首页|DEVELOPMENT OF A MICRO AERIAL VEHICLE FLYING ROBOT FOR AUTOMATIC POLLINATING
DEVELOPMENT OF A MICRO AERIAL VEHICLE FLYING ROBOT FOR AUTOMATIC POLLINATING
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NSTL
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.
DEVELOPMENT OF A MICRO AERIAL VEHICLE FLYING ROBOT FOR AUTOMATIC POLLINATING
Robotic pollinatorQuadcopterIndoor positioningAutomatic control
NSTL
