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首页> 外文期刊>農業機械學刊 >DEVELOPMENT OF A MICRO AERIAL VEHICLE FLYING ROBOT FOR AUTOMATIC POLLINATING
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DEVELOPMENT OF A MICRO AERIAL VEHICLE FLYING ROBOT FOR AUTOMATIC POLLINATING

机译：开发微空气车辆飞行机器人，用于自动授粉

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In recent years, the issue of Colony Collapse Disorder has received much attention; besides, pollinating birds and mammals also face the crisis of extinction in the same time. Since pollinators will be prevented from entering greenhouses, artificial pollination or purchase of honey bees would be necessary to conduct the pollination work. Artificial pollination requires high labor force and purchase of honey bees has some limitations. This study developed an automated robotic system for pollination of flowers using a quadcopter equipped with video module and lightweight pollinating device. In the process of pollination, we first used depth camera to locate the flying robot, and guided the robot to target positions by using automatic control algorithm. Flowers were then identified by video module on the robot and it would be guided toward to the top of flower. The location of the flower would then be determined by calculating the regression equation based on the area of the flower and the height of the robot. Finally, the pollination operation could be accomplished by using pollinating device to touch the flower. In the positioning of the flying robot, the RMSE(Root Mean Square Error) values of X, Y and Z-axes were 4.96, 2.97 and 4.29 cm; and the RMSE value of absolute distance was 7.27 cm. The results of positioning indicated that the precision of control could reach an acceptable level. In terms of operation time, it required 24.71 seconds to finish the pollination work from the start of navigation of the flying robot to the contact of the flower. In summary, this study has successfully developed an automatic robotic system for pollination which is able to identify the location of flower and execute the pollination work. In the same time, the required technologies and the architecture of the system are integrated in this study to verify the possibility of the automation of pollination of flowers implemented by flying robots. More future studies are needed to improve location accuracy and pollination speed for applications.
机译：近年来，群体崩溃障碍的问题备受关注；此外，传粉鸟类和哺乳动物也面临着灭绝的危机。由于传粉者将被禁止进入温室，因此进行传粉工作需要人工传粉或购买蜜蜂。人工授粉需要大量劳动力，购买蜜蜂也有一定的局限性。这项研究开发了一个自动机器人系统，使用配备视频模块和轻型授粉设备的四轮直升机为花朵授粉。在授粉过程中，我们首先使用深度相机对飞行机器人进行定位，并使用自动控制算法将机器人引导到目标位置。然后，机器人上的视频模块识别花朵，并将其引导至花朵顶部。然后，根据花的面积和机器人的高度，通过计算回归方程来确定花的位置。最后，授粉操作可以通过使用授粉装置触摸花朵来完成。在飞行机器人的定位中，X、Y和Z轴的均方根误差分别为4.96、2.97和4.29厘米；绝对距离的RMSE值为7.27cm。定位结果表明，控制精度可以达到可接受的水平。从操作时间来看，从飞行机器人开始导航到接触花朵，完成授粉工作需要24.71秒。总之，本研究成功地开发了一个自动授粉机器人系统，该系统能够识别花的位置并执行授粉工作。同时，本研究整合了所需的技术和系统架构，以验证飞行机器人实现花卉授粉自动化的可能性。未来需要更多的研究来提高应用的定位精度和授粉速度。

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