0017] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the control method described above.

[0018] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method described above.

[0019] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the control method described above.

[0020] The intelligent detasseling robot system and control method for seed maize provided by this invention can efficiently detassel maize female plants in the field through a robotic arm and end effector mounted on the intelligent detasseling robot. Furthermore, a visual detection unit can identify the spatial location of any missed male ears of maize female plants, and the robotic arm and end effector can then precisely remove them. Therefore, this improves the mechanization and intelligence of detasseling operations, reduces labor costs, and increases the purity and efficiency of hybrid maize seeds. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is one of the structural schematic diagrams of the intelligent demasting robot system for seed corn provided in the embodiments of this application.

[0023] Figure 2 This is the second schematic diagram of the intelligent demasting robot system for seed corn provided in the embodiments of this application.

[0024] Figure 3 This is the third schematic diagram of the intelligent demasting robot system for seed corn provided in the embodiments of this application.

[0025] Figure 4 This is a flowchart illustrating the control method provided in the embodiments of this application.

[0026] Figure 5 This is a schematic diagram of the control device provided in the embodiments of this application.

[0027] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0028] Figure label: 110: Intelligent demasking robot body; 120: Unmanned aerial vehicle (UAV); 130: Control and planning system; 140: Vision inspection unit; 150: Multi-degree-of-freedom robotic arm; 160: Demasking end effector; 170: Male ear recovery and storage unit; 180: Energy and lighting protection unit; 161: Front cutting device; 162: Rear extraction demasking device; 171: Recovery module; 172: Storage module. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0030] Figure 1 This is one of the structural schematic diagrams of the intelligent demasting robot system for seed maize provided in this application embodiment. For example... Figure 1 As shown, the intelligent detasseling robot system for seed corn includes: an intelligent detasseling robot body 110, a drone 120, a control and planning system 130, a vision inspection unit 140, a multi-degree-of-freedom robotic arm 150, and a detasseling end effector 160.

[0031] The intelligent demasting robot body 110 is used to move autonomously within the field. For example, the intelligent demasting robot body 110 may be equipped with a drive unit and a navigation and positioning unit.

[0032] Drone 120, mounted on top of the intelligent detasseling robot 110, is used to collect field image information. For example, drone 120 can be controlled to take off. Drone 120 can acquire field image information during flight to assist in generating a detasseling operation path.

[0033] The control and planning system 130 is installed inside the intelligent demasting robot vehicle 110. It is used to receive field image information collected by the drone 120, identify field feature information from the field image information, generate a demasting operation path, and control the intelligent demasting robot vehicle 110 to move along the demasting operation path.

[0034] The field feature information includes field boundaries, row direction, and parent-to-parent ratio. Field boundaries refer to the cultivated area boundaries of the corn plants, used to define the effective area for detasseling. Row direction refers to the arrangement of the corn plants, used to plan the robot's path. Parent-to-parent ratio information refers to the planting ratio of the male and female corn parents, used to distinguish the target for detasseling and accurately detassel the female corn parent.

[0035] The detasseling operation path can be a batch detasseling mode path, used to achieve large-scale batch detasseling. Alternatively, the detasseling operation path can also be a missed detasseling mode path, used to remove missed maize female parent male ears during the inspection process. Missed maize female parent male ears refer to maize female parent male ears that were not removed after performing batch detasseling mode.

[0036] The visual detection unit 140 is installed on the lower part of the intelligent detasseling robot body 110 and is used to identify the spatial location information of the male ears of maize female parent in the field.

[0037] Specifically, the control and planning system 130 can send detection commands to the vision detection unit 140. These commands can be used to instruct the detection of spatial location information of maize female parent tassels. The vision detection unit 140 can respond to the detection commands sent by the control and planning system 130 by identifying the spatial location information of maize female parent tassels within the field. This spatial location information may include the spatial location information of maize female parent tassels that were missed during the batch detasseling process.

[0038] A multi-degree-of-freedom robotic arm 150 is fixed to the lower part of the intelligent detasseling robot body 110 and is used to adjust the detasseling end effector 160 to the working position that matches the male tassel of the maize parent.

[0039] Specifically, the control and planning system 130 can send adjustment commands to the multi-degree-of-freedom robotic arm 150 based on spatial location information. In response to these commands, the multi-degree-of-freedom robotic arm 150 can adjust the detasseling end effector 160 to a working position that matches the male tassel of the maize female parent. Thus, the multi-degree-of-freedom robotic arm 150 can drive the detasseling end effector 160, accurately adjusting its working position.

[0040] The detasseling end effector 160 is located at the bottom end of the multi-degree-of-freedom robotic arm 150 and is used to remove the male ears of maize female plants.

[0041] Specifically, the control and planning system 130 can send a removal command to the detasseling end effector 160. The detasseling end effector 160 can, in response to the removal command sent by the control and planning system 130, perform a removal operation on the maize female parent's tassels. The removal operation can be cutting or pulling (i.e., uprooting).

[0042] In one embodiment, combined with Figure 1 The intelligent deemasculation robot system for seed corn shown is Figure 2 This is the second structural schematic diagram of the intelligent demasting robot system for seed maize provided in this application embodiment. Figure 2 As shown, the demasking end effector 160 includes a front cutting device 161 and a rear pull-out demasking device 162.

[0043] The front cutting device 161 is used to cut the top of the corn plant in a horizontal direction. Specifically, in the batch detasseling mode, the front cutting device 161 can cut the top of corn plants with uneven heights to make the overall height of the maternal corn plants uniform, thus preparing for the continuous detasseling of the rear extraction detasseling device 162.

[0044] The rear-extraction detasseling device 162 is used to extract the male tassels of maize female parents. Specifically, in batch detasseling mode, the rear-extraction detasseling device 162 can continuously and in batches extract the male tassels of female parents. In the omission-removal detasseling mode, the rear-extraction detasseling device 162 can accurately extract the missed male tassels of maize female parents identified by the visual detection unit 140.

[0045] In one embodiment, the control and planning system 130 is specifically used to control the front cutting device 161 to cut the top of the corn plant in a horizontal direction in batch detasseling mode, and to control the rear extraction detasseling device 162 to continuously extract the male ears of the maize female parent. Thus, in batch detasseling mode, the front cutting device 161 and the rear extraction detasseling device 162 can work together to achieve batch detasseling under continuous walking conditions.

[0046] In one embodiment, the control and planning system 130 is specifically used, in the omission removal and tassel removal mode, to identify the spatial location information of the maize female parent's tassels through the visual detection unit 140, and control the rear extraction-type tassel removal device 162 to extract the maize female parent's tassels. Thus, in the omission removal and tassel removal mode, the front cutting device 161 can be disabled, and the rear extraction-type tassel removal device 162 can be activated to perform targeted extraction of the missed maize female parent tassels located by the visual detection unit 140.

[0047] In one embodiment, combined with Figure 1 The intelligent detasseling robot system for seed maize shown also includes a tassel collection and storage unit 170. The tassel collection and storage unit 170 can be connected to the detasseling end effector 160 for collecting and centrally storing the removed maize female male tassels.

[0048] For example, the male ear recovery and storage unit 170 can be configured as a closed, integrated structure.

[0049] Combination Figure 1 The intelligent deemasculation robot system for seed corn shown is Figure 3 This is the third schematic diagram of the intelligent demasting robot system for seed maize provided in this application embodiment. Figure 3 As shown, the male ear recovery and storage unit 170 may include a recovery module 171 and a storage module 172.

[0050] The demasting end effector 160 is also used to transfer the removed maize female male tassels to the recycling module 171.

[0051] The recycling module 171 is used to import the removed maize female parent tassels into the storage module 172. For example, the recycling module 171 can use a guide hood combined with the principle of suction pulse to import the removed or extracted maize female parent tassels into the storage module 172 in real time, thereby realizing the synchronous collection and centralized storage of maize female parent tassels during the detasseling operation, avoiding secondary pollution caused by maize female parent tassels falling and scattering into the field, and improving seed purity.

[0052] In one embodiment, combined with Figure 1 The illustrated intelligent detasseling robot system for seed corn further includes an energy and lighting support unit 180. This unit provides the energy and light required for continuous day and night operation. For example, the energy and lighting support unit 180 may include a battery management module, a solar power supply device, and a nighttime lighting module.

[0053] The energy and lighting protection unit 180 includes a night lighting module, which is used to provide supplemental lighting for the detection area of ​​the vision detection unit 140.

[0054] For example, the nighttime lighting module may include high-brightness LED work lights and multi-angle supplementary lights. The control and planning system 130 can control the on / off state of the high-brightness LED work lights and the supplementary lights at various angles in the nighttime lighting module according to the detection area of ​​the vision inspection unit 140, so as to realize the dynamic adjustment of light intensity and illumination direction during the detection process of the vision inspection unit 140, and ensure the recognition accuracy of nighttime operations.

[0055] In one embodiment, the multi-degree-of-freedom robotic arm 150 has three positional degrees of freedom and two orientational degrees of freedom. The three positional degrees of freedom correspond to position adjustment along the X, Y, and Z axes, respectively, while the two orientational degrees of freedom correspond to rotation around the Z-axis and tilting around the Y-axis, respectively. Thus, the multi-degree-of-freedom robotic arm 150 can achieve position and orientation adjustment of the detasseling end effector 160, enabling precise detasseling operations under different plant heights and angles.

[0056] In one embodiment, the multi-degree-of-freedom robotic arm 150 and the detasseling end effector 160 are arranged in an upper and lower combination structure. The multi-degree-of-freedom robotic arm 150 is used to perform multi-degree-of-freedom adjustment, and the detasseling end effector 160 is used to perform cutting or extraction. The two are combined to form a working unit corresponding to a row of maternal corn.

[0057] Furthermore, in the intelligent detasseling robot system for seed maize, multiple work units can be configured according to the agronomical requirements of seed production to achieve simultaneous detasseling of multiple rows of maize parent plants. During the detasseling process, the working height and frequency of each work unit can be flexibly adjusted according to the plant height and spacing of the corresponding row of maize parent plants. The intervals between different work units can also be flexibly adjusted according to the spacing between different rows. In this way, it can accommodate row spacing with different plant heights and spacing, and flexibly adapt to different operating scenarios and field conditions.

[0058] In one embodiment, the visual detection unit 140 includes a camera and an image recognition module.

[0059] A camera is used to capture images of the fields below as the intelligent demasting robot 110 moves. For example, the camera can be a high-resolution camera.

[0060] The image recognition module is used to identify the spatial location information of the maize female tassels from the field image below.

[0061] In this way, the visual detection unit 140 can use the camera and image recognition module to realize real-time identification of the missing maize female ears during the emasculation process and generate spatial location information, thereby facilitating the accurate removal of the missing maize female ears in the subsequent emasculation mode.

[0062] Based on the above embodiments of this application, the control and planning system can integrate a closed-loop control process including field modeling, path generation, navigation control, visual detection, robotic arm drive, end effector execution, tassel recovery and operation feedback, and can realize fully autonomous and continuous operation of the seed corn intelligent detasseling robot system in batch detasseling mode and omission removal detasseling mode.

[0063] Figure 4 This is a flowchart illustrating the control method provided in the embodiments of this application. Figure 4 The control method shown can be applied to the intelligent detasseling robot system for seed maize in any of the above embodiments. For example... Figure 4 As shown, the control method includes the following: Step 410: Obtain field image information collected by drone.

[0064] Specifically, the drone can be controlled to take off, enabling it to acquire field imagery during flight. Furthermore, the field imagery fed back by the drone can be obtained.

[0065] Step 420: Identify field image information to obtain field feature information.

[0066] Among them, the field feature information includes field boundaries, row direction, and parent row ratio information.

[0067] Step 430: Generate the demaleing operation path and control the intelligent demaleing robot to move along the demaleing operation path.

[0068] The detasseling operation path can be a batch detasseling mode operation path, used to achieve large-scale batch detasseling. Alternatively, the detasseling operation path can also be a missed detasseling mode operation path, used to achieve targeted removal of missed maize female ears during the inspection process.

[0069] Step 440: In batch detasseling mode, control the front cutting device to cut the top of the corn plant in the horizontal direction, and control the rear extraction detasseling device to continuously extract the male ears of the maternal corn plant.

[0070] Step 450: In the detasseling and tassel removal mode, the spatial location information of the maize female parent's male ears is identified by the visual detection unit, and the rear extraction detasseling device is controlled to extract the maize female parent's male ears.

[0071] Furthermore, the removed maize female tassels can be simultaneously transported to the tassel collection and storage unit, enabling the simultaneous collection and centralized storage of maize female tassels during the detasseling process. This avoids secondary pollution caused by maize female tassels falling and scattering into the field, thereby improving seed purity.

[0072] In one embodiment, the control method may further include: controlling the on / off state of high-brightness LED work lights in the night lighting module, as well as the on / off state of supplementary lights at various angles, according to the detection area of ​​the visual inspection unit, to achieve dynamic adjustment of light intensity and illumination direction during the visual inspection unit's detection process, ensuring the recognition accuracy of nighttime operations. Thus, through the energy and lighting guarantee unit, demaleimation operations can be performed under both day and night conditions, achieving continuous and efficient large-scale demaleimation and omission removal.

[0073] The intelligent detasseling robot system for seed maize provided in this application embodiment can perform two operation modes in the field: batch detasseling and missing detasseling. It can complete efficient batch detasseling during the female parent detasseling period, and accurately identify and remove missing tassels after large-scale operations. Furthermore, it can support continuous day and night operation, overcoming the bottleneck of light limitations imposed by manual labor and traditional agricultural machinery, and compensating for the inability of manual labor to operate at night. Moreover, through the integrated design of autonomous navigation, path planning, and retrieval, it ensures operational efficiency and thorough detasseling, significantly reducing reliance on manual labor and costs, ensuring the purity and seed production efficiency of hybrid maize seeds, and possessing broad industrial promotion value.

[0074] The control device provided in the embodiments of this application is described below. The control device described below can be referred to in correspondence with the control method described above.

[0075] Figure 5This is a schematic diagram of the control device provided in the embodiments of this application. Figure 5 The control device shown includes the following modules: The acquisition module 510 is used to acquire field image information collected by the drone; Processing module 520 is used to identify field image information and obtain field feature information, which includes field boundaries, row direction and parent row ratio information; The processing module 520 is also used to generate the male removal operation path; Control module 530 is used to control the movement of the intelligent demaleing robot body along the demaleing operation path; The control module 530 is also used to control the front cutting device to cut the top of the corn plant in the horizontal direction in the batch detasseling mode, and to control the rear extraction detasseling device to continuously extract the male ears of the maize female parent. The control module 530 is also used to identify the spatial location information of the maize female tassels through the visual detection unit in the detasseling and tasseling mode, and control the rear extraction detasseling device to extract the maize female tassels.

[0076] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute a control method, which includes: acquiring field image information collected by a drone; identifying the field image information to obtain field feature information, including field boundaries, row direction, and parent row ratio information; generating a detasseling operation path and controlling the intelligent detasseling robot to move along the detasseling operation path; in batch detasseling mode, controlling the front cutting device to cut the top of the corn plant horizontally and controlling the rear extraction detasseling device to continuously extract the male ears of the maize female parent; in the missing detasseling mode, identifying the spatial position information of the male ears of the maize female parent through a visual detection unit and controlling the rear extraction detasseling device to extract the male ears of the maize female parent.

[0077] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0078] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control methods provided by the above methods. The method includes: acquiring field image information collected by a drone; identifying the field image information to obtain field feature information, including field boundaries, row direction, and parent row ratio information; generating a detasseling operation path and controlling the intelligent detasseling robot to move along the detasseling operation path; in batch detasseling mode, controlling the front cutting device to cut the top of the corn plant in the horizontal direction and controlling the rear extraction detasseling device to continuously extract the male ears of the maize female parent; in the missing detasseling mode, identifying the spatial position information of the male ears of the maize female parent through a visual detection unit and controlling the rear extraction detasseling device to extract the male ears of the maize female parent.

[0079] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the control methods provided by the above methods. The method includes: acquiring field image information collected by a drone; identifying the field image information to obtain field feature information, including field boundaries, row direction, and parent row ratio information; generating a detasseling operation path and controlling the intelligent detasseling robot to move along the detasseling operation path; in batch detasseling mode, controlling the front cutting device to cut the top of the corn plant horizontally and controlling the rear extraction detasseling device to continuously extract the male ears of the maize female parent; in the missing detasseling mode, identifying the spatial position information of the male ears of the maize female parent through a visual detection unit and controlling the rear extraction detasseling device to extract the male ears of the maize female parent.

[0080] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0081] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A smart deemasculation robot system for seed maize, characterized in that, include: Intelligent male emasculation robot body, drone, control and planning system, vision inspection unit, multi-degree-of-freedom robotic arm, male emasculation end effector; Among them, the drone is mounted on the top of the intelligent demaleation robot and is used to collect field image information; The control and planning system, located inside the intelligent demasting robot, is used to receive field image information collected by the drone, identify field feature information from the field image information, generate a demasting operation path, and control the intelligent demasting robot to move along the demasting operation path; the field feature information includes field boundaries, row direction, and parent row ratio information; The visual detection unit is installed on the lower part of the intelligent detasseling robot and is used to identify the spatial location information of the male ears of maize female parent in the field; The multi-degree-of-freedom robotic arm is fixed to the lower part of the intelligent detasseling robot body and is used to adjust the detasseling end effector to a working position that matches the male tassel of the maize female parent. The detasseling end effector is located at the bottom end of the multi-degree-of-freedom robotic arm and is used to remove the male ears of the maize female parent.

2. The intelligent demasting robot system for seed maize according to claim 1, characterized in that, The demasking end effector includes a front cutting device and a rear extraction demasking device; The front cutting device is used to cut the top of the corn plant in a horizontal direction; The rear-extraction detasseling device is used to extract the male ears of maize female parent plants.

3. The intelligent deemasculation robot system for seed maize according to claim 2, characterized in that, The control and planning system is specifically used to control the front cutting device to cut the top of the corn plant in the horizontal direction in the batch detasseling mode, and to control the rear extraction detasseling device to continuously extract the male ears of the maize female parent.

4. The intelligent deemasculation robot system for seed maize according to claim 2, characterized in that, The control and planning system is specifically used to identify the spatial location information of the maize female parent's male ears through a visual detection unit in the detasseling and tasseling mode, and control the rear extraction detasseling device to extract the maize female parent's male ears.

5. The intelligent deemasculation robot system for seed maize according to any one of claims 1 to 4, characterized in that, The multi-degree-of-freedom robotic arm has three positional degrees of freedom and two orientational degrees of freedom. The three positional degrees of freedom correspond to positional adjustment in the X, Y, and Z axes, respectively, and the two orientational degrees of freedom correspond to orientation adjustment by rotation around the Z-axis and tilting around the Y-axis, respectively.

6. The intelligent deemasculation robot system for seed maize according to any one of claims 1 to 4, characterized in that, The multi-degree-of-freedom robotic arm and the male-removing end effector adopt an upper and lower combination structure.

7. The intelligent deemasculation robot system for seed maize according to claim 1, characterized in that, The visual detection unit includes a camera and an image recognition module; The camera is used to collect images of the fields below as the intelligent demaleation robot moves. The image recognition module is used to identify the spatial location information of the maize female tassel from the image of the field below.

8. The intelligent deemasculation robot system for seed maize according to claim 1, characterized in that, Also includes: An energy and lighting support unit is provided to supply the energy and light required for continuous day and night operation. The energy and lighting protection unit includes a night lighting module, which is used to provide supplemental lighting for the detection area of ​​the visual detection unit.

9. The intelligent deemasculation robot system for seed maize according to claim 1, characterized in that, Also includes: Male ear recovery and storage unit; The male ear recovery and storage unit includes a recovery module and a storage module; The demasting end effector is also used to transfer the removed maize female male ears to the recycling module; The recycling module is used to import the removed maize female tassels into the storage module.

10. A control method, characterized in that, The method, applied to the intelligent deemasculation robot system for seed maize as described in any one of claims 1 to 9, comprises: Acquire field image information collected by drones; Identify the field image information to obtain field feature information, which includes field boundaries, row direction, and parent row ratio information; Generate a demaleation operation path and control the intelligent demaleation robot to move along the demaleation operation path; In the batch detasseling mode, the front cutting device is controlled to cut the top of the corn plant in a horizontal direction, and the rear extraction detasseling device is controlled to continuously extract the male ears of the maternal corn plant. In the detassel removal mode, the spatial location information of the maize female parent's male ears is identified by the visual detection unit, and the rear extraction detassel removal device is controlled to extract the maize female parent's male ears.

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