CN-121400350-B - Ultrasound and air flow coordinated pollination device and method

CN121400350BCN 121400350 BCN121400350 BCN 121400350BCN-121400350-B

Abstract

The invention provides an ultrasonic and air flow cooperative pollination device and method, and relates to the technical field of agricultural production, wherein the device comprises an image acquisition module, a control module and a plurality of pollination execution units; the device comprises an image acquisition module, a control module, an ultrasonic vibration module, an airflow generation module and a pollination execution unit, wherein the image acquisition module is used for acquiring position information of flowers to be pollinated, the control module is used for controlling mechanical arms of the pollination execution units to move and align the flowers to be pollinated based on the position information, and after the pollination execution units are aligned, the ultrasonic vibration module of the pollination execution units is controlled to vibrate the flowers to be pollinated and the airflow generation module of the pollination execution units is controlled to generate directional airflow to the flowers to be pollinated. The high-frequency vibration generated by the ultrasonic vibration module can simulate buzzing and pollination actions so as to shake off a large amount of active pollen, and the directional airflow generated by the airflow generation module blows the shaken-off pollen to be attached to the stigmas of the flowers. Based on the collaborative design of vibration and airflow, the success rate of single pollination and the pollen utilization rate are improved, and the pollination quality is ensured.

Inventors

LIN SEN
ZHANG ZEHUA
CHEN LIPING
ZHOU GUIGUAN
XIONG YA
SUN DONGDONG
SUN TIANLONG
FANG XIAODONG
ZHAO JIAN
WU JIANMING

Assignees

北京市农林科学院智能装备技术研究中心

Dates

Publication Date: 20260508
Application Date: 20251226

Claims (5)

1. An ultrasonic and air flow cooperative pollination device is characterized by comprising an image acquisition module, a control module and a plurality of pollination execution units; The device comprises an image acquisition module, a control module, a plurality of pollination execution units, a control module and an air flow generation module, wherein the first end of the control module is connected with the image acquisition module, and the second end of the control module is respectively connected with the pollination execution units; The image acquisition module is used for identifying flowers to be pollinated and acquiring position information of the flowers to be pollinated; the control module is used for controlling the mechanical arm of each pollination execution unit to move based on the position information, so that each pollination execution unit aims at the flower to be pollinated at different angles; After alignment of the pollination execution units, the control module is also specifically for: controlling an ultrasonic vibration module of each pollination execution unit to vibrate the flower to be pollinated according to a target vibration frequency, and controlling an airflow generation module of each pollination execution unit to generate directional airflow to the flower to be pollinated according to a target airflow speed; The target vibration frequency and the target airflow speed are determined based on a pollination influence mathematical model, and the parameter combination can enable the number of pollen attached to the stigma of the flower to reach the maximum value; the pollination influence mathematical model is formed by fitting a plurality of groups of sample data and attached pollen numbers corresponding to the sample data based on a least square method, wherein the sample data comprises vibration frequency data and airflow speed data; the pollination influence mathematical model is as follows: ; Wherein, the Is the number of attached pollens of the stigma of the flower, Is the vibration frequency data of the vibration, Is the air flow velocity data of the air flow, 、、、、、 Is a constant.
2. The ultrasound and air flow cooperative pollination device according to claim 1, further comprising: A robot chassis and a lifting sliding table arranged on the robot chassis; The image acquisition module and the pollination execution units are arranged at different positions of the pollination device box body, and the pollination device box body is arranged on the lifting sliding table.
3. The ultrasound and air flow cooperative pollination device according to claim 2, wherein the image acquisition module comprises a first image acquisition unit and a second image acquisition unit; The first image acquisition unit is arranged at the top end of the pollination device box body and is used for identifying flowers to be pollinated and determining the height information of the flowers to be pollinated, and the height information of the flowers is used for guiding the lifting sliding table to move the pollination device box body to the height where the height information of the flowers is located; The second image acquisition unit is arranged at the middle position of the pollination device box body and is used for identifying flowers to be pollinated after the pollination device box body moves to the height where the flower height information is located and determining the flower position information of the flowers to be pollinated, and the flower position information is used for guiding the mechanical arms of the pollination execution units to move so that the pollination execution units are aligned with the flowers to be pollinated.
4. The ultrasound and air flow coordinated pollination device according to claim 1, wherein the robotic arm comprises a pitch joint for effecting pitch motion and a rotation joint for effecting rotation motion.
5. A method of ultrasound and air flow synergistic pollination comprising: Identifying flowers to be pollinated, and acquiring position information of the flowers to be pollinated; Controlling the mechanical arms of a plurality of pollination execution units to move based on the position information so that each pollination execution unit aims at the flower to be pollinated at different angles, wherein each pollination execution unit comprises a mechanical arm, and an ultrasonic vibration module and an air flow generation module which are arranged at the tail end of the mechanical arm; controlling an ultrasonic vibration module of each pollination execution unit to vibrate the flower to be pollinated according to a target vibration frequency, and controlling an airflow generation module of each pollination execution unit to generate directional airflow to the flower to be pollinated according to a target airflow speed; The target vibration frequency and the target airflow speed are determined based on a pollination influence mathematical model, and the parameter combination can enable the number of pollen attached to the stigma of the flower to reach the maximum value; the pollination influence mathematical model is formed by fitting a plurality of groups of sample data and attached pollen numbers corresponding to the sample data based on a least square method, wherein the sample data comprises vibration frequency data and airflow speed data; the pollination influence mathematical model is as follows: ; Wherein, the Is the number of attached pollens of the stigma of the flower, Is the vibration frequency data of the vibration, Is the air flow velocity data of the air flow, 、、、、、 Is a constant.

Description

Ultrasound and air flow coordinated pollination device and method Technical Field The invention relates to the technical field of agricultural production, in particular to an ultrasonic and airflow synergistic pollination device and method. Background In a greenhouse closed environment, the auxiliary pollination is vital in the flowering period, so that the fruit setting rate can be obviously improved, the malformed fruits can be reduced, and the yield and quality can be further improved. In order to improve supplementary pollination efficiency, supplementary pollination is carried out in a manner of mechanical vibration pollination which is commonly used in the prior art. The mode of mechanical vibration pollination is high in efficiency, but relies on fixed frequency vibration, so that pollen release and transmission are uneven, and the success rate of final pollination is low. Disclosure of Invention The invention provides an ultrasonic and air flow cooperative pollination device and method, which are used for improving the pollination success rate of auxiliary pollination. The invention provides an ultrasonic and air flow cooperative pollination device, which comprises an image acquisition module, a control module and a plurality of pollination execution units, wherein the image acquisition module is used for acquiring an image of a person; The device comprises an image acquisition module, a control module, a plurality of pollination execution units, a control module and an air flow generation module, wherein the first end of the control module is connected with the image acquisition module, and the second end of the control module is respectively connected with the pollination execution units; The image acquisition module is used for identifying flowers to be pollinated and acquiring position information of the flowers to be pollinated; the control module is used for controlling the mechanical arm of each pollination execution unit to move based on the position information so that each pollination execution unit is aligned to the flower to be pollinated; The control module is also used for controlling the ultrasonic vibration module of each pollination execution unit to vibrate the flowers to be pollinated after the pollination execution units are aligned, and controlling the airflow generation module of each pollination execution unit to generate directional airflow to the flowers to be pollinated. According to the invention, the pollination device with the cooperation of ultrasound and air flow further comprises: A robot chassis and a lifting sliding table arranged on the robot chassis; The image acquisition module and the pollination execution units are arranged at different positions of the pollination device box body, and the pollination device box body is arranged on the lifting sliding table. According to the pollination device with the cooperation of ultrasound and air flow, the image acquisition module comprises a first image acquisition unit and a second image acquisition unit; The first image acquisition unit is arranged at the top end of the pollination device box body and is used for identifying flowers to be pollinated and determining the height information of the flowers to be pollinated, and the height information of the flowers is used for guiding the lifting sliding table to move the pollination device box body to the height where the height information of the flowers is located; The second image acquisition unit is arranged at the middle position of the pollination device box body and is used for identifying flowers to be pollinated after the pollination device box body moves to the height where the flower height information is located and determining the flower position information of the flowers to be pollinated, and the flower position information is used for guiding the mechanical arms of the pollination execution units to move so that the pollination execution units are aligned with the flowers to be pollinated. According to the invention, after each pollination execution unit is aligned, the control module is specifically used for: controlling an ultrasonic vibration module of each pollination execution unit to vibrate the flower to be pollinated according to a target vibration frequency, and controlling an airflow generation module of each pollination execution unit to generate directional airflow to the flower to be pollinated according to a target airflow speed; The target vibration frequency and the target airflow speed are determined based on a pollination influence mathematical model, and the parameter combination can enable the number of pollen attached to the stigma of the flower to reach the maximum value; The pollination influence mathematical model is constructed by fitting a plurality of groups of sample data and attached pollen numbers corresponding to the sample data based on a least square method, wherein the sample data comprises vibration frequency data and air