Pollination robot for teaching competition

Abstract

The utility model relates to the technical field of agricultural robots, in particular to a pollination robot for teaching competition, which comprises a walking chassis, a mechanical arm, a guide sensor, an identification sensor, a deviation correction sensor and a controller, the mechanical arm comprises a base, a transmission mechanism and an actuator, and the actuator comprises a visual module and a marking pen. The guide sensor is arranged at the front end of the walking chassis and is suitable for recognizing the position of a marker on a working route, the recognition sensor is arranged on the left side or the right side of the walking chassis and is suitable for recognizing the position of a target crop, and the two deviation rectifying sensors are symmetrically arranged on the left side and the right side of the walking chassis. According to the robot, the recognition sensor arranged on the single side is matched with the two deviation correction sensors, when the robot advances in a symmetrical track, the shutdown frequency can be reduced, the working efficiency can be improved, meanwhile, the phenomenon that a to-be-pollinated target cannot be detected by the visual module on the other side due to deviation during single-side recognition can be avoided, and the feasibility of the device is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural robots, in particular to a pollination robot for teaching competitions. Background Art

[0002] The pollination robot project is one of the sub-projects of the major robot competitions. Figure 5 As shown, during the competition, the robot needs to start from the starting and ending area 110 and pass through area A, area B, area C, and area D in sequence, and independently complete the recognition and pollination tasks of the simulated low crops 120, high vine crops 130, low vine crops 140, and low crops with random angles 150. Among them, the low crops 120 in area A are arranged in two rows symmetrically arranged in the X direction, the high vine crops 130 in area B are arranged on both sides of the beam in the Y direction, the low vine crops 140 in area C are arranged on the top of the bottom block and are arranged in two rows symmetrically arranged in the X direction, the low crops 150 with random angles in area D are arranged in a single row, and the crops in areas A, B, C, and D are all arranged in three rows in an aligned manner.

[0003] Existing pollination robots used in teaching competitions are generally equipped with photoelectric sensors on both sides of the robot. After the photoelectric sensor detects the target crop, the robot arm extends to the corresponding side, allowing the visual module on the robot arm to identify the target to be pollinated, thereby completing the pollination operation. This structure does not require a correction design. Even if the robot's trajectory is offset, the robot arm can still be controlled to extend to the target crop to complete the pollination operation. However, for symmetrical tracks (such as Area A and Area C in the above-mentioned competition venue), the offset will cause a time difference in the operation on both sides, requiring two stops before and after to independently perform the identification and pollination processes, which increases the number of stops and reduces the operation efficiency. Utility Model Content

[0004] In order to overcome the technical defect of the existing pollination robot for teaching competitions, that is, the number of shutdowns increases due to deviation, thereby reducing the working efficiency, the utility model provides a pollination robot for teaching competitions.

[0005] The pollination robot for teaching competition provided by the utility model comprises:

[0006] Walking chassis;

[0007] A mechanical arm, comprising a base, a transmission mechanism and an actuator, wherein the base is connected to the walking chassis, one end of the transmission mechanism is connected to the base, and the other end is connected to the actuator, the actuator comprises a visual module and a marking pen, the visual module is suitable for identifying a target to be pollinated, and the marking pen is suitable for marking the target to be pollinated according to a detection signal of the visual module;

[0008] A guide sensor, which is arranged at the front end of the walking chassis and is suitable for identifying the position of a marker on the working route;

[0009] an identification sensor, which is disposed on the left side or the right side of the traveling chassis and is suitable for identifying the position of the target crop;

[0010] Two deviation correction sensors are provided and are symmetrically arranged on the left and right sides of the walking chassis;

[0011] A controller is arranged on the walking chassis and is communicatively connected with the walking chassis, the mechanical arm, the guide sensor, the identification sensor and the correction sensor. The controller is suitable for controlling the moving action of the walking chassis according to the detection signal of the guide sensor, controlling the action of the mechanical arm according to the detection signal of the identification sensor, and controlling the correction action of the walking chassis according to the time difference of the return signals of the two correction sensors.

[0012] The working principle of the pollination robot for teaching competition provided by the utility model is as follows:

[0013] The guidance sensor detects the cross mark in the competition venue and returns the signal to the controller. The controller controls the walking chassis to turn left or right according to the preset program. When traveling on a symmetrical track, the recognition sensor detects the target crop in the competition venue and returns the signal to the controller. The controller controls the walking chassis to stop moving forward, and then controls the robotic arm to deflect toward the target crop on one side according to the preset program until the actuator faces the target to be pollinated. The visual module identifies the target to be pollinated and returns the recognition result to the controller based on the result of the deep learning model. If it is a male flower, it determines the next target to be pollinated. If it is a female flower, it continuously returns the center point coordinates and area of ​​the identified target to the controller. The controller adjusts the angle of the robotic arm through calculation to make the actuator continuously approach the stamen of the female flower. When the area When the pollination condition is triggered, the marker marks the female flower to complete the pollination operation of one female flower. Repeat the operation to complete the pollination operation for all the targets to be pollinated on that side, and then control the robot arm to select the target crop on the other side according to the preset program (for example, areas A and C need to work on both sides of the X direction, but the creeping crops in area B are on both sides of the Y direction of the beam, so the robot can choose to work on both sides of the Y direction or work forward and reverse along the Y direction once each, and area D only needs to work on one side). At the same time, two deviation correction sensors detect the target crops in the competition venue and return the signal to the controller. If there is no time difference between the two deviation correction sensors, it means that the robot is moving without deviation. If there is a time difference between the two deviation correction sensors, it means that the robot is moving with deviation, and the walking chassis needs to be controlled to correct the deviation in time. It should be noted that since there are not only symmetrical tracks in the competition venue, but also asymmetric single-sided tracks (for example, area D in the aforementioned competition venue), it is necessary to determine which side to install the identification sensor according to the robot walking route determined by the preset program, so that the robot can also complete the identification of the target crop in the asymmetric single-sided track.

[0014] Optionally, the identification sensor is a background suppression photoelectric sensor.

[0015] Optionally, the identification sensor is located on the right side of the middle section of the walking chassis.

[0016] Optionally, the deviation correction sensors are located on both sides of the front end of the walking chassis.

[0017] Optionally, the transmission mechanism includes:

[0018] A rotating base, the fixed part of which is fixedly connected to the base and the axis of the rotating part is perpendicular to the walking chassis;

[0019] A first steering gear, a fixed portion of which is fixedly connected to the rotating portion of the rotating base;

[0020] A large arm, a first end of which is fixedly connected to an output shaft of the first steering gear;

[0021] A second steering gear, a fixing portion of which is fixedly connected to the second end of the boom;

[0022] A small arm, a first end of which is fixedly connected to an output shaft of the second steering gear;

[0023] A third steering gear, a fixing portion of which is fixedly connected to the second end of the small arm, and an output shaft of which is fixedly connected to the actuator;

[0024] The output shaft of the first steering gear, the output shaft of the second steering gear and the output shaft of the third steering gear are parallel to each other and are all parallel to the walking chassis.

[0025] Optionally, the visual module is an OpenMV camera.

[0026] Optionally, the actuator further includes a fill light, and the fill light is suitable for providing fill light for the visual module.

[0027] Optionally, the guide sensor is a grayscale sensor.

[0028] Optionally, the pollination robot for teaching competitions also includes a voice broadcast component and a display screen.

[0029] Optionally, the pollination robot for teaching competitions also includes a Bluetooth module.

[0030] Compared with the prior art, the technical solution provided by the utility model has the following advantages:

[0031] The pollination robot for teaching competition provided by the utility model is provided with an identification sensor only on one side of the walking chassis. When traveling in a symmetrical track, after the identification sensor identifies the target crop, the robot arm is controlled to move symmetrically on both sides of the left and right sides through a program, so that the robot completes the operation tasks on both sides of the symmetrical track, the number of shutdowns is reduced, and the operation efficiency is improved; at the same time, a correction sensor is provided on both sides of the walking chassis, and the controller controls the walking chassis to perform a correction action according to the time difference of the return signals of the two correction sensors, so that the robot can be timely re-traveled on the preset straight track, avoiding the phenomenon that the extension direction of the robot arm is misaligned with the target crop due to the offset, so that the visual module on the other side cannot detect the target to be pollinated. The robot of the utility model can reduce the number of shutdowns through unilateral identification, thereby improving the operation efficiency. At the same time, the two correction sensors ensure the straight travel track of the robot, avoiding the phenomenon that the visual module on the other side cannot detect the target to be pollinated due to the offset during unilateral identification, and ensuring the feasibility of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present utility model, and together with the description, are used to explain the principles of the present utility model.

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A first-angle stereoscopic view of the pollination robot for teaching competition in an embodiment of the utility model is shown;

[0035] Figure 2 A second angle stereogram showing the pollination robot for teaching competition in an embodiment of the utility model

[0036] Figure 3 A three-dimensional diagram showing a mechanical arm in an embodiment of the present utility model;

[0037] Figure 4 A three-dimensional diagram showing an actuator in an embodiment of the present utility model;

[0038] Figure 5 A three-dimensional diagram showing a competition venue in an embodiment of the present invention.

[0039] In the figure:

[0040] 1. Walking chassis; 11. Walking wheels; 12. Chassis body; 2. Robotic arm; 21. Base; 22. Transmission mechanism; 221. Rotating base; 222. First servo; 223. Upper arm; 224. Second servo; 225. Lower arm; 226. Third servo; 23. Actuator; 231. Visual module; 232. Marker pen; 233. Fill light; 3. Guidance sensor; 4. Identification sensor; 5. Correction sensor; 6. Controller; 7. Voice broadcast component; 8. Display screen; 9. Bluetooth module; 110. Start and end area; 120. Low crops; 130. High-altitude creeping crops; 140. Low-altitude creeping crops; 150. Low crops with random angles. DETAILED DESCRIPTION

[0041] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the scheme of the utility model will be further described below. It should be noted that the embodiments of the utility model and the features in the embodiments can be combined with each other without conflict.

[0042] It should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0043] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present invention, rather than all of the embodiments.

[0044] The specific embodiments of the present utility model are described in detail below with reference to the accompanying drawings.

[0045] Reference Figure 1 This embodiment provides a pollination robot for teaching competition, including a walking chassis 1, a mechanical arm 2, a guide sensor 3, an identification sensor 4, a correction sensor 5 and a controller 6.

[0046] Reference Figure 2 The walking chassis 1 includes walking wheels 11 and a chassis body 12. There are four walking wheels 11. Each walking wheel 11 is connected to a servo motor to form a four-wheel drive structure. The servo motor is fixed below the chassis body 12 through an L-shaped bracket. The servo motor drives the walking wheel 11 to rotate to realize the robot moving forward, and the robot turns by controlling the speed of the screw plug motor. Of course, the walking wheel 11 can also adopt a two-wheel drive structure or other commonly used walking drive structures.

[0047] Specifically, the running wheels 11 are rubber tires, which are more suitable for competition venues.

[0048] Reference Figure 3 and Figure 4 The robot arm 2 includes a base 21, a transmission mechanism 22 and an actuator 23. The base 21 is connected to the walking chassis 1. One end of the transmission mechanism 22 is connected to the base 21 and the other end is connected to the actuator 23. The actuator 23 includes a visual module 231 and a marking pen 232. The visual module 231 is suitable for identifying the target to be pollinated, and the marking pen 232 is suitable for marking the target to be pollinated according to the detection signal of the visual module 231.

[0049] Specifically, the transmission mechanism 22 includes a rotating base 221, a first steering gear 222, an arm 223, a second steering gear 224, an arm 225 and a third steering gear 226; the fixed part of the rotating base 221 is fixedly connected to the base 21 and the axis of the rotating part is perpendicular to the walking chassis 1; the fixed part of the first steering gear 222 is fixedly connected to the rotating part of the rotating base 221; the first end of the arm 223 is fixedly connected to the output shaft of the first steering gear 222; the fixed part of the second steering gear 224 is fixedly connected to the second end of the arm 223; the first end of the arm 225 is fixedly connected to the output shaft of the second steering gear 224; the fixed part of the third steering gear 226 is fixedly connected to the second end of the arm 225, and the output shaft is fixedly connected to the actuator 23; the output shaft of the first steering gear 222, the output shaft of the second steering gear 224 and the output shaft of the third steering gear 226 are parallel to each other and are all parallel to the walking chassis 1. When in action, the spatial position of the actuator 23 is changed by the combined movement of the rotating base 221, the first steering gear 222, the upper arm 223, the second steering gear 224, the lower arm 225 and the third steering gear 226, so that the actuator 23 is sent to the target position to be pollinated. This mechanical arm 2 can realize the movement of five degrees of freedom in space. Since the actuator 23 does not need to flip around the horizontal axis perpendicular to the steering gear output shaft, it can meet the movement needs of the actuator 23. At the same time, the structural design is relatively simple and easy to operate. In other embodiments, a six-degree-of-freedom mechanical arm 2 or other mechanical arms 2 that can meet the movement needs of the actuator 23 can also be used.

[0050] Specifically, the visual module 231 is an OpenMV camera. The OpenMV camera is a mature visual module 231 in the field, which can achieve accurate recognition of the pollination target through deep model learning. In other embodiments, the visual module 231 can also use a CCD visual module 231.

[0051] Furthermore, the actuator 23 further includes a fill light 233, which is suitable for providing fill light for the vision module 231. The fill light 233 can reduce the influence of the ambient light on the recognition structure, so that the robot can adapt to various light.

[0052] Specifically, the fill light 233 is an LED fill light 233. In other embodiments, a halogen lamp or other common photography fill light 233 may also be used.

[0053] Reference Figure 2 The guide sensor 3 is arranged at the front end of the walking chassis 1 and is suitable for identifying the position of the marker on the working route.

[0054] Specifically, the guide sensor 3 is a grayscale sensor. Multiple grayscale sensors are used in combination, and the different return values ​​of each sensor are used to identify the markers on the working route, so as to plan and correct the route. In other embodiments, the guide sensor 3 can also be an infrared sensor, which uses the light interaction with the markers on the working route to obtain the position signal.

[0055] Reference Figure 3 The identification sensor 4 is arranged on the left side or the right side of the walking chassis 1 and is suitable for identifying the position of the target crop.

[0056] Specifically, the identification sensor 4 is a background suppression type photoelectric sensor. When working, the background suppression type photoelectric sensor is connected to the relay, and determines the position of the target crop in the working environment by outputting a high level to the controller 6, which can avoid the influence of color depth on the detection result. In other embodiments, the identification sensor 4 can also use an infrared sensor to obtain a position signal by interacting with the light of the target crop.

[0057] Specifically, the recognition sensor 4 is located on the right side of the robot. The main purpose is that the robot program sets the route from bottom to top in the D area of ​​the aforementioned competition venue. Therefore, in order to be able to recognize low crops at random angles in the D area, the recognition sensor 4 is set on the right side of the robot. For the A area, B area and C area of ​​the aforementioned competition venue, since the target crops are all symmetrically distributed, the recognition sensor 4 can be set on the left or right side of the robot.

[0058] Reference Figure 1 Two deviation correction sensors 5 are provided and are symmetrically arranged on the left and right sides of the walking chassis 1.

[0059] Specifically, the identification sensor 4 is located on the right side of the middle section of the walking chassis 1, and the deviation correction sensor 5 is located on both sides of the front end of the walking chassis 1. The purpose of this setting is: when the robot is traveling on a symmetrical track, the identification sensor 4 located at the front end first returns the detection signal of the target crop, and the controller 6 can judge whether the robot's travel track is tilted through the time difference of the detection signals of the two identification sensors 4. If it is tilted, the deviation correction action of the walking chassis 1 can be controlled in time to make the robot return to the straight track, and then the identification sensor 4 located on the right side of the middle section will identify the target crop again, so that it can ensure that the robot does not deviate when the identification sensor 4 is identifying, and avoid the phenomenon that the visual module 231 on the other side cannot detect the target to be pollinated when the robot arm 2 moves symmetrically on the left and right.

[0060] Specifically, the deviation correction sensor 5 is a common photoelectric sensor. In other embodiments, a background suppression photoelectric sensor can also be used to adapt to target crops of various colors.

[0061] It should be noted that if the two correction sensors 5 return detection signals at the same time, it means that there is no deviation in the movement of the robot; if there is a time difference in the detection signals returned by the two correction sensors 5, it means that there is an offset in the movement of the robot. At this time, the controller 6 controls the motor speed of the walking chassis 1 according to the time difference and the walking speed of the robot to complete the correction action. For example, the left correction sensor 5 returns a signal first, indicating that the left side of the robot is relatively forward, that is, the front end of the robot is offset to the right. At this time, the controller 6 gives the right motor an appropriate speed increase to straighten the vehicle body.

[0062] Reference Figure 1 The controller 6 is arranged on the walking chassis 1 and is in communication connection with the walking chassis 1, the mechanical arm 2, the guide sensor 3, the identification sensor 4 and the correction sensor 5. The controller 6 is suitable for controlling the moving action of the walking chassis 1 according to the detection signal of the guide sensor 3, controlling the action of the mechanical arm 2 according to the detection signal of the identification sensor 4, and controlling the correction action of the walking chassis 1 according to the time difference of the return signals of the two correction sensors 5.

[0063] It should be noted that the controller 6 is in communication connection with the robot arm 2 , that is, the controller 6 is in communication connection with all the electrical components on the robot arm 2 , and the controller 6 controls the actions of the electrical components on the robot arm 2 .

[0064] Specifically, the controller 6 uses a single-chip microcomputer of the STM32F103ZE model, and cooperates with an OpenMV camera to enable the actuator 23 to continuously approach the target to be pollinated, thereby achieving hand-eye coordination.

[0065] It should be noted that the controller 6 controls the moving movement of the walking chassis 1 according to the detection signal of the guide sensor 3, controls the movement of the robot arm 2 according to the detection signal of the identification sensor 4, and controls the correction movement of the walking chassis 1 according to the time difference of the return signals of the two correction sensors 5. These are all mature technologies in the field of electromechanical control, and the logic programs they rely on are also easy to design by technical personnel in this field, which will not be repeated here.

[0066] In addition, refer to Figure 4 The pollination robot for teaching competition in this embodiment is also equipped with a voice broadcast component 7 and a display screen 8, which can display and broadcast the status and working results of the robot in real time.

[0067] In addition, refer to Figure 1 The teaching competition pollination robot of this embodiment is also equipped with a Bluetooth module 9, which can realize remote signal transmission and reception, command reception and data transmission.

[0068] It is easy to understand that the pollination robot for teaching competition needs to be preset with specific programs according to the competition venue. For example, in this embodiment, the route set for the aforementioned competition venue is as follows: Figure 5As shown, the solid arrow represents the outward path, and the hollow arrow represents the return path. Specifically, the robot starts from the starting and ending area 110 and travels forward along the X direction; when the guide sensor 3 detects the cross mark in front, it turns left 90° and travels forward along the Y direction to complete the operation in area A; when the guide sensor 3 detects the cross mark in front, it turns right 90° and travels forward along the X direction; when the guide sensor 3 detects the cross mark in front, it turns right 90° and travels reversely along the Y direction; when the guide sensor 3 detects the cross mark in front, it turns around 180° and travels forward along the Y direction, and completes the operation in area B by reciprocating in both directions; when the guide sensor 3 detects the cross mark in front, it turns right 90° and travels forward along the Y direction, and completes the operation in area B by reciprocating in both directions; When the cross mark in front is detected, turn right 90° and drive forward along the X direction; when the guide sensor 3 detects the cross mark in front, turn right 90° and drive in the reverse direction along the Y direction to complete the operation in area C; when the guide sensor 3 detects the cross mark in front, turn left 90° and drive forward along the X direction; when the guide sensor 3 detects the cross mark in front, turn left 90° and drive forward along the Y direction to complete the operation in area D; when the guide sensor 3 detects the cross mark in front, turn 180° and drive in the reverse direction along the Y direction; when the guide sensor 3 detects the cross mark in front, turn right 90° and drive in the reverse direction along the X direction until reaching the starting and ending area 110. This embodiment adopts a double-sided operation method for areas A and C of the aforementioned competition venue, a single-sided operation method and a reciprocating method for area B, and a single-sided operation method for area D.

[0069] The above is only a specific implementation of the utility model, so that those skilled in the art can understand or implement the utility model. Although detailed descriptions are given with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments, and they should all be covered by the protection scope of the claims.

Claims

1. A pollination robot for teaching competition, characterized in that: include: Walking chassis (1); A mechanical arm (2), comprising a base (21), a transmission mechanism (22) and an actuator (23), wherein the base (21) is connected to the walking chassis (1), one end of the transmission mechanism (22) is connected to the base (21), and the other end is connected to the actuator (23), the actuator (23) comprises a visual module (231) and a marking pen (232), the visual module (231) is suitable for identifying a target to be pollinated, and the marking pen (232) is suitable for marking the target to be pollinated according to a detection signal of the visual module (231); A guide sensor (3) disposed at the front end of the walking chassis (1) and adapted to identify the position of a marker on a working route; An identification sensor (4), which is arranged on the left side or the right side of the walking chassis (1) and is suitable for identifying the position of the target crop; Two deviation correction sensors (5) are provided and are symmetrically arranged on the left and right sides of the walking chassis (1); A controller (6) is arranged on the walking chassis (1) and is communicatively connected with the walking chassis (1), the mechanical arm (2), the guide sensor (3), the identification sensor (4) and the deviation correction sensor (5). The controller (6) is suitable for controlling the travel movement of the walking chassis (1) according to the detection signal of the guide sensor (3), controlling the movement of the mechanical arm (2) according to the detection signal of the identification sensor (4), and controlling the deviation correction movement of the walking chassis (1) according to the time difference of the return signals of the two deviation correction sensors (5).

2. The pollination robot for teaching competition according to claim 1, characterized in that: The identification sensor (4) is a background suppression type photoelectric sensor.

3. The pollination robot for teaching competition according to claim 2, characterized in that: The identification sensor (4) is located on the right side of the middle section of the walking chassis (1).

4. The pollination robot for teaching competition according to claim 3, characterized in that: The deviation correction sensors (5) are located on both sides of the front end of the walking chassis (1).

5. The pollination robot for teaching competition according to claim 1, characterized in that: The transmission mechanism (22) comprises: A rotating base (221), the fixed portion of which is fixedly connected to the base (21) and the axis of the rotating portion is perpendicular to the walking chassis (1); A first steering gear (222), a fixed portion of which is fixedly connected to a rotating portion of the rotating base (221); A large arm (223), a first end of which is fixedly connected to an output shaft of the first steering gear (222); A second steering gear (224), a fixing portion of which is fixedly connected to the second end of the large arm (223); A small arm (225), a first end of which is fixedly connected to an output shaft of the second steering gear (224); A third steering gear (226), a fixing portion of which is fixedly connected to the second end of the small arm (225), and an output shaft of which is fixedly connected to the actuator (23); The output shaft of the first steering gear (222), the output shaft of the second steering gear (224) and the output shaft of the third steering gear (226) are parallel to each other and are all parallel to the walking chassis (1).

6. The pollination robot for teaching competition according to claim 1, characterized in that: The visual module (231) is an OpenMV camera.

7. The pollination robot for teaching competition according to claim 6, characterized in that: The actuator (23) further comprises a fill light (233), wherein the fill light (233) is suitable for providing fill light for the visual module (231).

8. The pollination robot for teaching competition according to claim 1, characterized in that: The guide sensor (3) is a grayscale sensor.

9. The pollination robot for teaching competition according to any one of claims 1 to 8, characterized in that: It also includes a voice broadcast component (7) and a display screen (8).

10. The pollination robot for teaching competition according to any one of claims 1 to 8, characterized in that: A Bluetooth module (9) is also included.

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