A kind of pollination robot competition venueTechnical field
The invention belongs to agriculture pollination technical fields, and in particular to a kind of pollination robot competition venue.
Background technique
The manipulating object of fruits and vegetables pollination, has the characteristics that delicate property and complexity, in actual agricultural environment, to completeFruits and vegetables pollination operation, robot motion's ontology will carry out navigation map building, positioning, carry out Motion trajectory, solve agricultural machineryThe problems such as model and guidance path tracing control；In the automatic identification of operative goals, pollination robot will consider daylight, treeThe influence factor of the environmental factors such as leaf shake；Robot is pollinated in working path planning, the Pose Control of end effector,Consider that pollination place, branch such as block at the Environmental Factors, considers that end effector cannot work replacing in best operational positionFor solution；When pollination robot carries out operation, to consider that branches and leaves shake, control the mechanics of end effector and feed back controlThe influence of system.Therefore, pollination robot is operate on the optical, mechanical and electronic integration product in non-structure environment, structure and control,It is required than general industry robot high.Research pollination robot, can directly facilitate theory of mechanisms, robotics, sensor technology,The further investigation of the related fieldss such as measuring technology, machine vision, graph and image processing, control theory, biotechnology, cultivation techniqueAnd application, it is of great significance.So designing a kind of robot pollination place for contest, simulate in reality pollination environmentMost of influence factor provides a kind of more convenient and fast indoor test environment for the research and development test for robot of pollinating, has veryImportant realistic meaning.
Summary of the invention
The present invention devises a kind of pollination robot competition venue, it is desirable to provide a kind of robot pollination field for contestMost of influence factor in reality pollination environment is simulated on ground, for robot of pollinating research and development test provide it is a kind of more easilyTest environment.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of pollination robot competition venue, including completely short class orchard simulation region, infrastructure are less complete for infrastructureWhole tendril class orchard simulation region, field simulation region infrastructure incomplete modernization orchard simulation region and intensively planted,Robot ambulation guide line and/or reminding turning line are additionally provided in the place, the place surrounding is provided with integratedEnclosure wall.
Further, it is provided with robot ambulation guide line on the center line of the short class orchard simulation region, it is described shortThe left and right both sides of class orchard simulation zone centerline is respectively arranged with multiple lower vegetation models, in the short class orchard simulation regionCenter line on place corresponding with the lower vegetation model be provided with pollination place indication wire.
Further, the lower vegetation model includes bracket and the support plate that is arranged on bracket, is set in the support plateIt is equipped with several male flower models and female flower model, the support plate lower end is provided with pollen collecting slot.
Further, several male flower models and female flower model are being arranged in an equilateral triangle, female embossing die in the support plateThe quantity of type is more than the quantity of male flower model, and the arrangement position of male flower model is random.
Further, several male flower models and female flower model are printed upon on blank sheet of paper, and the blank sheet of paper is pressed on by magnetIn the support plate.
Further, the high 300mm of lower vegetation model, long 300mm, wide 130mm.
Further, the graceful class plant model of multiple rattans, the multiple graceful class of rattan are provided in the simulation region of tendril class orchardPlant model is arranged in a column, and pollination point is provided with pollination place indication wire.
Further, the graceful class plant model of the rattan includes being symmetrical arranged one column of ground, and be arranged on two columnThe transverse slat at end is provided with several male flower models and female flower model on the transverse slat.
Further, several male flower models and female flower model are in line on the transverse slat, and the quantity of female flower model is more than heroThe arrangement position of the quantity of embossing die type, male flower model is random.
Further, the modernization orchard simulation region includes a plateau region, and the both ends in plateau region are respectively arranged with slopeRoad I and ramp II, the centre of each edge line in plateau region are provided with a reminding turning line for robot assisted positioning；The plateau region is provided with Fruit tree model, and several male flower models and female flower model are provided on the Fruit tree model.
Further, the Fruit tree model includes the multiple simulation branches simulating trunk and being arranged on the simulation trunk；Male flower model and female flower model are provided on each simulation branch, the quantity of female flower model is more than the quantity of male flower model, maleThe arrangement position of embossing die type is random.
Further, the simulation trunk is made of pvc pipe, and the simulation branch is made of rigid plastics foam plate.
Further, the field simulation region intensively planted includes a cuboid saddle, and the saddle is evenly distributed in the upper surfaceThere are several round pollination points.
Further, one jiao of the place is provided with sintering；The place further includes failure diamond, and the failure is stoppedArea is put to be arranged in the place edge.
Further, the place ground is provided with green carpet.
Further, the robot ambulation guide line is made of width of the white matt paper slip of 24mm.
Further, the height of the integrated enclosure wall around the place is 20CM.
The pollination robot competition venue has the advantages that
(1) it invention emulates most of influence factor in reality pollination environment, is provided for the research and development test for robot of pollinatingA kind of more convenient and fast indoor test environment.
(2) in the present invention, place is reusable based on green carpet and wooden target.
Detailed description of the invention
Fig. 1: the overall structure diagram for robot competition venue of pollinating in embodiment of the present invention；
Fig. 2: the main view of lower vegetation model in embodiment of the present invention；
Fig. 3: the right view of lower vegetation model in embodiment of the present invention；
Fig. 4: the main view of the graceful class plant model of rattan in embodiment of the present invention；
Fig. 5: the main view of Fruit tree model in embodiment of the present invention；
Fig. 6: the top view of the open field simulation region intensively planted in embodiment of the present invention.
Description of symbols:
1-short class orchard simulation region；11-lower vegetation models；111-support plates；112-pollen collecting slots；113-Frame；2-tendril class orchards simulation region；The graceful class plant model of 21-rattans；211-columns；212-transverse slats；3-modernization orchard mouldsQuasi- area；31-ramps I；32-ramps II；33-Fruit tree models；331-simulation trunks；332-simulation branches；4-intensive kindsThe field simulation region of plant；41-saddles；42-round pollination points；51-male flower models；52-female flower models；6-sinterings；71-pollination place indication wires；72-robot ambulation guide lines；73-reminding turning lines；8-enclosure walls；9-failure diamonds.
Specific embodiment
With reference to the accompanying drawing, the present invention will be further described:
Fig. 1 to Fig. 6 shows the specific embodiment of present invention pollination robot competition venue.Fig. 1 is awarded in present embodimentThe overall structure diagram in powder robot competition place；Fig. 2-3 is the structural schematic diagram of lower vegetation model in present embodiment；Fig. 4 is the main view of the graceful class plant model of rattan in present embodiment；Fig. 5 is the main view of Fruit tree model in present embodiment；Fig. 6It is the top view of the field simulation region intensively planted open in present embodiment.
As shown in Figure 1, the competition venue of the pollination robot in present embodiment, including the complete short class of infrastructureOrchard simulation region 1, infrastructure less complete tendril class orchard simulation region 2, the incomplete modernization orchard mould of infrastructureQuasi- area 3 and the field simulation region 4 intensively planted are additionally provided with robot ambulation guide line 72 and/or reminding turning line in place73, place surrounding is provided with integrated enclosure wall 8.
Preferably, robot ambulation guide line 72, short class orchard are provided on the center line of short class orchard simulation region 1The left and right both sides of 1 center line of simulation region is respectively arranged with multiple lower vegetation models 11, at the center of short class orchard simulation region 1Place corresponding with lower vegetation model 11 is provided with pollination place indication wire 71 on line, as shown in Figure 1.In the present embodiment,There are six lower vegetation model 11 is total, three on one side.
Preferably, lower vegetation model 11 includes bracket 113 and the support plate 111 being arranged on bracket 113, support plateSeveral male flower models 51 and female flower model 52 are provided on 111,111 lower end of support plate is provided with pollen collecting slot 112, such as Fig. 2With shown in Fig. 3.
Preferably, several male flower models 51 and female flower model 52 are arranged in an equilateral triangle, the quantity of female flower model 52More than the quantity of male flower model 51, the arrangement position of male flower model 51 is random, as shown in Figure 2.
In the present embodiment, several male flower models 51 and female flower model 52 are printed upon on blank sheet of paper, and blank sheet of paper is triangular shape, described whitePaper is pressed in support plate 111 by magnet.Small triangle center that male flower model 51 and female flower model 52 are arranged in and big by threeAngular blank sheet of paper center is identical, and flower model has three rows altogether, and first row is a female flower model 52, and second row is a male flowerModel 51 and one 52 two, female flower model, position is random；Third row is two female flower models 52 and a male flower model 51 3A, position is random.Lower vegetation model 11 is 300mm high, long 300mm, wide 130mm.
Preferably, the graceful class plant model 21 of multiple rattans, multiple graceful class plant moulds of rattan are provided in tendril class orchard simulation region 2Type 21 is arranged in a column, pollination point is provided with pollination place indication wire 71, as shown in Figure 1.
Preferably, the graceful class plant model 21 of rattan includes being symmetrical arranged one column 211 of ground, and be arranged on two columns 211The transverse slat 212 at end is provided with several male flower models 51 and female flower model 51 on transverse slat 212, as shown in Figure 4.
Specifically, several male flower models 51 and female flower model 52 are in line on transverse slat 212, and the quantity of female flower model 52 is moreIt is random in the arrangement position of the quantity of male flower model 51, male flower model 51, as shown in Figure 4.In the present embodiment, column 211 is high900mm, diameter 20mm, it is beneath to have cross fixed feet；Transverse slat 212 is long 1240mm, wide 50mm, the hard PVC of thick 10mmPlate.The paper of long 1200mm, width 50mm are fixed on each transverse slat 22 with magnet, three embossing die types are set on each paper.
Preferably, modernization orchard simulation region 3 includes a plateau region, and the both ends in plateau region are respectively arranged with ramp I31 and ramp II 32, the centre of each edge line in plateau region is provided with a reminding turning line for robot assisted positioning73；The plateau region is provided with Fruit tree model 33, and several male flower models 51 and female flower model 52 are provided on Fruit tree model 33,As shown in Figure 1.In the present embodiment, plateau region is the square area of 2200mm*2200mm.
Preferably, Fruit tree model 33 includes the multiple simulation branches simulating trunk 331 and being arranged on simulation trunk 331332；Male flower model 51 and female flower model 52 are provided on each simulation branch 332, the quantity of female flower model 52 is more than male flowerThe arrangement position of the quantity of model 51, male flower model 51 is random, as shown in Figure 5.
In the present embodiment, simulation trunk 331 is made of pvc pipe, and simulation branch 332 is made of rigid plastics foam plate.MouldThe pvc pipe that quasi- trunk 331 is a diameter 200mm is placed on plateau region center vertically.Simulate branch 332 by long 850mm,Wide 50mm, thickness 10mm rigid plastics foam plate be made, there is the installation section of 100mm in simulation 332 one end of branch, to be fixed onOn pvc pipe, remaining 750mm is exposed to outside, and simulation flower is printed upon on the paper of long 750mm wide 50mm, is spent simulation with magnetIt piece is fixed on simulation branch 332.Simulation branch 332 only has simulation flower on one side, and direction is random.
Preferably, the field simulation region 4 intensively planted includes the saddle 41 of a cuboid, and saddle 41 has been evenly distributed in the upper surfaceSeveral round pollination points 42, as shown in figures 1 to 6.In the present embodiment, saddle 41 is the rectangular of 1500mm*1500mm*200mmBody region puts the paper of a 1500mm*1500mm above, and disk is printed on paper as round pollination point 42.Robot reachesIt can independently pollinate later to the region.
Preferably, one jiao of the place is provided with sintering 6；The place further includes failure diamond 9, and failure is parkedArea 9 is arranged in the place edge, as shown in Figure 1.
In the present embodiment, the place ground is provided with green carpet；Robot ambulation guide line 72 is 24mm by widthWhite matt paper slip be made；There is the integrated enclosure wall 8 of high 20cm around the simulation place.
The present invention simulates most of influence factor in reality pollination environment, provides for the research and development test for robot of pollinatingA kind of more convenient and fast indoor test environment.
The present invention pollinates place based on green carpet and wooden target, reusable, save the cost.
Above in conjunction with attached drawing, an exemplary description of the invention, it is clear that realization of the invention is not by aforesaid wayLimitation, as long as use the inventive concept and technical scheme of the present invention carry out various improvement, or it is not improved will be of the inventionConception and technical scheme directly apply to other occasions, be within the scope of the invention.